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19, //"OSD_SWITCH;"
#endif
#if GPS
20, //"MISSION;"
21, //"LAND;"
#endif
};

uint32_t currentTime = 0;
uint16_t previousTime = 0;
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can
differ a little and is taken into account in the PID loop
uint16_t calibratingA = 0; // the calibration is done in the main loop. Calibrating decreases at e
ach cycle down to 0, then we enter in a normal mode.
uint16_t calibratingB = 0; // baro calibration = get new ground pressure value
uint16_t calibratingG;
int16_t magHold,headFreeModeHold; // [-180;+180]
uint8_t vbatMin = VBATNOMINAL; // lowest battery voltage in 0.1V steps
uint8_t rcOptions[CHECKBOXITEMS];
int32_t AltHold; // in cm
int16_t sonarAlt;
int16_t BaroPID = 0;
int16_t errorAltitudeI = 0;

// **************
// gyro+acc IMU
// **************
int16_t gyroZero[3] = {0,0,0};

imu_t imu;

analog_t analog;

alt_t alt;

att_t att;

#if defined(ARMEDTIMEWARNING)
uint32_t ArmedTimeWarningMicroSeconds = 0;
#endif

int16_t debug[4];

flags_struct_t f;

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