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Rev 2099 Rev 2102
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#define FC_ERROR1_MIXER         0x10
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#define FC_ERROR1_MIXER         0x10
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#define FC_ERROR1_RES1          0x20
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#define FC_ERROR1_RES1          0x20
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#define FC_ERROR1_RES2          0x40
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#define FC_ERROR1_RES2          0x40
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#define FC_ERROR1_RES3          0x80
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#define FC_ERROR1_RES3          0x80
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typedef enum {
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  FLIGHT_MODE_NONE,
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  FLIGHT_MODE_MANUAL,
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  FLIGHT_MODE_RATE,
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  FLIGHT_MODE_ANGLES
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} FlightMode_t;
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#define CONTROL_SERVO_REVERSE_ELEVATOR 1
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#define CONTROL_SERVO_REVERSE_AILERONS 2
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#define CONTROL_SERVO_REVERSE_RUDDER 4
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typedef struct {
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typedef struct {
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    uint8_t SWMajor;
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    uint8_t SWMajor;
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    uint8_t SWMinor;
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    uint8_t SWMinor;
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    uint8_t protoMajor;
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    uint8_t protoMajor;
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extern VersionInfo_t versionInfo;
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extern VersionInfo_t versionInfo;
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typedef struct {
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typedef struct {
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  /*PMM*/uint8_t gyroPitchD;
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  /*PMM*/uint8_t gyroPitchD;
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  /* P */uint8_t gyroRollD;
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  /* P */uint8_t gyroRollD;\
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  /* P */uint8_t gyroYawD;
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  /* P */uint8_t gyroYawD;
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  // Control
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  /* P */uint8_t externalControl;
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  // Height control
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  /*PMM*/uint8_t heightP;
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  /* P */uint8_t heightI;
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  /*PMM*/uint8_t heightD;
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  // Control
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  /* P */uint8_t heightSetting;
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  /* P */uint8_t externalControl;
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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} IMUConfig_t;
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} IMUConfig_t;
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extern IMUConfig_t IMUConfig;
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typedef struct {
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        uint8_t P;
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        uint8_t I;
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        uint8_t D;
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extern IMUConfig_t IMUConfig;
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} PID_t;
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// values above 250 representing poti1 to poti4
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// values above 250 representing poti1 to poti4
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typedef struct {
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typedef struct {
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  // uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  // uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t levelCorrection[2];
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  uint8_t levelCorrection[2];
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  // Control
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  uint8_t gyroPitchP;
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  uint8_t gyroPitchI;
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  uint8_t gyroPitchD;
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  uint8_t gyroRollP;
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  uint8_t gyroRollI;
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  uint8_t gyroRollD;
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  uint8_t gyroYawP;
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  uint8_t gyroYawI;
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  // Control
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  uint8_t gyroYawD;
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  PID_t gyroPID[3];
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  uint8_t batteryVoltageWarning;
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  uint8_t batteryVoltageWarning;
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  uint8_t emergencyThrottle;
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  uint8_t emergencyThrottle;
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  uint8_t emergencyFlightDuration;
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  uint8_t emergencyFlightDuration;
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  // Servos
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  uint8_t controlServosReverse;
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  // Servos
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  uint8_t servoCount;
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  uint8_t servoCount;
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  uint8_t servoManualMaxSpeed;
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  uint8_t servoManualMaxSpeed;
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  servo_t servoConfigurations[2]; // [PITCH, ROLL]
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  servo_t servoConfigurations[2]; // [PITCH, ROLL]
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  char name[12];
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  char name[12];
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} ParamSet_t;
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} ParamSet_t;
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extern ParamSet_t staticParams;
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// MKFlags
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#define MKFLAG_MOTOR_RUN    (1<<0)
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//#define MKFLAG_FLY            (1<<1)
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#define MKFLAG_CALIBRATE    (1<<2)
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#define MKFLAG_START        (1<<3)
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#define MKFLAG_EMERGENCY_FLIGHT (1<<4)
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#define MKFLAG_LOWBAT       (1<<5)
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#define MKFLAG_RESERVE2     (1<<6)
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#define MKFLAG_RESERVE3     (1<<7)
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extern ParamSet_t staticParams;
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// bit mask for staticParams.bitConfig
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// bit mask for staticParams.bitConfig
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#define CFG_SIMPLE_HEIGHT_CONTROL       (1<<0)
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#define CFG_SIMPLE_HEIGHT_CONTROL       (1<<0)
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#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
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#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
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#define MIX_ROLL    2
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#define MIX_ROLL    2
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#define MIX_YAW     3
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#define MIX_YAW     3
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#define VARIABLE_COUNT 8
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extern volatile uint8_t MKFlags;
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#define VARIABLE_COUNT 8
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extern uint8_t requiredMotors;
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extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
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extern int16_t variables[VARIABLE_COUNT]; // The "Poti"s.
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extern uint8_t boardRelease;
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extern uint8_t boardRelease;
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extern uint8_t CPUType;
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extern uint8_t CPUType;
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extern volatile uint8_t MKFlags;
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extern volatile uint8_t isMotorRunning;
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extern uint16_t isFlying;
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extern FlightMode_t currentFlightMode;
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void IMUConfig_default(void);
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void channelMap_default(void);
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void paramSet_default(uint8_t setnumber);
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void IMUConfig_default(void);
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void mixerMatrix_default(void);
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void channelMap_default(void);
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void paramSet_default(uint8_t setnumber);