:calibrate=1
f=0.5 r=1 m=4 goto2+:Center
gp=:GyroPitch :FcuRotationalPitch=(gp<-r)*f-(gp>r)*f-gp*m
:FcuRotationalPitch=0 gpok=(gp<r)*(gp>-r)
gr=:GyroRoll :FcuRotationalRoll=(gr<-r)*f-(gr>r)*f-gr*m
:FcuRotationalRoll=0 grok=(gr<r)*(gr>-r) goto2