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#endif
case 4:
taskOrder=0;
#if SONAR
Sonar_update(); //debug[2] = sonarAlt;
#endif
#ifdef LANDING_LIGHTS_DDR
auto_switch_landing_lights();
#endif
#ifdef VARIOMETER
if (f.VARIO_MODE) vario_signaling();
#endif
break;
}
}

while(1) {
currentTime = micros();
cycleTime = currentTime - previousTime;
#if defined(LOOP_TIME)
if (cycleTime >= LOOP_TIME) break;
#else
break;
#endif
}
previousTime = currentTime;

computeIMU();

//***********************************
//**** Experimental FlightModes *****
//***********************************
#if defined(ACROTRAINER_MODE)
if(f.ANGLE_MODE){
if (abs(rcCommand[ROLL]) + abs(rcCommand[PITCH]) >= ACROTRAINER_MODE ) {
f.ANGLE_MODE=0;
f.HORIZON_MODE=0;
f.MAG_MODE=0;
f.BARO_MODE=0;
GPS_mode = GPS_MODE_NONE;
}
}
#endif

//***********************************

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