diff --git a/project/p10-ANO/application/data_transfer.c b/project/p10-ANO/application/data_transfer.c
index bd75818..4468401 100644
--- a/project/p10-ANO/application/data_transfer.c
+++ b/project/p10-ANO/application/data_transfer.c
@@ -150,8 +150,8 @@ void ANO_DT_Data_Exchange(void)
         // void ANO_DT_Send_Fx_pid_ans(u8 Fx, float rcver_rol, float rcver_pit, float rcver_yaw,
         //             float error_rol, float error_pit, float error_yaw,
         //             float react_rol, float react_pit, float react_yaw);
-
-        ANO_DT_Send_Fx_pid_ans(0xF1,
+        static u8 buf[50];
+        ANO_DT_Send_Fx_9float(buf, 0xF1,
                        roll_angle_PID.Desired, pitch_angle_PID.Desired, yaw_angle_PID.Desired,
                        roll_angle_PID.Error,   pitch_angle_PID.Error,   yaw_angle_PID.Error,
                        roll_angle_PID.Output,  pitch_angle_PID.Output,  yaw_angle_PID.Output
@@ -163,7 +163,8 @@ void ANO_DT_Data_Exchange(void)
         // void ANO_DT_Send_Fx_pid_part(u8 Fx, float P_Output_rol, float P_Output_pit, float P_Output_yaw,
         //                      float I_Output_rol, float I_Output_pit, float I_Output_yaw,
         //                      float D_Output_rol, float D_Output_rol, float D_Output_rol);
-        ANO_DT_Send_Fx_pid_part( 0xF2,
+        static u8 buf[50];
+        ANO_DT_Send_Fx_9float(buf, 0xF2,
                         // PID->P * PID->Error
                         roll_angle_PID.D * roll_angle_PID.Error,
                         pitch_angle_PID.D * pitch_angle_PID.Error,
@@ -184,8 +185,8 @@ void ANO_DT_Data_Exchange(void)
         // void ANO_DT_Send_Fx_pid_ans(u8 Fx, float rcver_rol, float rcver_pit, float rcver_yaw,
         //             float error_rol, float error_pit, float error_yaw,
         //             float react_rol, float react_pit, float react_yaw);
-
-        ANO_DT_Send_Fx_pid_ans(0xF3,
+        static u8 buf[50];
+        ANO_DT_Send_Fx_9float(buf, 0xF3,
                        roll_rate_PID.Desired, pitch_rate_PID.Desired, yaw_rate_PID.Desired,
                        roll_rate_PID.Error,   pitch_rate_PID.Error,   yaw_rate_PID.Error,
                        roll_rate_PID.Output,  pitch_rate_PID.Output,  yaw_rate_PID.Output
@@ -197,7 +198,8 @@ void ANO_DT_Data_Exchange(void)
         // void ANO_DT_Send_Fx_pid_part(u8 Fx, float P_Output_rol, float P_Output_pit, float P_Output_yaw,
         //                      float I_Output_rol, float I_Output_pit, float I_Output_yaw,
         //                      float D_Output_rol, float D_Output_rol, float D_Output_rol);
-        ANO_DT_Send_Fx_pid_part( 0xF4,
+        static u8 buf[50];
+        ANO_DT_Send_Fx_9float(buf, 0xF4,
                         // PID->P * PID->Error
                         roll_rate_PID.D * roll_rate_PID.Error,
                         pitch_rate_PID.D * pitch_rate_PID.Error,
@@ -645,12 +647,11 @@ void ANO_DT_Send_PID(u8 group,float p1_p,float p1_i,float p1_d,float p2_p,float
 /******************* (C) COPYRIGHT 2014 ANO TECH *****END OF FILE************/
 
 
-void ANO_DT_Send_Fx_9float(u8 Fx,
+void ANO_DT_Send_Fx_9float(u8 data_to_send[], u8 Fx,
                     float _f1, float _f2, float _f3,
                     float _f4, float _f5, float _f6,
                     float _f7, float _f8, float _f9)
 {
-    static u8 data_to_send[200];
     u8 _cnt=0;
     data_to_send[_cnt++]=0xAA;
     data_to_send[_cnt++]=0xAA;
@@ -705,25 +706,3 @@ void ANO_DT_Send_Fx_9float(u8 Fx,
 
     ANO_DT_Send_Data(data_to_send, _cnt);
 }
-
-void ANO_DT_Send_Fx_pid_ans(u8 Fx,
-                    float rcver_rol, float rcver_pit, float rcver_yaw,
-                    float error_rol, float error_pit, float error_yaw,
-                    float react_rol, float react_pit, float react_yaw)
-{
-    ANO_DT_Send_Fx_9float(Fx,
-                    rcver_rol, rcver_pit, rcver_yaw,
-                    error_rol, error_pit, error_yaw,
-                    react_rol, react_pit, react_yaw);
-}
-
-void ANO_DT_Send_Fx_pid_part(u8 Fx,
-                    float P_Output_rol, float P_Output_pit, float P_Output_yaw,
-                    float I_Output_rol, float I_Output_pit, float I_Output_yaw,
-                    float D_Output_rol, float D_Output_pit, float D_Output_yaw)
-{
-    ANO_DT_Send_Fx_9float(Fx,
-                        P_Output_rol, P_Output_pit, P_Output_yaw,
-                        I_Output_rol, I_Output_pit, I_Output_yaw,
-                        D_Output_rol, D_Output_pit, D_Output_yaw);
-}
diff --git a/project/p10-ANO/application/data_transfer.h b/project/p10-ANO/application/data_transfer.h
index 45ad0e3..54a00f5 100644
--- a/project/p10-ANO/application/data_transfer.h
+++ b/project/p10-ANO/application/data_transfer.h
@@ -35,12 +35,16 @@ void ANO_DT_Send_RCData(u16 thr,u16 yaw,u16 rol,u16 pit,u16 aux1,u16 aux2,u16 au
 void ANO_DT_Send_Power(u16 votage, u16 current);
 void ANO_DT_Send_MotoPWM(u16 m_1,u16 m_2,u16 m_3,u16 m_4,u16 m_5,u16 m_6,u16 m_7,u16 m_8);
 void ANO_DT_Send_PID(u8 group,float p1_p,float p1_i,float p1_d,float p2_p,float p2_i,float p2_d,float p3_p,float p3_i,float p3_d);
-void ANO_DT_Send_Fx_pid_ans(u8 Fx, float rcver_rol, float rcver_pit, float rcver_yaw,
-                    float error_rol, float error_pit, float error_yaw,
-                    float react_rol, float react_pit, float react_yaw);
-void ANO_DT_Send_Fx_pid_part(u8 Fx, float P_Output_rol, float P_Output_pit, float P_Output_yaw,
-                             float I_Output_rol, float I_Output_pit, float I_Output_yaw,
-                             float D_Output_rol, float D_Output_pit, float D_Output_yaw);
+// void ANO_DT_Send_Fx_pid_ans(u8 Fx, float rcver_rol, float rcver_pit, float rcver_yaw,
+//                     float error_rol, float error_pit, float error_yaw,
+//                     float react_rol, float react_pit, float react_yaw);
+// void ANO_DT_Send_Fx_pid_part(u8 Fx, float P_Output_rol, float P_Output_pit, float P_Output_yaw,
+//                              float I_Output_rol, float I_Output_pit, float I_Output_yaw,
+//                              float D_Output_rol, float D_Output_pit, float D_Output_yaw);
+void ANO_DT_Send_Fx_9float(u8 buf[], u8 Fx,
+                    float _f1, float _f2, float _f3,
+                    float _f4, float _f5, float _f6,
+                    float _f7, float _f8, float _f9);
 
 #endif /* _DATA_TRANSFER_H */