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#define SPI_FCCMD_STICK                 11
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#define SPI_FCCMD_STICK                 11
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#define SPI_FCCMD_MISC                  12
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#define SPI_FCCMD_MISC                  12
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#define SPI_FCCMD_PARAMETER1    13
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#define SPI_FCCMD_PARAMETER1    13
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#define SPI_FCCMD_VERSION               14
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#define SPI_FCCMD_VERSION               14
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#define SPI_FCCMD_SERVOS                15
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#define SPI_FCCMD_SERVOS                15
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#define SPI_FCCMD_ACCU                  16
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extern s32 Kalman_K;
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extern s32 Kalman_K;
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extern s32 Kalman_MaxDrift;
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extern s32 Kalman_MaxDrift;
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extern s32 Kalman_MaxFusion;
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extern s32 Kalman_MaxFusion;