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//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
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//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
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//#define GIER_GRAD_FAKTOR 1160L
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//#define GIER_GRAD_FAKTOR 1160L
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extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
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extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
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#define STICK_GAIN 4
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#define STICK_GAIN 4
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#define FLAG_MOTOR_RUN  1
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#define FCFLAG_MOTOR_RUN        0x01
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#define FLAG_FLY        2
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#define FCFLAG_FLY              0x02
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#define FLAG_CALIBRATE  4
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#define FCFLAG_CALIBRATE        0x04
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#define FLAG_START      8
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#define FCFLAG_START            0x08
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#define FLAG_NOTLANDUNG 16
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#define FCFLAG_NOTLANDUNG       0x10
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#define FCFLAG_LOWBAT           0x20
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#define FCFLAG_SPI_RX_ERR       0x40
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#define FCFLAG_RESERVE1         0x80
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#define FLAG_LOWBAT             32
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#define Poti1 Poti[0]
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#define Poti1 Poti[0]
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#define Poti2 Poti[1]
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#define Poti2 Poti[1]
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#define MAX_MOTORS      12
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#define MAX_MOTORS      12
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#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
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#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;}
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extern volatile unsigned char MikroKopterFlags;
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extern volatile unsigned char FCFlags;
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extern volatile unsigned int I2CTimeout;
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extern volatile unsigned int I2CTimeout;
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extern unsigned char Sekunde,Minute;
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extern unsigned char Sekunde,Minute;
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extern unsigned int BaroExpandActive;
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extern unsigned int BaroExpandActive;
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extern long IntegralNick,IntegralNick2;
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extern long IntegralNick,IntegralNick2;
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extern long IntegralRoll,IntegralRoll2;
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extern long IntegralRoll,IntegralRoll2;
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//extern int IntegralNick,IntegralNick2;
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//extern int IntegralNick,IntegralNick2;
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//extern int IntegralRoll,IntegralRoll2;
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//extern int IntegralRoll,IntegralRoll2;
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extern unsigned char Poti[9];
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extern unsigned char Poti[9];
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