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                LED_RED_ON;
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                LED_RED_ON;
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                sprintf(ErrorMSG,"no FC communication ");
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                sprintf(ErrorMSG,"no FC communication ");
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                ErrorCode = 3;
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                ErrorCode = 3;
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                StopNavigation = 1;
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                StopNavigation = 1;
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        }
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        }
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        else if((CheckDelay(I2C1_Timeout)) || (I2C_Heading.Heading == -2))
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        else if(CheckDelay(I2C1_Timeout))
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        {
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        {
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                LED_RED_ON;
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                LED_RED_ON;
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                sprintf(ErrorMSG,"no MK3Mag communication ");
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                sprintf(ErrorMSG,"no MK3Mag communication ");
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                //Reset I2CBus
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                //Reset I2CBus
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                I2C1_Deinit();
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                I2C1_Deinit();
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        // ---------- Prepare the isr driven
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        // ---------- Prepare the isr driven
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        // set to absolute lowest priority
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        // set to absolute lowest priority
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    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
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    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
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        // enable interrupts
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        // enable interrupts
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    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
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    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
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    I2C1_Timeout = SetDelay(1000);
 - 
 
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        for (;;) // the endless main loop
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        for (;;) // the endless main loop
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        {
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        {
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                UART0_ProcessRxData();  // process request
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                UART0_ProcessRxData();  // process request
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                UART1_ProcessRxData();  // process request
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                UART1_ProcessRxData();  // process request
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                USB_ProcessRxData();    // process request
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                USB_ProcessRxData();    // process request