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Line 1038... Line 1038...
1038
        if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
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        if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
Line 1039... Line 1039...
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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//  Compass
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//  Compass
-
 
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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    // compass code is used if Compass option or GPS option is selected
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        if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
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        if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) || (ParamSet.GlobalConfig & CFG_GPS_ACTIVE))
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        {
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        {
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                int16_t w,v;
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                int16_t w,v;
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                static uint8_t updCompass = 0;
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                static uint8_t updCompass = 0;