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Line 8... Line 8...
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  /*PMM*/uint8_t HeightD;
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  /*PMM*/uint8_t HeightD;
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  /* P */uint8_t MaxHeight;
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  /* P */uint8_t MaxHeight;
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  /*PMM*/uint8_t HeightP;
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  /*PMM*/uint8_t HeightP;
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  /* P */uint8_t Height_ACC_Effect;
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  /* P */uint8_t Height_ACC_Effect;
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  /* P */uint8_t CompassYawEffect;
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  /* P */uint8_t CompassYawEffect;
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  /* P */uint8_t unnused;
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  /* P */uint8_t GyroPitchP;
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  /* P */uint8_t GyroPitchP;
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  /* P */uint8_t GyroRollP;
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  /* P */uint8_t GyroRollP;
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  /* P */uint8_t GyroPitchD;  // LoopGasLimit in tool
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  /* P */uint8_t GyroPitchD;  // LoopGasLimit in tool
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  /* P */uint8_t GyroRollD;   // AxisCoupling1 in tool
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  /* P */uint8_t GyroRollD;   // AxisCoupling1 in tool
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  /* P */uint8_t GyroYawD;    // AxisCoupling2 in tool
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  /* P */uint8_t AxisCouplingYawCorrection;
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  /* P */uint8_t GyroYawD;    // AxisCoupling2 in tool
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  /* P */uint8_t DynamicStability;
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  /* P */uint8_t ExternalControl;
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  /* P */uint8_t ExternalControl;
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  /*PMM*/uint8_t J16Timing;
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  /*PMM*/uint8_t J17Timing;
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  /* P */uint8_t NaviGpsModeControl;
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  /* P */uint8_t NaviGpsGain;
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  /* P */uint8_t NaviGpsP;
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  /* P */uint8_t NaviGpsI;
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  /* P */uint8_t NaviGpsD;
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  /* P */uint8_t NaviGpsACC;
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  /*PMM*/uint8_t NaviOperatingRadius;
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  /* P */uint8_t NaviWindCorrection;
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  /* P */uint8_t NaviSpeedCompensation;
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  int8_t KalmanK;
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  int8_t KalmanMaxDrift;
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  /*PMM*/uint8_t J16Timing;
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  int8_t KalmanMaxFusion;
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  /*PMM*/uint8_t J17Timing;
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} dynamicParam_t;
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} dynamicParam_t;
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extern dynamicParam_t dynamicParams;
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extern dynamicParam_t dynamicParams;
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  uint8_t MaxHeight; // Value : 0-32
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  uint8_t MaxHeight; // Value : 0-32
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  uint8_t HeightP; // Value : 0-32
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  uint8_t HeightP; // Value : 0-32
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  uint8_t Height_Gain; // Value : 0-50
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  uint8_t Height_Gain; // Value : 0-50
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  uint8_t Height_ACC_Effect; // Value : 0-250
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  uint8_t Height_ACC_Effect; // Value : 0-250
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  uint8_t StickElevatorP; // StickP in tool.
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  uint8_t StickElevatorP;
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  uint8_t StickAileronsP;  // StickD in tool.
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  uint8_t StickAileronsP;
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  uint8_t StickRudderP;
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  uint8_t StickRudderP;   // StickYawP in tool.
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  uint8_t PIDGyroFilter;// Value: 1-8
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  uint8_t GyroAccFactor; // Value : 1-64
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  uint8_t DGyroFilter; // Value: 1-8
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  uint8_t attitudeGyroFilter; // Value: 1-8
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  uint8_t CompassYawEffect; // Value : 0-32
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  uint8_t accFilter;
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  uint8_t GyroPitchP;  // GyroP in tool
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  uint8_t GyroPitchP;
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  uint8_t GyroRollP;   // GyroI in tool
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  uint8_t GyroRollP;
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  uint8_t GyroYawP;    // GyroD in tool
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  uint8_t GyroYawP;
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  uint8_t UserParams[8]; // Value : 0-250
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  uint8_t UserParams[8]; // Value : 0-250
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  uint8_t LowVoltageWarning; // Value : 0-250
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  uint8_t LowVoltageWarning; // Value : 0-250
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  uint8_t ControlSigns;
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  uint8_t servoDirections;
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  uint8_t ServoRefresh; // Value: 0-250      // Refreshrate of servo pwm output
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  uint8_t ServoRefresh; // Value: 0-250      // Refreshrate of servo pwm output
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  uint8_t GyroPitchD;
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  uint8_t GyroRollD;
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  uint8_t GyroYawD;
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  uint8_t GyroPitchD; // LoopGasLimit in tool
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  uint8_t zerothOrderGyroCorrectionZAccLimit;
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  uint8_t GyroRollD;  // loopThreshold in tool
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  uint8_t zerothOrderGyroCorrectionFactorx1000;
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  uint8_t GyroYawD;   // loopHysteresis in tool
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  uint8_t secondOrderGyroCorrectionDivisor;
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  uint8_t GyroAccTrim; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t secondOrderGyroCorrectionLimit;
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  uint8_t DriftComp; // limit for gyrodrift compensation
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  uint8_t J16Bitmask; // for the J16 Output
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  uint8_t J16Timing; // for the J16 Output
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  uint8_t J17Bitmask; // for the J17 Output
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  uint8_t J17Timing; // for the J17 Output
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  uint8_t CompassYawEffect; // Value : 0-32
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  uint8_t ExternalControl; // for serial Control
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  uint8_t BitConfig; // see upper defines for bitcoding
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  uint8_t J16Bitmask; // for the J16 Output
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#define CFG_COMPASS_FIX         (1<<4)
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#define CFG_COMPASS_FIX         (1<<4)
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#define CFG_GPS_ACTIVE          (1<<5)
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#define CFG_GPS_ACTIVE          (1<<5)
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#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
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#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
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#define CFG_ROTARY_RATE_LIMITER (1<<7)
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#define CFG_ROTARY_RATE_LIMITER (1<<7)
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// bit mask for staticParams.BitConfig
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#define CFG_LOOP_UP                 (1<<0)
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#define CFG_LOOP_DOWN           (1<<1)
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// bit mask for staticParams.ServoDirections
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#define CFG_LOOP_LEFT           (1<<2)
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#define SERVO_DIRECTION_ELEVATOR        (1<<0)
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#define CFG_LOOP_RIGHT          (1<<3)
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#define SERVO_DIRECTION_AILERONS        (1<<1)
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#define CFG_HEIGHT_3SWITCH      (1<<4)
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#define SERVO_DIRECTION_RUDDER          (1<<2)
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#define ATMEGA644       0
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#define ATMEGA644       0