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#if defined(INFLIGHT_ACC_CALIBRATION)
if (AccInflightCalibrationArmed && f.ARMED && rcData[THROTTLE] > MINCHECK && !r
cOptions[BOXARM] ){ // Copter is airborne and you are turning it off via boxarm : start measur
ement
InflightcalibratingA = 50;
AccInflightCalibrationArmed = 0;
}
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meau
srement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone){
InflightcalibratingA = 50;
}
}else if(AccInflightCalibrationMeasurementDone && !f.ARMED){
AccInflightCalibrationMeasurementDone = 0;
AccInflightCalibrationSavetoEEProm = 1;
}
#endif

#if defined(EXTENDED_AUX_STATES)
uint32_t auxState = 0;
for(i=0;i<4;i++)
auxState |=
(uint32_t)(rcData[AUX1+i]<1230)<<(6*i) |
(uint32_t)(1231<rcData[AUX1+i] && rcData[AUX1+i]<1360)<<(6*i+1) |
(uint32_t)(1361<rcData[AUX1+i] && rcData[AUX1+i]<1490)<<(6*i+2) |
(uint32_t)(1491<rcData[AUX1+i] && rcData[AUX1+i]<1620)<<(6*i+3) |
(uint32_t)(1621<rcData[AUX1+i] && rcData[AUX1+i]<1749)<<(6*i+4) |
(uint32_t)(rcData[AUX1+i]>1750)<<(6*i+5);
#else
uint16_t auxState = 0;
for(i=0;i<4;i++)
auxState |= (rcData[AUX1+i]<1300)<<(3*i) | (1300<rcData[AUX1+i] && rcData[AUX1+i]
<1700)<<(3*i+1) | (rcData[AUX1+i]>1700)<<(3*i+2);
#endif

for(i=0;i<CHECKBOXITEMS;i++)
rcOptions[i] = (auxState & conf.activate[i])>0;

// note: if FAILSAFE is disable, failsafeCnt > 5*FAILSAFE_DELAY is always false
#if ACC
if ( rcOptions[BOXANGLE] || (failsafeCnt > 5*FAILSAFE_DELAY) ) {
// bumpless transfer to Level mode
if (!f.ANGLE_MODE) {
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
f.ANGLE_MODE = 1;

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