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AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;
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AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;
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Orientation_t Orientation = ORIENTATION_FC;
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Orientation_t Orientation = ORIENTATION_FC;
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uint16_t Led_Timer = 0;
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uint16_t Led_Timer = 0;
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struct Scaling_t
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typedef struct
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{
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{
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        int16_t Range;
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        int16_t Range;
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        int16_t Offset;
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        int16_t Offset;
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} ;
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}  Scaling_t;
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struct Calibration_t
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typedef struct
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{
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{
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        struct Scaling_t MagX;
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        Scaling_t MagX;
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        struct Scaling_t MagY;
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        Scaling_t MagY;
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        struct Scaling_t MagZ;
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        Scaling_t MagZ;
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        struct Scaling_t AccX;
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        Scaling_t AccX;
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        struct Scaling_t AccY;
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        Scaling_t AccY;
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        struct Scaling_t AccZ;
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        Scaling_t AccZ;
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};
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}  Calibration_t;
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struct Calibration_t eeCalibration EEMEM;       // calibration data in EEProm
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Calibration_t eeCalibration EEMEM;      // calibration data in EEProm
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struct Calibration_t Calibration;               // calibration data in RAM
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Calibration_t Calibration;              // calibration data in RAM
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        USART0_ProcessRxData();
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        USART0_ProcessRxData();
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                if(NC_Connected) NC_Connected--;
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                if(NC_Connected) NC_Connected--;
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                if(FC_Connected) FC_Connected--;
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                if(FC_Connected) FC_Connected--;
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                // fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data
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                // fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data
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                if(!NC_Connected && ! NC_Connected)
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                if(!FC_Connected && ! NC_Connected)
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                {
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                {
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                        AttitudeSource = ATTITUDE_SOURCE_ACC;
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                        AttitudeSource = ATTITUDE_SOURCE_ACC;
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                        Orientation = ORIENTATION_FC;
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                        Orientation = ORIENTATION_FC;