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    /*
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    /*
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     * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!).
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     * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!).
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     * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity
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     * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity
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     * (max. pitch or roll term is the throttle value).
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     * (max. pitch or roll term is the throttle value).
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     * OOPS: Is not applied at all.
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     * TODO: Why a growing function of yaw?
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     * TODO: Why a growing function of yaw?
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     */
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     */
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    if (term[axis] < -tmp_int) {
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    if (term[axis] < -tmp_int) {
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      debugOut.digital[1] |= DEBUG_CLIP;
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      debugOut.digital[1] |= DEBUG_CLIP;