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                "Pitch Term      ",
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                "Pitch Term      ",
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                "Roll Term       ",
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                "Roll Term       ",
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                "Yaw Term        ", //15
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                "Yaw Term        ", //15
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                "Throttle Term   ",
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                "Throttle Term   ",
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                "ControlAct/10   ",
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                "ControlAct/10   ",
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        "Acc. Vector     ",
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        "RC Qual         ",
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                "heightTrottleIn ",
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                "heightTrottleIn ",
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                "HeightdThrottle ", //20
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                "HeightdThrottle ", //20
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                "Height          ",
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                "Height          ",
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                "TargetHeight    ",
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                "TargetHeight    ",
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                "heightError     ",
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                "heightError     ",
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                "HeightPdThrottle",
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                "HeightPdThrottle",
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                "HeightIdThrottle", //25
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                "HeightIdThrottle", //25
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                "HeightDdThrottle",
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                "HeightDdThrottle",
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                "HeightPFactor   ",
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                "NaviStickPitch  ",
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                "HeightIFactor   ",
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                "NaviStickRoll   ",
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                "HeightDFactor   ",
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                "StickPitch      ",
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                "Altitude        ", //30
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                "StickRoll       ", //30
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                "AirpressADC     " };
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                "navi mode       "
- 
 
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  };
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/****************************************************************/
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/****************************************************************/
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/*              Initialization of the USART0                    */
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/*              Initialization of the USART0                    */
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/****************************************************************/
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/****************************************************************/
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        }
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        }
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        if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D)
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        if (((data3D_interval && checkDelay(data3D_timer)) || request_data3D)
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                        && txd_complete) {
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                        && txd_complete) {
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                sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D));
 - 
 
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                data3D.anglePitch = (int16_t) ((10 * angle[PITCH])
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                sendOutData('C', FC_ADDRESS, 1, (uint8_t *) &data3D, sizeof(data3D));
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                                / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
 - 
 
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                data3D.angleRoll = (int16_t) ((10 * angle[ROLL])
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                data3D.anglePitch = (int16_t) (angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1°
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                                / GYRO_DEG_FACTOR_PITCHROLL); // convert to multiple of 0.1°
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                data3D.angleRoll = (int16_t) (angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10)); // convert to multiple of 0.1°
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                data3D.heading = (int16_t) ((10 * yawGyroHeading) / GYRO_DEG_FACTOR_YAW); // convert to multiple of 0.1°
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                data3D.heading = (int16_t) (yawGyroHeading / (GYRO_DEG_FACTOR_YAW/10)); // convert to multiple of 0.1°
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                data3D_timer = setDelay(data3D_interval);
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                data3D_timer = setDelay(data3D_interval);
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                request_data3D = FALSE;
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                request_data3D = FALSE;
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        }
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        }