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OK - i try with your recomendations

Thanks

Hi, i compile crazyflie-firmware under Keil (ARMCC) with O1 optimization and see: Program Size: Code=39060 RO-data=1540 RW-data=968 ZI-data=16736 [/b] if i compile under arm-none-eabi-gcc.exe 4.6 text data bss dec hex filename 77916 460 16344 94720 17200 cflie.elf [/b] What compiler you use to build...