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Rev 2103 Rev 2104
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uint8_t boardRelease;
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uint8_t boardRelease;
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uint8_t requiredMotors;
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uint8_t requiredMotors;
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VersionInfo_t versionInfo;
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VersionInfo_t versionInfo;
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// MK flags. TODO: Replace by enum. State machine.
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FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
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FlightMode_t currentFlightMode = FLIGHT_MODE_MANUAL;
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volatile uint8_t isMotorRunning = 0;
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volatile uint8_t isMotorRunning = 0;
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const MMXLATION XLATIONS[] = {
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{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
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{offsetof(ParamSet_t, gyroPID[0].P), offsetof(DynamicParams_t, gyroPID[0].P),0,255},
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{offsetof(ParamSet_t, gyroPID[0].I), offsetof(DynamicParams_t, gyroPID[0].I),0,255},
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{offsetof(ParamSet_t, gyroPID[0].D), offsetof(DynamicParams_t, gyroPID[0].D),0,255},
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{offsetof(ParamSet_t, gyroPID[1].P), offsetof(DynamicParams_t, gyroPID[1].P),0,255},
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{offsetof(ParamSet_t, gyroPID[1].I), offsetof(DynamicParams_t, gyroPID[1].I),0,255},
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{offsetof(ParamSet_t, gyroPID[1].D), offsetof(DynamicParams_t, gyroPID[1].D),0,255},
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{offsetof(ParamSet_t, gyroPID[2].P), offsetof(DynamicParams_t, gyroPID[2].P),0,255},
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{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},
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const MMXLATION XLATIONS[] = {
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{offsetof(ParamSet_t, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),0,255},
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{offsetof(ParamSet_t, externalControl), offsetof(DynamicParams_t, externalControl),0,255},
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{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
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{offsetof(ParamSet_t, servoConfigurations[0].manualControl), offsetof(DynamicParams_t, servoManualControl[0]),0,255},
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{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
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{offsetof(ParamSet_t, servoConfigurations[1].manualControl), offsetof(DynamicParams_t, servoManualControl[1]),0,255},
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  RED_OFF;
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  RED_OFF;
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  GRN_OFF;
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  GRN_OFF;
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}
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}
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void configuration_setFlightParameters(uint8_t newFlightMode) {
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void configuration_setFlightParameters(uint8_t newFlightMode) {
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        currentFlightMode = newFlightMode;
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        flight_updateFlightParametersToFlightMode(currentFlightMode = newFlightMode);
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        flight_updateFlightParametersToFlightMode();
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}
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}
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// Called after a change in configuration parameters, as a hook for modules to take over changes.
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// Called after a change in configuration parameters, as a hook for modules to take over changes.
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  // Battery warning and emergency flight
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  // Battery warning and emergency flight
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  staticParams.batteryVoltageWarning = 101;  // 3.7 each for 3S
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  staticParams.batteryVoltageWarning = 101;  // 3.7 each for 3S
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  staticParams.emergencyThrottle = 35;
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  staticParams.emergencyThrottle = 35;
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  staticParams.emergencyFlightDuration = 30;
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  staticParams.emergencyFlightDuration = 30;
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  for (uint8_t i=0; i<3; i++) {
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          staticParams.gyroPID[i].P = 80;
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          staticParams.gyroPID[i].I = 80;
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          staticParams.gyroPID[i].D = 40;
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  }
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  staticParams.stickIElevator = 80;
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  staticParams.stickIElevator = 80;
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  staticParams.stickIAilerons = 120;
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  staticParams.stickIAilerons = 120;
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  staticParams.stickIRudder = 40;
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  staticParams.stickIRudder = 40;
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  for (uint8_t i=0; i<8; i++) {
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  for (uint8_t i=0; i<8; i++) {
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    staticParams.userParams[i] = i;
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    staticParams.userParams[i] = i;
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  }
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  }
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  staticParams.bitConfig =
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  staticParams.bitConfig =
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    CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED;
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    CFG_GYRO_SATURATION_PREVENTION;
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  memcpy(staticParams.name, "Default\0", 6);
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  memcpy(staticParams.name, "Default\0", 6);