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    WDTCSR |= (1<<WDCE)|(1<<WDE);
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    WDTCSR |= (1<<WDCE)|(1<<WDE);
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    WDTCSR = 0;
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    WDTCSR = 0;
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    BeepTime = 2000;
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    BeepTime = 2000;
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        PPM_in[CH_GAS] = 0;
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        PPM_in[CH_THRUST] = 0;
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        StickYaw = 0;
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        StickYaw = 0;
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        StickRoll = 0;
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        StickRoll = 0;
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        //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht
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        //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht
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        timer = SetDelay(500);
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        timer = SetDelay(500);
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        while(!CheckDelay(timer));
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        while(!CheckDelay(timer));
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        //Compass calibration?
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        //Compass calibration?
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        if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100)
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        if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100)
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        {
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        {
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                printf("\n\rCalibrating Compass");
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                printf("\n\rCalibrating Compass");
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                MM3_calibrate();
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                MM3_calibrate();