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Rev 1221 Rev 1222
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// scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg
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// scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg
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// i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR
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// i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR
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#define GYRO_DEG_FACTOR    ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR)
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#define GYRO_DEG_FACTOR    ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR)
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extern uint8_t RequiredMotors;
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typedef struct
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typedef struct
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{
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{
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        uint8_t HeightD;
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        uint8_t HeightD;
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void Beep(uint8_t numbeeps);
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void Beep(uint8_t numbeeps);
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extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
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// setpoints for motors
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extern volatile uint8_t Motor1, Motor2, Motor3, Motor4, Motor5, Motor6, Motor7, Motor8;
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extern int16_t  Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8;
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// current stick values
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// current stick values
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extern int16_t StickNick;
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extern int16_t StickNick;
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#define MKFLAG_EMERGENCY_LANDING        0x10
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#define MKFLAG_EMERGENCY_LANDING        0x10
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#define MKFLAG_RESERVE1                         0x20
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#define MKFLAG_RESERVE1                         0x20
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#define MKFLAG_RESERVE2                         0x40
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#define MKFLAG_RESERVE2                         0x40
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#define MKFLAG_RESERVE3                         0x80
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#define MKFLAG_RESERVE3                         0x80
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extern uint8_t MKFlags;
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extern volatile uint8_t MKFlags;