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Rev 1870 Rev 1872
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  I2CTimeout = 5000;
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  I2CTimeout = 5000;
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  while (1) {
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  while (1) {
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    if (runFlightControl) { // control interval
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    if (runFlightControl) { // control interval
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      runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
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      if (!analogDataReady) {
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        DebugOut.Digital[0] |= DEBUG_MAINLOOP_TIMER;
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      } else {
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      runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0
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      DebugOut.Digital[0] &= ~DEBUG_MAINLOOP_TIMER;
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      DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER;
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        DebugOut.Digital[0] &= ~DEBUG_MAINLOOP_TIMER;
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      if (analogDataReady) {
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        // J4HIGH;
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        J4HIGH;
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        flight_control();
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        // J4LOW;
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        /*
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         * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit
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         * the throttle vector just computed. Otherwise, if motor test is engaged, transmit
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         * the test throttle vector. If no testing, stop all motors.
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         */
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        // Obsoleted.
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        // transmitMotorThrottleData();
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        RED_OFF;
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        /*
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         Does not belong here. Instead, external control should be ignored in
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         controlMixer if there was no new data from there for some time.
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         if(externalControlActive) externalControlActive--;
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         else {
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         externalControl.config = 0;
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         externalStickPitch = 0;
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         externalStickRoll = 0;
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         externalStickYaw = 0;
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         }
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         */
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        /*
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         Does not belong here.
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         if(RC_Quality)  RC_Quality--;
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         */
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        /* Does not belong here. Well since we are not supporting navi right now anyway, leave out.
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         #ifdef USE_NAVICTRL
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         if(NCDataOkay) {
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         if(--NCDataOkay == 0) // no data from NC
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         {  // set gps control sticks neutral
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         GPSStickPitch = 0;
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         GPSStickRoll = 0;
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         NCSerialDataOkay = 0;
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         }
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         }
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        flight_control();
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         #endif
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        J4LOW;
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         */
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        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout
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        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout
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          RED_ON;
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          RED_ON;
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          if (!I2CTimeout) {
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          if (!I2CTimeout) {
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        }
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        }
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        // Allow Serial Data Transmit if motors must not updated or motors are not running
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        // Allow Serial Data Transmit if motors must not updated or motors are not running
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        if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
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        if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
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          usart0_TransmitTxData();
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        } else {
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          DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER;
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          usart0_TransmitTxData();
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        }
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        }
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