 //    
 //    최종 수정	: 
 //
-//    MPU_Type	: 
+//    MPU_Type	: Arduino Micro
 //
 //    파일명		: 
 //----------------------------------------------------------------------------

    Serial.print(Pitch);    Serial.print("\t"); 
    Serial.print(Yaw);      Serial.print("\t"); 
    Serial.print(Throthle); Serial.print("\t"); 
    Serial.println(" ");
    */


    int16_t Speed;
    int16_t Dir;

    uint8_t Aux1;
    uint8_t Aux2;
    uint8_t Aux3;
    uint8_t Aux4;


    Roll     = 1000 + pCmd->Data[0] * 4;
    Pitch    = 1000 + pCmd->Data[1] * 4;
    Yaw      = 1000 + pCmd->Data[2] * 4;
    Throthle = 1000 + pCmd->Data[3] * 4;

    Aux1 = ( pCmd->Data[4] >> 6 ) & 0x03;
    Aux2 = ( pCmd->Data[4] >> 4 ) & 0x03;
    Aux3 = ( pCmd->Data[4] >> 2 ) & 0x03;
    Aux4 = ( pCmd->Data[4] >> 0 ) & 0x03; 

    /*
        pCmd->Data[0] : 0~250 - Roll 값 
        pCmd->Data[1] : 0~250 - Pitch 값 
        pCmd->Data[2] : 0~250 - Yaw 값
        pCmd->Data[3] : 0~250 - Throttle 값 
        pCmd->Data[4] : 0~255 - Aux 값 
            7:6  Aux1
            5:4  Aux2
            3:2  Aux3
            1:0  Aux4

        Aux1 
            - 0 : Headfree Mode Off 
            - 2 : Headfree Mode On
        Aux2
            - 0 : 고도홀드 Off
            - 2 : 고도홀드 On
    */


    /*
    Serial.print("Receive : ");
