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#define SPI_FCCMD_USER                  10
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#define SPI_FCCMD_USER                  10
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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_SLOW3                 15
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#define SPI_FCCMD_BL_ACCU               16
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#define SPI_FCCMD_BL_ACCU               16
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#define SPI_FCCMD_PARAMETER2    17
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#define SPI_FCCMD_PARAMETER2    17
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#define SPI_FCCMD_NEUTRAL               18
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#define SPI_FCCMD_NEUTRAL               18
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#define SPI_FCCMD_SLOW                  19 //  kommt nicht vor
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#define SPI_FCCMD_SLOW                  19 //  kommt nicht vor
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#define SPI_FCCMD_SLOW2                 20
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#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
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#define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; }
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#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
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#define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); }
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extern s32 Kalman_Kompass ;
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extern s32 Kalman_Kompass ;
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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;
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extern s32 ToFcGpsZ;
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extern s32 ToFcGpsZ;
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extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
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extern s32 ToFC_Rotate_C, ToFC_Rotate_S;
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extern s32 HeadFreeStartAngle;
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extern s32 HeadFreeStartAngle,CompassDirectionAtMotorStart;
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extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;
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extern s16 FC_WP_EventChannel,LogFC_WP_EventChannel,FC_WP_EventChannel_Processed;
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extern u32 ToFC_AltitudeRate;
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extern u32 ToFC_AltitudeRate;
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extern s32 ToFC_AltitudeSetpoint;
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extern s32 ToFC_AltitudeSetpoint;
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extern u8 NC_GPS_ModeCharacter;
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extern u8 NC_GPS_ModeCharacter;
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extern u8 FC_is_Calibrated;
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extern u8 FC_is_Calibrated;