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<parameterset eepromVersion="3" length="87" name="hundeprut">
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        <parameter name="bitConfig">
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                <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1" />
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                <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="1" />
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                <bit name="CFG_HEADING_HOLD" value="0" />
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                <bit name="CFG_COMPASS_ENABLED" value="1" />
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                <bit name="CFG_UNUSED" value="0" />
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                <bit name="CFG_NAVI_ENABLED" value="1" />
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                <bit name="CFG_AXIS_COUPLING_ENABLED" value="0" />
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                <bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" />
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        </parameter>
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        <parameter name="gyroQuadrant" value="0" />
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        <parameter name="accQuadrant" value="4" />
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        <parameter name="imuReversedFlags">
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                <bit name="IMU_REVERSE_GYRO_PR" value="0" />
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                <bit name="IMU_REVERSE_GYRO_YAW" value="0" />
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                <bit name="IMU_REVERSE_ACC_XY" value="1" />
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                <bit name="IMU_REVERSE_ACC_Z" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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        </parameter>
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        <parameter name="gyroPIDFilterConstant" value="1" />
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        <parameter name="gyroATTFilterConstant" value="1" />
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        <parameter name="gyroDFilterConstant" value="1" />
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        <parameter name="accFilterConstant" value="15" />
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        <parameter name="zerothOrderCorrection" value="10" />
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        <parameter name="zerothOrderCorrectionAccTolerance" value="40" />
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        <parameter name="zerothOrderCorrectionControlTolerance" value="40" />
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        <parameter name="maxControlActivity" value="0" />
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        <parameter name="maxAccVector" value="0" />
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        <parameter name="driftCompDivider" value="2" />
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        <parameter name="driftCompLimit" value="0" />
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        <parameter name="levelCorrectionPitch" value="var1" />
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        <parameter name="levelCorrectionRoll" value="var2" />
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        <parameter name="gyroP" value="80" />
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        <parameter name="gyroI" value="60" />
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        <parameter name="gyroD" value="40" />
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        <parameter name="attitudeControl" value="0" />
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        <parameter name="stickP" value="10" />
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        <parameter name="stickD" value="2" />
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        <parameter name="stickYawP" value="8" />
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        <parameter name="stickThrottleD" value="4" />
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        <parameter name="minThrottle" value="4" />
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        <parameter name="maxThrottle" value="220" />
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        <parameter name="externalControl" value="0" />
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        <parameter name="motorSmoothing" value="0" />
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        <parameter name="dynamicStability" value="50" />
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        <parameter name="IFactor" value="0" />
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        <parameter name="yawIFactor" value="50" />
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        <parameter name="compassMode" value="0" />
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        <parameter name="compassYawCorrection" value="20" />
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        <parameter name="compassBendingReturnSpeed" value="16" />
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        <parameter name="compassP" value="50" />
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        <parameter name="batteryVoltageWarning" value="100" />
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        <parameter name="emergencyThrottle" value="40" />
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        <parameter name="emergencyFlightDuration" value="30" />
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        <parameter name="airpressureFilterConstant" value="8" />
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        <parameter name="airpressureWindowLength" value="0" />
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        <parameter name="airpressureDWindowLength" value="32" />
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        <parameter name="airpressureAccZCorrection" value="184" />
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        <parameter name="heightP" value="110" />
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        <parameter name="heightI" value="90" />
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        <parameter name="heightD" value="25" /> <!-- 30 -->
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        <parameter name="heightSetting" value="var0" />
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        <parameter name="heightControlMaxIntegralIn" value="125" />
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        <parameter name="heightControlMaxIntegralOut" value="75" />
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        <parameter name="heightMaxThrottleChange" value="75" />
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        <parameter name="heightControlTestOscPeriod" value="30" />
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        <parameter name="heightControlTestOscAmplitude" value="0" />
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        <parameter name="servoCount" value="7" />
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        <parameter name="servoManualMaxSpeed" value="10" />
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        <parameter name="pitchServoControl" value="128" />
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        <parameter name="pitchServoStabilization" value="200" />
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        <parameter name="pitchServoMinValue" value="32" />
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        <parameter name="pitchServoMaxValue" value="224" />
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        <parameter name="pitchServoFlags">
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                <bit name="reverseStabilization" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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        </parameter>
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        <parameter name="rollServoControl" value="128" />
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        <parameter name="rollServoStabilization" value="200" />
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        <parameter name="rollServoMinValue" value="32" />
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        <parameter name="rollServoMaxValue" value="224" />
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        <parameter name="rollServoFlags">
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                <bit name="reverseStabilization" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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                <bit name="Unused" value="0" />
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        </parameter>
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        <parameter name="output0BitMask">
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                <bit name="t0" value="1" />
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                <bit name="t1" value="0" />
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                <bit name="t2" value="0" />
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                <bit name="t3" value="0" />
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                <bit name="t4" value="0" />
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                <bit name="t5" value="0" />
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                <bit name="t6" value="0" />
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                <bit name="t7" value="0" />
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        </parameter>
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        <parameter name="output0Timing" value="15" />
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        <parameter name="output1BitMask">
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                <bit name="t0" value="1" />
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                <bit name="t1" value="0" />
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                <bit name="t2" value="0" />
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                <bit name="t3" value="0" />
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                <bit name="t4" value="0" />
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                <bit name="t5" value="0" />
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                <bit name="t6" value="0" />
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                <bit name="t7" value="0" />
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        </parameter>
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        <parameter name="output1Timing" value="14" />
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        <parameter name="outputDebugMask">
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                <bit name="DEBUG_MAINLOOP_TIMER" value="0" />
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                <bit name="DEBUG_HEIGHT_DIFF" value="1" />
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                <bit name="DEBUG_HOVERTHROTTLE" value="0" />
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                <bit name="DEBUG_ACC0THORDER" value="0" />
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                <bit name="DEBUG_COMPASS" value="0" />
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                <bit name="DEBUG_PRESSURERANGE" value="0" />
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                <bit name="DEBUG_CLIP" value="0" />
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                <bit name="DEBUG_SENSORLIMIT" value="0" />
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        </parameter>
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        <parameter name="outputFlags">
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                <bit name="INVERT_OUTPUT0" value="0" />
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                <bit name="INVERT_OUTPUT1" value="0" />
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                <bit name="FLASH_OUTPUT0_BEEPING" value="1" />
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                <bit name="FLASH_OUTPUT1_BEEPING" value="1" />
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                <bit name="USE_ONBOARD_LEDS" value="1" />
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                <bit name="TEST_OFF" value="0" />
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                <bit name="TEST_ON" value="0" />
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                <bit name="UNUSED" value="0" />
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        </parameter>
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        <parameter name="naviMode" value="var0" />
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        <parameter name="naviStickThreshold" value="50" />
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        <parameter name="naviStickLimit" value="25" />
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        <parameter name="GPSMinimumSatellites" value="6" />
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        <parameter name="naviP" value="30" />
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        <parameter name="naviI" value="60" />
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        <parameter name="naviD" value="60" />
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        <parameter name="naviTestOscPeriod" value="0" />
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        <parameter name=" naviTestOscAmplitude" value="0" />
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        <parameter name="userparam0" value="0" />
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        <parameter name="userparam1" value="0" />
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        <parameter name="userparam2" value="0" />
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        <parameter name="userparam3" value="0" />
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        <parameter name="userparam4" value="0" />
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        <parameter name="userparam5" value="0" />
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        <parameter name="userparam6" value="0" />
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        <parameter name="userparam7" value="0" />
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</parameterset>