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}
} else {
if(f.ANGLE_MODE){
errorGyroI[ROLL] = 0; errorGyroI[PITCH] = 0;
}
f.ANGLE_MODE = 0;
}
if ( rcOptions[BOXHORIZON] ) {
f.ANGLE_MODE = 0;
if (!f.HORIZON_MODE) {
errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
f.HORIZON_MODE = 1;
}
} else {
if(f.HORIZON_MODE){
errorGyroI[ROLL] = 0;errorGyroI[PITCH] = 0;
}
f.HORIZON_MODE = 0;
}
#endif

if (rcOptions[BOXARM] == 0) f.OK_TO_ARM = 1;
#if !defined(GPS_LED_INDICATOR)
if (f.ANGLE_MODE || f.HORIZON_MODE) {STABLEPIN_ON;} else {STABLEPIN_OFF;}
#endif

#if BARO
#if (!defined(SUPPRESS_BARO_ALTHOLD))
#if GPS
if (GPS_conf.takeover_baro) rcOptions[BOXBARO] = (rcOptions[BOXBARO] || f.GPS_BA
RO_MODE);
#endif
if (rcOptions[BOXBARO]) {
if (!f.BARO_MODE) {
f.BARO_MODE = 1;
AltHold = alt.EstAlt;
#if defined(ALT_HOLD_THROTTLE_MIDPOINT)
initialThrottleHold = ALT_HOLD_THROTTLE_MIDPOINT;
#else
initialThrottleHold = rcCommand[THROTTLE];
#endif
errorAltitudeI = 0;
BaroPID=0;
}
} else {

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