void updateAltHoldState(void)
{
    // Baro alt hold activate
    if (!IS_RC_MODE_ACTIVE(BOXBARO)) {
        DISABLE_FLIGHT_MODE(BARO_MODE);
        return;
    }

    if (!FLIGHT_MODE(BARO_MODE)) {
        ENABLE_FLIGHT_MODE(BARO_MODE);
        AltHold = EstAlt;
        initialThrottleHold = rcData[THROTTLE];
        errorVelocityI = 0;
        altHoldThrottleAdjustment = 0;
    }
}

void updateSonarAltHoldState(void)
{
    // Sonar alt hold activate
    if (!IS_RC_MODE_ACTIVE(BOXSONAR)) {
        DISABLE_FLIGHT_MODE(SONAR_MODE);
        return;
    }

    if (!FLIGHT_MODE(SONAR_MODE)) {
        ENABLE_FLIGHT_MODE(SONAR_MODE);
        AltHold = estimatedAltitude;
        initialThrottleHold = rcData[THROTTLE];
        errorVelocityI = 0;
        altHoldThrottleAdjustment = 0;
    }
}

void updateLedStrip(void)
{
    if (!(ledStripInitialised && isWS2811LedStripReady())) {
        return;
    }

    if (IS_RC_MODE_ACTIVE(BOXLEDLOW) && !(masterConfig.ledstrip_visual_beeper && isBeeperOn())) {
        if (ledStripEnabled) {
            ledStripDisable();
            ledStripEnabled = false;
        }
        return;
    }
    ledStripEnabled = true;

    uint32_t now = micros();

    // test all led timers, setting corresponding bits
    uint32_t timActive = 0;
    for (timId_e timId = 0; timId < timTimerCount; timId++) {
        // sanitize timer value, so that it can be safely incremented. Handles inital timerVal value.
        // max delay is limited to 5s
        int32_t delta = cmp32(now, timerVal[timId]);
        if (delta < 0 && delta > -LED_STRIP_MS(5000))
            continue;  // not ready yet
        timActive |= 1 << timId;
        if (delta >= LED_STRIP_MS(100) || delta < 0) {
            timerVal[timId] = now;
        }
    }

    if (!timActive)
        return;          // no change this update, keep old state

    // apply all layers; triggered timed functions has to update timers

    scaledThrottle = ARMING_FLAG(ARMED) ? scaleRange(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX, 10, 100) : 10;

    applyLedFixedLayers();

    for (timId_e timId = 0; timId < ARRAYLEN(layerTable); timId++) {
        uint32_t *timer = &timerVal[timId];
        bool updateNow = timActive & (1 << timId);
        (*layerTable[timId])(updateNow, timer);
    }
    ws2811UpdateStrip();
}

void mwArm(void)
{
    if (ARMING_FLAG(OK_TO_ARM)) {
        if (ARMING_FLAG(ARMED)) {
			//led0_op(true);
            return;
        }
        if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
            return;
        }
        if (!ARMING_FLAG(PREVENT_ARMING)) {
            ENABLE_ARMING_FLAG(ARMED);
            headFreeModeHold = heading;
           // led2_op(1);//drona led
           // led1_op(1);//drona led
           // led0_op(0);//drona led

#ifdef BLACKBOX
            if (feature(FEATURE_BLACKBOX)) {
                serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
                if (sharedBlackboxAndMspPort) {
                    mspReleasePortIfAllocated(sharedBlackboxAndMspPort);
                }
                startBlackbox();
            }
#endif
            disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;   // start disarm timeout, will be extended when throttle is nonzero

            //beep to indicate arming
#ifdef GPS
            if (feature(FEATURE_GPS) && STATE(GPS_FIX) && GPS_numSat >= 5)
                beeper(BEEPER_ARMING_GPS_FIX);
            else
                beeper(BEEPER_ARMING);
#else
            beeper(BEEPER_ARMING);
#endif

            return;
        }
    }

    if (!ARMING_FLAG(ARMED)) {
        beeperConfirmationBeeps(1);
    }
}

static void detectAndApplySignalLossBehaviour(void)
{
    int channel;

    rxResetFlightChannelStatus();

    for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
        uint16_t sample = rcRaw[channel];

        if (!rxSignalReceived) {
            if (isRxDataDriven() && rxDataReceived) {
                // use the values from the RX
            } else {
                sample = PPM_RCVR_TIMEOUT;
            }
        }

        bool validPulse = isPulseValid(sample);

        if (!validPulse) {
            sample = getRxfailValue(channel);
        }

        rxUpdateFlightChannelStatus(channel, validPulse);

        if (isRxDataDriven()) {
            rcData[channel] = sample;
        } else {
            rcData[channel] = calculateNonDataDrivenChannel(channel, sample);
        }
    }

    rxFlightChannelsValid = rxHaveValidFlightChannels();

    if ((rxFlightChannelsValid) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
        failsafeOnValidDataReceived();
    } else {
        rxSignalReceived = false;
        failsafeOnValidDataFailed();

        for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
            rcData[channel] = getRxfailValue(channel);
        }
    }

}

static void rcdeviceCameraControlProcess(void)
{
    for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
        uint8_t switchIndex = i - BOXCAMERA1;

        if (IS_RC_MODE_ACTIVE(i)) {
            if (!rcdeviceIsCameraControlEnabled()) {
                reInitializeDevice();
            }

            // check last state of this mode, if it's true, then ignore it.
            // Here is a logic to make a toggle control for this mode
            if (switchStates[switchIndex].isActivated) {
                continue;
            }

            uint8_t behavior = RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION;
            switch (i) {
            case BOXCAMERA1:
                if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_WIFI_BUTTON)) {
                    behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_WIFI_BTN;
                }
                break;
            case BOXCAMERA2:
                if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_SIMULATE_POWER_BUTTON)) {
                    behavior = RCDEVICE_PROTOCOL_CAM_CTRL_SIMULATE_POWER_BTN;
                }
                break;
            case BOXCAMERA3:
                if (isFeatureSupported(RCDEVICE_PROTOCOL_FEATURE_CHANGE_MODE)) {
                    behavior = RCDEVICE_PROTOCOL_CAM_CTRL_CHANGE_MODE;
                }
                break;
            default:
                break;
            }
            if (behavior != RCDEVICE_PROTOCOL_CAM_CTRL_UNKNOWN_CAMERA_OPERATION) {
                runcamDeviceSimulateCameraButton(camDevice, behavior);
                switchStates[switchIndex].isActivated = true;
            }
        } else {
            switchStates[switchIndex].isActivated = false;
        }
    }
}

void mwArm(void)
{
    if (ARMING_FLAG(OK_TO_ARM)) {
        if (ARMING_FLAG(ARMED)) {
            return;
        }
        if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
            return;
        }
        if (!ARMING_FLAG(PREVENT_ARMING)) {
            ENABLE_ARMING_FLAG(ARMED);
            ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
            headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);

            resetMagHoldHeading(DECIDEGREES_TO_DEGREES(attitude.values.yaw));

#ifdef BLACKBOX
            if (feature(FEATURE_BLACKBOX)) {
                serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
                if (sharedBlackboxAndMspPort) {
                    mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
                }
                startBlackbox();
            }
#endif
            disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;   // start disarm timeout, will be extended when throttle is nonzero

            //beep to indicate arming
#ifdef NAV
            if (navigationPositionEstimateIsHealthy())
                beeper(BEEPER_ARMING_GPS_FIX);
            else
                beeper(BEEPER_ARMING);
#else
            beeper(BEEPER_ARMING);
#endif

            return;
        }
    }

    if (!ARMING_FLAG(ARMED)) {
        beeperConfirmationBeeps(1);
    }
}

void autotuneUpdateState(void)
{
    if (IS_RC_MODE_ACTIVE(BOXAUTOTUNE) && ARMING_FLAG(ARMED)) {
        if (!FLIGHT_MODE(AUTO_TUNE)) {
            autotuneStart();
            ENABLE_FLIGHT_MODE(AUTO_TUNE);
        }
        else {
            autotuneCheckUpdateGains();
        }
    } else {
        if (FLIGHT_MODE(AUTO_TUNE)) {
            autotuneUpdateGains(tuneSaved);
        }

        DISABLE_FLIGHT_MODE(AUTO_TUNE);
    }
}

void mwArm(void)
{
    static bool firstArmingCalibrationWasCompleted;

    if (armingConfig()->gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) {
        gyroSetCalibrationCycles();
        armingCalibrationWasInitialised = true;
        firstArmingCalibrationWasCompleted = true;
    }

    if (!isGyroCalibrationComplete()) return;  // prevent arming before gyro is calibrated

    if (ARMING_FLAG(OK_TO_ARM)) {
        if (ARMING_FLAG(ARMED)) {
            return;
        }
        if (IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
            return;
        }
        if (!ARMING_FLAG(PREVENT_ARMING)) {
            ENABLE_ARMING_FLAG(ARMED);
            ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
            headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);

            disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000;   // start disarm timeout, will be extended when throttle is nonzero

            //beep to indicate arming
#ifdef GPS
            if (feature(FEATURE_GPS) && STATE(GPS_FIX) && GPS_numSat >= 5)
                beeper(BEEPER_ARMING_GPS_FIX);
            else
                beeper(BEEPER_ARMING);
#else
            beeper(BEEPER_ARMING);
#endif

            return;
        }
    }

    if (!ARMING_FLAG(ARMED)) {
        beeperConfirmationBeeps(1);
    }
}

static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
        rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
    UNUSED(rxConfig);

    int axis;
    int32_t PTerm, ITerm, DTerm, delta;
    static int32_t lastError[3] = { 0, 0, 0 };
    static int32_t previousErrorGyroI[3] = { 0, 0, 0 };
    int32_t AngleRateTmp, RateError, gyroRate;

    int8_t horizonLevelStrength = 100;

    if (!deltaStateIsSet && pidProfile->dterm_lpf_hz) {
        for (axis = 0; axis < 3; axis++) BiQuadNewLpf(pidProfile->dterm_lpf_hz, &deltaBiQuadState[axis], 0);
        deltaStateIsSet = true;
    }

    if (FLIGHT_MODE(HORIZON_MODE)) {
        // Figure out the raw stick positions
        const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
        const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, rxConfig->midrc));
        const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
        // Progressively turn off the horizon self level strength as the stick is banged over
        horizonLevelStrength = (500 - mostDeflectedPos) / 5;  // 100 at centre stick, 0 = max stick deflection
        // Using Level D as a Sensitivity for Horizon. 0 more level to 255 more rate. Default value of 100 seems to work fine.
        // For more rate mode increase D and slower flips and rolls will be possible
        horizonLevelStrength = constrain((10 * (horizonLevelStrength - 100) * (10 * pidProfile->D8[PIDLEVEL] / 80) / 100) + 100, 0, 100);
    }

    // ----------PID controller----------
    for (axis = 0; axis < 3; axis++) {
        uint8_t rate = 10;
        // -----Get the desired angle rate depending on flight mode
        if (axis == YAW || !pidProfile->airModeInsaneAcrobilityFactor || !IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
            rate = controlRateConfig->rates[axis];
        }

        // -----Get the desired angle rate depending on flight mode
        if (axis == FD_YAW) {
            // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
            AngleRateTmp = ((int32_t)(rate + 27) * rcCommand[YAW]) >> 5;
        } else {

void updateGtuneState(void)
{
    static bool GTuneWasUsed = false;

    if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
        if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
            ENABLE_FLIGHT_MODE(GTUNE_MODE);
            init_Gtune(&currentProfile->pidProfile);
            GTuneWasUsed = true;
        }
        if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
            saveConfigAndNotify();
            GTuneWasUsed = false;
        }
    } else {
        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
            DISABLE_FLIGHT_MODE(GTUNE_MODE);
        }
    }
}

// calculate the throttle stick percent - integer math is good enough here.
uint8_t calculateThrottlePercent(void)
{
    uint8_t ret = 0;
    if (feature(FEATURE_3D)
        && !IS_RC_MODE_ACTIVE(BOX3D)
        && !flight3DConfig()->switched_mode3d) {

        if ((rcData[THROTTLE] >= PWM_RANGE_MAX) || (rcData[THROTTLE] <= PWM_RANGE_MIN)) {
            ret = 100;
        } else {
            if (rcData[THROTTLE] > (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) {
                ret = ((rcData[THROTTLE] - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle) * 100) / (PWM_RANGE_MAX - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle);
            } else if (rcData[THROTTLE] < (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle)) {
                ret = ((rxConfig()->midrc - flight3DConfig()->deadband3d_throttle - rcData[THROTTLE]) * 100) / (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle - PWM_RANGE_MIN);
            }
        }
    } else {
        ret = constrain(((rcData[THROTTLE] - rxConfig()->mincheck) * 100) / (PWM_RANGE_MAX - rxConfig()->mincheck), 0, 100);
    }
    return ret;
}

void processRx(void)
{
    static bool armedBeeperOn = false;

    calculateRxChannelsAndUpdateFailsafe(currentTime);

    // in 3D mode, we need to be able to disarm by switch at any time
    if (feature(FEATURE_3D)) {
        if (!IS_RC_MODE_ACTIVE(BOXARM))
            mwDisarm();
    }

    updateRSSI(currentTime);

    if (feature(FEATURE_FAILSAFE)) {

        if (currentTime > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
            failsafeStartMonitoring();
        }

        failsafeUpdateState();
    }

    throttleStatus_e throttleStatus = calculateThrottleStatus(&masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);

    if (throttleStatus == THROTTLE_LOW) {
        pidResetErrorAngle();
        pidResetErrorGyro();
    }

    // When armed and motors aren't spinning, do beeps and then disarm
    // board after delay so users without buzzer won't lose fingers.
    // mixTable constrains motor commands, so checking  throttleStatus is enough
    if (ARMING_FLAG(ARMED)
        && feature(FEATURE_MOTOR_STOP)
        && !STATE(FIXED_WING)
    ) {
        if (isUsingSticksForArming()) {
            if (throttleStatus == THROTTLE_LOW) {
                if (masterConfig.auto_disarm_delay != 0
                    && (int32_t)(disarmAt - millis()) < 0
                ) {
                    // auto-disarm configured and delay is over
                    mwDisarm();
                    armedBeeperOn = false;
                } else {
                    // still armed; do warning beeps while armed
                    beeper(BEEPER_ARMED);
                    armedBeeperOn = true;
                }
            } else {
                // throttle is not low
                if (masterConfig.auto_disarm_delay != 0) {
                    // extend disarm time
                    disarmAt = millis() + masterConfig.auto_disarm_delay * 1000;
                }

                if (armedBeeperOn) {
                    beeperSilence();
                    armedBeeperOn = false;
                }
            }
        } else {
            // arming is via AUX switch; beep while throttle low
            if (throttleStatus == THROTTLE_LOW) {
                beeper(BEEPER_ARMED);
                armedBeeperOn = true;
            } else if (armedBeeperOn) {
                beeperSilence();
                armedBeeperOn = false;
            }
        }
    }

    processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch);

    if (feature(FEATURE_INFLIGHT_ACC_CAL)) {
        updateInflightCalibrationState();
    }

    updateActivatedModes(currentProfile->modeActivationConditions);

    if (!cliMode) {
        updateAdjustmentStates(currentProfile->adjustmentRanges);
        processRcAdjustments(currentControlRateProfile, &masterConfig.rxConfig);
    }

    bool canUseHorizonMode = true;

    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
        // bumpless transfer to Level mode
        canUseHorizonMode = false;

        if (!FLIGHT_MODE(ANGLE_MODE)) {
            pidResetErrorAngle();
            ENABLE_FLIGHT_MODE(ANGLE_MODE);
        }
    } else {
        DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
    }
//.........这里部分代码省略.........

void annexCode(void)
{
    int32_t tmp, tmp2;
    int32_t axis, prop1 = 0, prop2;

    static uint32_t vbatLastServiced = 0;
    static uint32_t ibatLastServiced = 0;
    // PITCH & ROLL only dynamic PID adjustment,  depending on throttle value
    if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
        prop2 = 100;
    } else {
        if (rcData[THROTTLE] < 2000) {
            prop2 = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
        } else {
            prop2 = 100 - currentControlRateProfile->dynThrPID;
        }
    }

    for (axis = 0; axis < 3; axis++) {
        tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
        if (axis == ROLL || axis == PITCH) {
            if (currentProfile->rcControlsConfig.deadband) {
                if (tmp > currentProfile->rcControlsConfig.deadband) {
                    tmp -= currentProfile->rcControlsConfig.deadband;
                } else {
                    tmp = 0;
                }
            }

            tmp2 = tmp / 100;
            rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
            prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * tmp / 500;
            prop1 = (uint16_t)prop1 * prop2 / 100;
        } else if (axis == YAW) {
            if (currentProfile->rcControlsConfig.yaw_deadband) {
                if (tmp > currentProfile->rcControlsConfig.yaw_deadband) {
                    tmp -= currentProfile->rcControlsConfig.yaw_deadband;
                } else {
                    tmp = 0;
                }
            }
            tmp2 = tmp / 100;
            rcCommand[axis] = (lookupYawRC[tmp2] + (tmp - tmp2 * 100) * (lookupYawRC[tmp2 + 1] - lookupYawRC[tmp2]) / 100) * -masterConfig.yaw_control_direction;
            prop1 = 100 - (uint16_t)currentControlRateProfile->rates[axis] * ABS(tmp) / 500;
        }
        // FIXME axis indexes into pids.  use something like lookupPidIndex(rc_alias_e alias) to reduce coupling.
        dynP8[axis] = (uint16_t)currentProfile->pidProfile.P8[axis] * prop1 / 100;
        dynI8[axis] = (uint16_t)currentProfile->pidProfile.I8[axis] * prop1 / 100;
        dynD8[axis] = (uint16_t)currentProfile->pidProfile.D8[axis] * prop1 / 100;

        // non coupled PID reduction scaler used in PID controller 1 and PID controller 2. YAW TPA disabled. 100 means 100% of the pids
        if (axis == YAW) {
            PIDweight[axis] = 100;
        }
        else {
            PIDweight[axis] = prop2;
        }

        if (rcData[axis] < masterConfig.rxConfig.midrc)
            rcCommand[axis] = -rcCommand[axis];
    }

    tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
    tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);       // [MINCHECK;2000] -> [0;1000]
    tmp2 = tmp / 100;
    rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;    // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]

    if (FLIGHT_MODE(HEADFREE_MODE)) {
        float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
        float cosDiff = cos_approx(radDiff);
        float sinDiff = sin_approx(radDiff);
        int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
        rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
        rcCommand[PITCH] = rcCommand_PITCH;
    }

    if (feature(FEATURE_VBAT)) {
        if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
            vbatLastServiced = currentTime;
            updateBattery();
        }
    }

    if (feature(FEATURE_CURRENT_METER)) {
        int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);

        if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
            ibatLastServiced = currentTime;
            updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
        }
    }

    beeperUpdate();          //call periodic beeper handler

    if (ARMING_FLAG(ARMED)) {
        LED0_ON;
    } else {
        if (IS_RC_MODE_ACTIVE(BOXARM) == 0) {
            ENABLE_ARMING_FLAG(OK_TO_ARM);
        }
//.........这里部分代码省略.........

void failsafeUpdateState(void)
{
    if (!failsafeIsMonitoring()) {
        return;
    }

    bool receivingRxData = failsafeIsReceivingRxData();
    bool armed = ARMING_FLAG(ARMED);
    bool failsafeSwitchIsOn = IS_RC_MODE_ACTIVE(BOXFAILSAFE);
    beeperMode_e beeperMode = BEEPER_SILENCE;

    if (!receivingRxData) {
        beeperMode = BEEPER_RX_LOST;
    }

    bool reprocessState;

    do {
        reprocessState = false;

        switch (failsafeState.phase) {
        case FAILSAFE_IDLE:
            if (armed) {
                // Track throttle command below minimum time
                if (THROTTLE_HIGH == calculateThrottleStatus(rxConfig, deadband3dThrottle)) {
                    failsafeState.throttleLowPeriod = millis() + failsafeConfig->failsafe_throttle_low_delay * MILLIS_PER_TENTH_SECOND;
                }
                // Kill switch logic (must be independent of receivingRxData to skip PERIOD_RXDATA_FAILURE delay before disarming)
                if (failsafeSwitchIsOn && failsafeConfig->failsafe_kill_switch) {
                    // KillswitchEvent: failsafe switch is configured as KILL switch and is switched ON
                    failsafeActivate();
                    failsafeState.phase = FAILSAFE_LANDED;      // skip auto-landing procedure
                    failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_1_SECONDS;    // require 1 seconds of valid rxData
                    reprocessState = true;
                } else if (!receivingRxData) {
                    if (millis() > failsafeState.throttleLowPeriod) {
                        // JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds
                        failsafeActivate();
                        failsafeState.phase = FAILSAFE_LANDED;      // skip auto-landing procedure
                        failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
                    } else {
                        failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
                    }
                    reprocessState = true;
                }
            } else {
                // When NOT armed, show rxLinkState of failsafe switch in GUI (failsafe mode)
                if (failsafeSwitchIsOn) {
                    ENABLE_FLIGHT_MODE(FAILSAFE_MODE);
                } else {
                    DISABLE_FLIGHT_MODE(FAILSAFE_MODE);
                }
                // Throttle low period expired (= low long enough for JustDisarm)
                failsafeState.throttleLowPeriod = 0;
            }
            break;

        case FAILSAFE_RX_LOSS_DETECTED:
            if (receivingRxData) {
                failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
            } else {
                // Stabilize, and set Throttle to specified level
                failsafeActivate();
            }
            reprocessState = true;
            break;

        case FAILSAFE_LANDING:
            if (receivingRxData) {
                failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
                reprocessState = true;
            }
            if (armed) {
                failsafeApplyControlInput();
                beeperMode = BEEPER_RX_LOST_LANDING;
            }
            if (failsafeShouldHaveCausedLandingByNow() || !armed) {
                failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_30_SECONDS; // require 30 seconds of valid rxData
                failsafeState.phase = FAILSAFE_LANDED;
                reprocessState = true;
            }
            break;

        case FAILSAFE_LANDED:
            ENABLE_ARMING_FLAG(PREVENT_ARMING); // To prevent accidently rearming by an intermittent rx link
            mwDisarm();
            failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset; // set required period of valid rxData
            failsafeState.phase = FAILSAFE_RX_LOSS_MONITORING;
            reprocessState = true;
            break;

        case FAILSAFE_RX_LOSS_MONITORING:
            // Monitoring the rx link to allow rearming when it has become good for > `receivingRxDataPeriodPreset` time.
            if (receivingRxData) {
                if (millis() > failsafeState.receivingRxDataPeriod) {
                    // rx link is good now, when arming via ARM switch, it must be OFF first
                    if (!(!isUsingSticksForArming() && IS_RC_MODE_ACTIVE(BOXARM))) {
                        DISABLE_ARMING_FLAG(PREVENT_ARMING);
                        failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
                        reprocessState = true;
//.........这里部分代码省略.........

bool isAirmodeActive(void)
{
    return feature(FEATURE_AIRMODE) || IS_RC_MODE_ACTIVE(BOXAIRMODE);
}

//.........这里部分代码省略.........
        int16_t maxThrottleDifference = 0;
        if (maxMotor > escAndServoConfig->maxthrottle) {
            maxThrottleDifference = maxMotor - escAndServoConfig->maxthrottle;
        }

        for (i = 0; i < motorCount; i++) {
            // this is a way to still have good gyro corrections if at least one motor reaches its max.
            motor[i] -= maxThrottleDifference;

            if (feature(FEATURE_3D)) {
                if (mixerConfig->pid_at_min_throttle
                        || rcData[THROTTLE] <= rxConfig->midrc - flight3DConfig->deadband3d_throttle
                        || rcData[THROTTLE] >= rxConfig->midrc + flight3DConfig->deadband3d_throttle) {
                    if (rcData[THROTTLE] > rxConfig->midrc) {
                        motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
                    } else {
                        motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
                    }
                } else {
                    if (rcData[THROTTLE] > rxConfig->midrc) {
                        motor[i] = flight3DConfig->deadband3d_high;
                    } else {
                        motor[i] = flight3DConfig->deadband3d_low;
                    }
                }
            } else {
                if (isFailsafeActive) {
                    motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
                } else {
                    // If we're at minimum throttle and FEATURE_MOTOR_STOP enabled,
                    // do not spin the motors.
                    motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
                    if ((rcData[THROTTLE]) < rxConfig->mincheck) {
                        if (feature(FEATURE_MOTOR_STOP)) {
                            motor[i] = escAndServoConfig->mincommand;
                        } else if (mixerConfig->pid_at_min_throttle == 0) {
                            motor[i] = escAndServoConfig->minthrottle;
                        }
                    }
                }
            }
        }
    } else {
        for (i = 0; i < motorCount; i++) {
            motor[i] = motor_disarmed[i];
        }
    }

    // motor outputs are used as sources for servo mixing, so motors must be calculated before servos.

#if !defined(USE_QUAD_MIXER_ONLY) && defined(USE_SERVOS)

    // airplane / servo mixes
    switch (currentMixerMode) {
        case MIXER_CUSTOM_AIRPLANE:
        case MIXER_FLYING_WING:
        case MIXER_AIRPLANE:
        case MIXER_BICOPTER:
        case MIXER_CUSTOM_TRI:
        case MIXER_TRI:
        case MIXER_DUALCOPTER:
        case MIXER_SINGLECOPTER:
        case MIXER_GIMBAL:
            servoMixer();
            break;

        /*
        case MIXER_GIMBAL:
			servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
            servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
            break;
        */

        default:
            break;
    }

    // camera stabilization
    if (feature(FEATURE_SERVO_TILT)) {
        // center at fixed position, or vary either pitch or roll by RC channel
        servo[SERVO_GIMBAL_PITCH] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
        servo[SERVO_GIMBAL_ROLL] = determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);

        if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
            if (gimbalConfig->mode == GIMBAL_MODE_MIXTILT) {
                servo[SERVO_GIMBAL_PITCH] -= (-(int32_t)servoConf[SERVO_GIMBAL_PITCH].rate) * attitude.values.pitch / 50 - (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll / 50;
                servo[SERVO_GIMBAL_ROLL] += (-(int32_t)servoConf[SERVO_GIMBAL_PITCH].rate) * attitude.values.pitch / 50 + (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll / 50;
            } else {
                servo[SERVO_GIMBAL_PITCH] += (int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch / 50;
                servo[SERVO_GIMBAL_ROLL] += (int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll  / 50;
            }
        }
    }

    // constrain servos
    for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
        servo[i] = constrain(servo[i], servoConf[i].min, servoConf[i].max); // limit the values
    }
#endif
}

void processRcCommand(void)
{
    static int16_t lastCommand[4] = { 0, 0, 0, 0 };
    static int16_t deltaRC[4] = { 0, 0, 0, 0 };
    static int16_t factor, rcInterpolationFactor;
    uint16_t rxRefreshRate;
    bool readyToCalculateRate = false;

    if (masterConfig.rxConfig.rcInterpolation || flightModeFlags) {
        if (isRXDataNew) {
            // Set RC refresh rate for sampling and channels to filter
            switch (masterConfig.rxConfig.rcInterpolation) {
                case(RC_SMOOTHING_AUTO):
                    rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
                    break;
                case(RC_SMOOTHING_MANUAL):
                    rxRefreshRate = 1000 * masterConfig.rxConfig.rcInterpolationInterval;
                    break;
                case(RC_SMOOTHING_OFF):
                case(RC_SMOOTHING_DEFAULT):
                default:
                    initRxRefreshRate(&rxRefreshRate);
            }

            rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;

            if (debugMode == DEBUG_RC_INTERPOLATION) {
                for (int axis = 0; axis < 2; axis++) debug[axis] = rcCommand[axis];
                debug[3] = rxRefreshRate;
            }

            for (int channel=0; channel < 4; channel++) {
                deltaRC[channel] = rcCommand[channel] -  (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);
                lastCommand[channel] = rcCommand[channel];
            }

            factor = rcInterpolationFactor - 1;
        } else {
            factor--;
        }

        // Interpolate steps of rcCommand
        if (factor > 0) {
            for (int channel=0; channel < 4; channel++) rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;
        } else {
            factor = 0;
        }

        readyToCalculateRate = true;
    } else {
        factor = 0; // reset factor in case of level modes flip flopping
    }

    if (readyToCalculateRate || isRXDataNew) {
        // Scaling of AngleRate to camera angle (Mixing Roll and Yaw)
        if (masterConfig.rxConfig.fpvCamAngleDegrees && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && !FLIGHT_MODE(HEADFREE_MODE))
            scaleRcCommandToFpvCamAngle();

        for (int axis = 0; axis < 3; axis++) calculateSetpointRate(axis, rcCommand[axis]);

        isRXDataNew = false;
    }
}

void annexCode(void)
{
    int32_t tmp;

    for (int axis = 0; axis < 3; axis++) {
        tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
        if (axis == ROLL || axis == PITCH) {
            if (currentProfile->rcControlsConfig.deadband) {
                if (tmp > currentProfile->rcControlsConfig.deadband) {
                    tmp -= currentProfile->rcControlsConfig.deadband;
                } else {
                    tmp = 0;
                }
            }
            rcCommand[axis] = rcLookupPitchRoll(tmp);
        } else if (axis == YAW) {
            if (currentProfile->rcControlsConfig.yaw_deadband) {
                if (tmp > currentProfile->rcControlsConfig.yaw_deadband) {
                    tmp -= currentProfile->rcControlsConfig.yaw_deadband;
                } else {
                    tmp = 0;
                }
            }
            rcCommand[axis] = rcLookupYaw(tmp) * -1;
        }

        if (rcData[axis] < masterConfig.rxConfig.midrc) {
            rcCommand[axis] = -rcCommand[axis];
        }
    }

    tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
    tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck);       // [MINCHECK;2000] -> [0;1000]
    rcCommand[THROTTLE] = rcLookupThrottle(tmp);

    if (FLIGHT_MODE(HEADFREE_MODE)) {
        const float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);
        const float cosDiff = cos_approx(radDiff);
        const float sinDiff = sin_approx(radDiff);
        const int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
        rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
        rcCommand[PITCH] = rcCommand_PITCH;
    }

    if (ARMING_FLAG(ARMED)) {
        LED0_ON;
    } else {
        if (IS_RC_MODE_ACTIVE(BOXARM) == 0) {
            ENABLE_ARMING_FLAG(OK_TO_ARM);
        }

        if (!STATE(SMALL_ANGLE)) {
            DISABLE_ARMING_FLAG(OK_TO_ARM);
        }

        if (isCalibrating() || isSystemOverloaded()) {
            warningLedFlash();
            DISABLE_ARMING_FLAG(OK_TO_ARM);
        }

#if defined(NAV)
        if (naivationBlockArming()) {
            DISABLE_ARMING_FLAG(OK_TO_ARM);
        }
#endif

        if (ARMING_FLAG(OK_TO_ARM)) {
            warningLedDisable();
        } else {
            warningLedFlash();
        }

        warningLedUpdate();
    }

    // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
    if (gyro.temperature)
        gyro.temperature(&telemTemperature1);
}