На таймер 7 поставлено обновление PID

Source/main.cpp

@@ -118,7 +118,12 @@ void TimerUpdateMain()
   if(MainDrone.ExternMagInit) MagObj->GetAsync(DoneProcMag);*/
 }
 
-static bool control_update_flag = 0;
+static bool control_update_flag = false;
+
+void TimerUpdateControl()
+{
+  control_update_flag = true;
+}
 
 int main()
 {
@@ -128,15 +133,17 @@ int main()
   TICK_Init();
   
   TIM6_Init(TIM_PRIORITY, 500, TimerUpdateSensor, TimerUpdateMain);
+  TIM7_Init(TIM_PRIORITY, 200, TimerUpdateControl);
   
   IMUObj = TryFindIMU(MainDrone.IMUInit);
   
   TIM6_Enable();
+  TIM7_Enable();
   
   attitude_t attitude;
   rc_channels rx_chs_raw;
   rc_channels rx_chs_normalized;
-  control_channels_t ctrl_chs;
+  static control_channels_t ctrl_chs;
   
   attitude_init(&attitude);
   receiver_init();
@@ -149,7 +156,7 @@ int main()
     
     if (control_update_flag)
 		{
-      control_update_flag = 0;
+      control_update_flag = false;
       
       Vector3 Gyro = Vector3(DataIMU.Gyr.X, DataIMU.Gyr.Y, DataIMU.Gyr.Z);