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Rev 2092 Rev 2098
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void flight_takeOff() {
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void flight_takeOff() {
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  // This is for GPS module to mark home position.
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  // This is for GPS module to mark home position.
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  // TODO: What a disgrace, change it.
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  // TODO: What a disgrace, change it.
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  MKFlags |= MKFLAG_CALIBRATE;
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  MKFlags |= MKFLAG_CALIBRATE;
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  HC_setGround();
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  HC_setGround();
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#ifdef USE_MK3MAG
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#ifdef USE_MK3MAG
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  attitude_resetHeadingToMagnetic();
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  attitude_resetHeadingToMagnetic();
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  compass_setTakeoffHeading(heading);
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  compass_setTakeoffHeading(heading);