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        uint8_t Height_P;
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        uint8_t Height_P;
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        uint8_t Height_ACC_Effect;
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        uint8_t Height_ACC_Effect;
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        uint8_t CompassYawEffect;
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        uint8_t CompassYawEffect;
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        uint8_t Gyro_P;
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        uint8_t Gyro_P;
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        uint8_t Gyro_I;
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        uint8_t Gyro_I;
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        uint8_t Gier_P;
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        uint8_t Yaw_P;
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        uint8_t I_Factor;
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        uint8_t I_Factor;
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        uint8_t UserParam1;
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        uint8_t UserParam1;
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        uint8_t UserParam2;
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        uint8_t UserParam2;
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        uint8_t UserParam3;
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        uint8_t UserParam3;
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        uint8_t UserParam4;
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        uint8_t UserParam4;
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        uint8_t ServoNickControl;
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        uint8_t ServoNickControl;
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        uint8_t LoopGasLimit;
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        uint8_t LoopGasLimit;
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        uint8_t Yaw_PosFeedback;
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        uint8_t Yaw_PosFeedback;
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        uint8_t Yaw_NegFeedback;
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        uint8_t Yaw_NegFeedback;
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        uint8_t DynamicStability;
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        uint8_t DynamicStability;
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        uint8_t ExternalControl;
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        uint8_t J16Timing;
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        uint8_t J17Timing;
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        uint8_t NaviGpsModeControl;
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        uint8_t NaviGpsGain;
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        uint8_t NaviGpsP;
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        uint8_t NaviGpsI;
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        uint8_t NaviGpsD;
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        uint8_t NaviGpsACC;
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} fc_param_t;
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} fc_param_t;
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extern fc_param_t FCParam;
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extern volatile uint16_t I2CTimeout;
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extern fc_param_t FCParam;
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// attitude
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// attitude
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extern volatile int32_t IntegralNick, IntegralRoll, IntegralYaw;
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extern  int32_t IntegralNick, IntegralRoll, IntegralYaw;
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extern volatile int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
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extern  int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
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// offsets
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// offsets
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extern volatile int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
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extern  int16_t AdNeutralNick, AdNeutralRoll, AdNeutralYaw;
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// hight control
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// hight control
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extern int ReadingHeight;
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extern int ReadingHeight;
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extern int SetPointHeight;
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extern int SetPointHeight;
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// mean accelerations
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// mean accelerations
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extern volatile int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
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extern  int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
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extern int16_t GPS_Nick;
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extern int16_t GPS_Nick;
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extern int16_t GPS_Roll;
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extern int16_t GPS_Roll;
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// current stick elongations
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// current stick elongations
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extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
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extern uint8_t MotorsOn;
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extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw;
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extern uint8_t EmergencyLanding;
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extern uint16_t Model_Is_Flying;
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// MKFlags
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#define MKFLAG_MOTOR_RUN                                0x01
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#define MKFLAG_FLY                                      0x02
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#define MKFLAG_CALIBRATE                                0x04
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#define MKFLAG_START                                    0x08
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#define MKFLAG_EMERGENCY_LANDING        0x10
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#define MKFLAG_RESERVE1                         0x20
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#define MKFLAG_RESERVE2                         0x40
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#define MKFLAG_RESERVE3                         0x80
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extern uint16_t Model_Is_Flying;
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