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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 struct {
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  uint8_t gyroQuadrant;
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  uint8_t accQuadrant;
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  uint8_t imuReversedFlags;
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  uint8_t gyroPIDFilterConstant;
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  uint8_t gyroDWindowLength;
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  uint8_t gyroDFilterConstant;
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  uint8_t accFilterConstant;
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  uint8_t zerothOrderCorrection;
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  uint8_t rateTolerance;
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  uint8_t gyroActivityDamping;
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  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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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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} PID_t;
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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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        uint8_t iMax;
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} PIDIM_t;
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typedef enum {
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typedef enum {
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  FLIGHT_MODE_NONE,
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  FLIGHT_MODE_NONE,
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  FLIGHT_MODE_MANUAL,
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  FLIGHT_MODE_MANUAL,
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  FLIGHT_MODE_RATE,
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  FLIGHT_MODE_RATE,
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}__attribute__((packed)) VersionInfo_t;
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}__attribute__((packed)) VersionInfo_t;
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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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  /*PMM*/uint8_t gyroPitchD;
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typedef struct {
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  /* P */uint8_t gyroRollD;\
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  // IMU stuff:
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  /* P */uint8_t gyroYawD;
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  PID_t gyroPID[3];
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typedef struct {
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typedef struct {
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  uint8_t bitmask;
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  uint8_t bitmask;
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  uint8_t timing;
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  uint8_t timing;
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} output_flash_t;
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} output_flash_t;
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typedef struct {
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  uint8_t gyroQuadrant;
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  uint8_t accQuadrant;
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  uint8_t imuReversedFlags;
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  uint8_t gyroPIDFilterConstant;
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  uint8_t gyroDWindowLength;
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  uint8_t gyroDFilterConstant;
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  uint8_t accFilterConstant;
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  uint8_t zerothOrderCorrection;
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  uint8_t rateTolerance;
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  uint8_t gyroActivityDamping;
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  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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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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} 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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  // Global bitflags
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  // Global bitflags
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  uint8_t bitConfig;  // see upper defines for bitcoding
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  // uint8_t axisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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  // uint8_t axisCoupling2; // 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 bitConfig;  // see upper defines for bitcoding
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  // Control
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  // Control
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  PID_t gyroPID[3];
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  PIDIM_t gyroPID[3];
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} ParamSet_t;
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} ParamSet_t;
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extern ParamSet_t staticParams;
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extern ParamSet_t staticParams;
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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_HC_HOLD_SWITCH       (1<<1)
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// bit mask for staticParams.bitConfig
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#define CFG_HEADING_HOLD                (1<<2)
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#define CFG_COMPASS_ENABLED             (1<<3)
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#define CFG_UNUSED                      (1<<4)
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#define CFG_NAVI_ENABLED                (1<<5)
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#define CFG_AXIS_COUPLING_ENABLED       (1<<6)
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#define CFG_GYRO_SATURATION_PREVENTION  (1<<0)
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#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
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#define CFG_USE_AIRSPEED_PID            (1<<1)
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#define IMU_REVERSE_GYRO_PR             (1<<0)
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#define IMU_REVERSE_GYRO_PR             (1<<0)