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#define SPI_FCCMD_VERSION               14
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#define SPI_FCCMD_VERSION               14
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#define SPI_FCCMD_SERVOS                15
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#define SPI_FCCMD_SERVOS                15
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#define SPI_FCCMD_ACCU                  16
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#define SPI_FCCMD_ACCU                  16
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#define SPI_FCCMD_PARAMETER2    17
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#define SPI_FCCMD_PARAMETER2    17
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#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
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#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
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extern s32 Kalman_K;
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extern s32 Kalman_K;
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extern s32 Kalman_Kompass ;
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extern s32 Kalman_Kompass ;
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extern s32 Kalman_MaxDrift;
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extern s32 Kalman_MaxDrift;
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extern s32 Kalman_MaxFusion;
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extern s32 Kalman_MaxFusion;