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// + this list of conditions and the following disclaimer.
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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        if (RC_Quality) {
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        if (RC_Quality) {
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                RC_Quality--;
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                RC_Quality--;
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                if (NewPpmData-- == 0) {
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                if (NewPpmData-- == 0) {
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                        RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP
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                        RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP
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                                        + RCDiff(CH_PITCH) * staticParams.StickD;
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                                        + RCDiff(CH_PITCH) * staticParams.StickD;
- 
 
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- 
 
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                    DebugOut.Analog[21] = RCChannel(CH_THROTTLE);
- 
 
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                        RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP
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                        RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP
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                                        + RCDiff(CH_ROLL) * staticParams.StickD;
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                                        + RCDiff(CH_ROLL) * staticParams.StickD;
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                        RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE)
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                        RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE)
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                                        * dynamicParams.UserParams[3] + 120;
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                                        * dynamicParams.UserParams[3] + 120;
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                        if (RC_PRTY[CONTROL_THROTTLE] < 0)
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                        if (RC_PRTY[CONTROL_THROTTLE] < 0)