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Line 32... Line 32...
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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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// This is strange: It should NOT be necessarty to do. But the call of the same,
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// This is strange: It should NOT be necessarty to do. But the call of the same,
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// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
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// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
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  channelMap_default();
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// channelMap_default();
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  // initalize modules
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  // initalize modules
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  output_init();
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  output_init();
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  analog_init();
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  analog_init();
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  // Parameter Set handling
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  // Parameter Set handling
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  IMUConfig_readOrDefault();
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  IMUConfig_readOrDefault();
- 
 
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  channelMap_readOrDefault();
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  channelMap_readOrDefault();
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  rcTrim_readOrDefault();
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  paramSet_readOrDefault();
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  paramSet_readOrDefault();
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          usart0_transmitTxData();
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          usart0_transmitTxData();
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        }
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        }
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        usart0_processRxData();
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        usart0_processRxData();
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        static uint8_t aboveWarningLimitVoltageSeen = 0;
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        if (checkDelay(timer)) {
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        if (checkDelay(timer)) {
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          if (UBat <= UBAT_AT_5V) {
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          if (UBat >= staticParams.batteryWarningVoltage) {
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            // Do nothing. The voltage on the input side of the regulator is <5V;
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            aboveWarningLimitVoltageSeen = 1;
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            // we must be running off USB power. Keep it quiet.
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          } else { // If we are above USB voltage, or if we have once been above warning voltage
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            if (aboveWarningLimitVoltageSeen || UBat > UBAT_AT_5V) {
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          } else if (UBat < staticParams.batteryWarningVoltage) {
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              beepBatteryAlarm();
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            beepBatteryAlarm();
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          }
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 - 
 
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#ifdef USE_NAVICTRL
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          SPI_StartTransmitPacket();
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          SendSPI = 4;
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            }
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#endif
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          }
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          timer = setDelay(20); // every 20 ms
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          timer = setDelay(20); // every 20 ms
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        }
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        }
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        output_update();
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      }
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#ifdef USE_NAVICTRL
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      if(!SendSPI) {
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        // SendSPI is decremented in timer0.c with a rate of 9.765 kHz.
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        // within the SPI_TransmitByte() routine the value is set to 4.
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        // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz,
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        // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms.
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        SPI_TransmitByte();
 154 
        output_update();
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      }
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      }
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#endif
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          calculateFeaturedServoValues();
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          calculateFeaturedServoValues();