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f.BARO_MODE = 0;
}
#endif
#ifdef VARIOMETER
if (rcOptions[BOXVARIO]) {
if (!f.VARIO_MODE) {
f.VARIO_MODE = 1;
}
} else {
f.VARIO_MODE = 0;
}
#endif
#endif
if (rcOptions[BOXMAG]) {
if (!f.MAG_MODE) {
f.MAG_MODE = 1;
magHold = att.heading;
}
} else {
f.MAG_MODE = 0;
}
#if defined(HEADFREE)
if (rcOptions[BOXHEADFREE]) {
if (!f.HEADFREE_MODE) {
f.HEADFREE_MODE = 1;
}
#if defined(ADVANCED_HEADFREE)
if ((f.GPS_FIX && GPS_numSat >= 5) && (GPS_distanceToHome > ADV_HEADFREE_R
ANGE) ) {
if (GPS_directionToHome < 180) {headFreeModeHold = GPS_directionToHome + 18
0;} else {headFreeModeHold = GPS_directionToHome - 180;}
}
#endif
} else {
f.HEADFREE_MODE = 0;
}
if (rcOptions[BOXHEADADJ]) {
headFreeModeHold = att.heading; // acquire new heading
}
#endif

#if GPS
// This handles the three rcOptions boxes
// unlike other parts of the multiwii code, it looks for changes and not based on flag settings
// by this method a priority can be established between gps option

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