File content as of revision 0:d463d5c04541:

#define FCC_DATA_SIZE 52  //39 Direct from IMU
#define GPS_DATA_SIZE 20

char lati[6], altig[6];

float llt =  127.1234; //POSRoll;//dlat;//  gps.lat; gps.lat =
float lng = 37.4321; //POSPitch; //dlon;//  gps.lon; gps.lon =

void IMUtoGCS(){ 
    
    char *FtoG = (char *)&fcc, i;   //&IMU
     
    radio.putc(0xFF);
    radio.putc(0xFF);    
    
    fcc.acc_y = roll_con; // llt;
    fcc.acc_z =  pitch_con;// lng;
    
    if(gps.lat>0) fcc.acc_x = 1; else fcc.acc_x = 0;
    
   // fcc.IR2 = (unsigned short)F_range;
    //fcc.IR1 =  F_error;
    
    llt += 0.0001;
    if(llt > 128.00) llt = 127.1234;
    lng += 0.0001;
    if(lng > 38.00) lng = 37.4321;
    

    
    for (i=0;i<FCC_DATA_SIZE;i++)  radio.putc(*FtoG++);
    radio.putc(0x0D);
    return;
}    

void GPStoGCS(){ 
    
    char *FtoG = (char *)&gps, i;   //&IMU
     
    radio.putc(0xFE);
    radio.putc(0xFE);    
    
    for (i=0;i<GPS_DATA_SIZE;i++)  radio.putc(*FtoG++);
    radio.putc(0x0D);
    return;
}

void GPSASCII(){    
  
    radio.printf("%f ", dlat);
    radio.printf("%f ", dlon);
    //radio.printf("%d ", FMD.lock);
    radio.printf("%f ", gps.lat);
  //  radio.printf("%d\n", FMD.mode);
   radio.printf("%f ", gps.lon);
   /// radio.printf("%d\n", FMD.mission);
   radio.printf("%f\n ", gps.alti);



//radio.printf("%f ", IMU.roll);
//radio.printf("%f ", IMU.pitch);
//radio.printf("%f\n", IMU.yaw);

    // radio.printf("%f", gps.dist);
    //radio.printf(" ");
    //radio.printf("%f", gps.bear);
    //radio.printf("\n");  
}

void toBHG(){ 
    
    char *FtoG = (char *)&fcc, i;   //&IMU
     
    pc.putc(0xFF);
    pc.putc(0xFF);
    for (i=0;i<FCC_DATA_SIZE;i++)  pc.putc(*FtoG++);
    pc.putc(0x0D);
}

void rcprint(){
        
    printf("%d\t", RC.rolls);
    printf("%d\t", RC.throttles);
    printf("%d\t", RC.pitchs);
    printf("%d\t", RC.yaws);
    printf("%d\n", RC.sws);
    return;
}

void imuprint(){
    printf("%d\t", (int)fcc.roll);
    printf("%d\t", (int)fcc.pitch);
    printf("%d\n", (int)fcc.yaw);
    return;
}    

/*void motprint(){
    printf("%d\t", bl_F[1]);
    printf("%d\t", bl_B[1]);
    printf("%d\t", bl_R[1]);
    printf("%d\n", bl_L[1]);
    return;
}    
    
void xmotprint(){
    printf("%d\t", front_bl);
    printf("%d\t", back_bl);
    printf("%d\t", right_bl);
    printf("%d\n", left_bl);
    return;
}*/      

void pidprint(){
    printf("%d\t", alti_con);
    printf("%d\t", roll_con);
    printf("%d\t", pitch_con);
    printf("%d\n", yaw_con);
    return;
}    

void gainprint(){
    printf("%d\t", (int)gainRoll.p);
    printf("%d\t", (int)gainRoll.i);
    printf("%d\t", (int)gainRoll.d);
    printf("%d\n", (int)gainRoll.r);                    
    return;
}  


void yawprint(){
        
    printf("%d\t", RC.yaws);
    printf("%d\t", (short)fcc.yaw);
    printf("%d\n", (short)Yaw_ref);
    return;
}