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      // Add the delta to the compensation. So positive delta means, gyro should have higher value.
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      // Add the delta to the compensation. So positive delta means, gyro should have higher value.
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      driftComp[axis] += deltaCorrection / staticParams.driftCompDivider;
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      driftComp[axis] += deltaCorrection / staticParams.driftCompDivider;
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      CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit);
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      CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit);
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      // DebugOut.Analog[11 + axis] = correctionSum[axis];
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      // DebugOut.Analog[11 + axis] = correctionSum[axis];
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      // DebugOut.Analog[16 + axis] = correctionSum[axis];
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      // DebugOut.Analog[16 + axis] = correctionSum[axis];
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      debugOut.analog[28 + axis] = driftComp[axis];
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      // debugOut.analog[28 + axis] = driftComp[axis];
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      correctionSum[axis] = 0;
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      correctionSum[axis] = 0;
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    }
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    }
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  }
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  }