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Rev 1775 Rev 1964
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        int16_t PDPartYaw;
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        int16_t PDPartYaw;
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        static int32_t SetPointYaw = 0;
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        static int32_t SetPointYaw = 0;
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        static uint16_t UpdateCompassCourse = 0;
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        static uint16_t UpdateCompassCourse = 0;
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        Mean();
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        GRN_ON;
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        Mean();
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        if(RC_Quality > 140)
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        if(RC_Quality > 140)
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        {
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        {