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#define DEFEKT_MIXER_ERR    0x10
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#define DEFEKT_MIXER_ERR    0x10
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/*
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/*
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 * MikroKopter config struct
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 * MikroKopter config struct
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 * portions taken and adapted from
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.06a/eeprom.h
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 * http://svn.mikrokopter.de/filedetails.php?repname=FlightCtrl&path=/tags/V2.08a/eeprom.h
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 */
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 */
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#define EEPARAM_REVISION        102 // is count up, if paramater stucture has changed (compatibility)
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#define EEPARAM_REVISION        103 // is count up, if paramater stucture has changed (compatibility)
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typedef struct
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typedef struct
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{
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{
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        unsigned char Revision;
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        unsigned char Revision;
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        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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        unsigned char Kanalbelegung[12];       // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
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        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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        unsigned char GlobalConfig;           // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
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        unsigned char Hoehe_MinGas;           // Wert : 0-100
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        unsigned char Hoehe_MinGas;           // Wert : 0-100
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        unsigned char Luftdruck_D;            // Wert : 0-250
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        unsigned char Luftdruck_D;            // Wert : 0-250
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        unsigned char HoeheChannel;           // Wert : 0-32
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        unsigned char HoeheChannel;           // Wert : 0-32
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        unsigned char Hoehe_P;                // Wert : 0-32
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        unsigned char Hoehe_P;                // Wert : 0-32
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        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
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        unsigned char Hoehe_Verstaerkung;     // Wert : 0-50
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        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
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        unsigned char Hoehe_ACC_Wirkung;      // Wert : 0-250
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        unsigned char Hoehe_HoverBand;        // Wert : 0-250
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        unsigned char Hoehe_HoverBand;        // Wert : 0-250
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        unsigned char Hoehe_GPS_Z;            // Wert : 0-250
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        unsigned char Hoehe_TiltCompensation; // Wert : 0-250
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        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
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        unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250
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        unsigned char Stick_P;                // Wert : 1-6
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        unsigned char Stick_P;                // Wert : 1-6
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        unsigned char Stick_D;                // Wert : 0-64
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        unsigned char Stick_D;                // Wert : 0-64
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        unsigned char StickGier_P;            // Wert : 1-20
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        unsigned char StickGier_P;            // Wert : 1-20
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        unsigned char Gas_Min;                // Wert : 0-32
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        unsigned char Gas_Min;                // Wert : 0-32
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        unsigned char Gas_Max;                // Wert : 33-250
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        unsigned char Gas_Max;                // Wert : 33-250
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        unsigned char GyroAccFaktor;          // Wert : 1-64
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        unsigned char GyroAccFaktor;          // Wert : 1-64
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        unsigned char KompassWirkung;         // Wert : 0-32
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        unsigned char KompassWirkung;         // Wert : 0-32
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        unsigned char Gyro_P;                 // Wert : 10-250
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        unsigned char Gyro_P;                 // Wert : 10-250
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        unsigned char Gyro_I;                 // Wert : 0-250
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        unsigned char Gyro_I;                 // Wert : 0-250
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        unsigned char Gyro_D;                 // Wert : 0-250
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        unsigned char Gyro_D;                 // Wert : 0-250
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        unsigned char Gyro_Gier_P;            // Wert : 10-250
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        unsigned char Gyro_Gier_P;            // Wert : 10-250
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        unsigned char Gyro_Gier_I;            // Wert : 0-250
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        unsigned char Gyro_Gier_I;            // Wert : 0-250
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        unsigned char Gyro_Stability;         // Wert : 0-16
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        unsigned char Gyro_Stability;         // Wert : 0-16
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        unsigned char UnterspannungsWarnung;  // Wert : 0-250
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        unsigned char UnterspannungsWarnung;  // Wert : 0-250
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        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
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        unsigned char NotGas;                 // Wert : 0-250     //Gaswert bei Empängsverlust
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        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
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        unsigned char NotGasZeit;             // Wert : 0-250     // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
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        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
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        unsigned char Receiver;                   // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D
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        unsigned char I_Faktor;               // Wert : 0-250
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        unsigned char I_Faktor;               // Wert : 0-250
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        unsigned char UserParam1;             // Wert : 0-250
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        unsigned char UserParam1;             // Wert : 0-250
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        unsigned char UserParam2;             // Wert : 0-250
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        unsigned char UserParam2;             // Wert : 0-250
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        unsigned char UserParam3;             // Wert : 0-250
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        unsigned char UserParam3;             // Wert : 0-250
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        unsigned char UserParam4;             // Wert : 0-250
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        unsigned char UserParam4;             // Wert : 0-250
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        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
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        unsigned char ServoNickControl;       // Wert : 0-250     // Stellung des Servos
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        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
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        unsigned char ServoNickComp;          // Wert : 0-250     // Einfluss Gyro/Servo
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        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
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        unsigned char ServoNickMin;           // Wert : 0-250     // Anschlag
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        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
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        unsigned char ServoNickMax;           // Wert : 0-250     // Anschlag
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        //--- Seit V0.75
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        //--- Seit V0.75
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        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
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        unsigned char ServoRollControl;       // Wert : 0-250     // Stellung des Servos
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        unsigned char ServoRollComp;          // Wert : 0-250
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        unsigned char ServoRollComp;          // Wert : 0-250
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        unsigned char ServoRollMin;           // Wert : 0-250
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        unsigned char ServoRollMin;           // Wert : 0-250
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        unsigned char ServoRollMax;           // Wert : 0-250
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        unsigned char ServoRollMax;           // Wert : 0-250
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        //---
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        //---
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        unsigned char ServoNickRefresh;       // Speed of the Servo
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        unsigned char ServoNickRefresh;       // Speed of the Servo
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    unsigned char ServoManualControlSpeed;//
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    unsigned char ServoManualControlSpeed;//
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    unsigned char CamOrientation;         //
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    unsigned char CamOrientation;         //
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        unsigned char Servo3;                    // Value or mapping of the Servo Output
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        unsigned char Servo3;                    // Value or mapping of the Servo Output
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        unsigned char Servo4;                            // Value or mapping of the Servo Output
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        unsigned char Servo4;                            // Value or mapping of the Servo Output
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        unsigned char Servo5;                            // Value or mapping of the Servo Output
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        unsigned char Servo5;                            // Value or mapping of the Servo Output
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        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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        unsigned char LoopGasLimit;           // Wert: 0-250  max. Gas während Looping
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        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
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        unsigned char LoopThreshold;          // Wert: 0-250  Schwelle für Stickausschlag
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        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
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        unsigned char LoopHysterese;          // Wert: 0-250  Hysterese für Stickausschlag
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        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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        unsigned char AchsKopplung1;          // Wert: 0-250  Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        unsigned char AchsKopplung2;          // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        unsigned char CouplingYawCorrection;  // Wert: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
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        unsigned char WinkelUmschlagNick;     // Wert: 0-250  180°-Punkt
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        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
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        unsigned char WinkelUmschlagRoll;     // Wert: 0-250  180°-Punkt
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        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
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        unsigned char GyroAccAbgleich;        // 1/k  (Koppel_ACC_Wirkung)
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        unsigned char Driftkomp;
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        unsigned char Driftkomp;
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        unsigned char DynamicStability;
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        unsigned char DynamicStability;
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        unsigned char UserParam5;             // Wert : 0-250
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        unsigned char UserParam5;             // Wert : 0-250
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        unsigned char UserParam6;             // Wert : 0-250
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        unsigned char UserParam6;             // Wert : 0-250
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        unsigned char UserParam7;             // Wert : 0-250
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        unsigned char UserParam7;             // Wert : 0-250
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        unsigned char UserParam8;             // Wert : 0-250
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        unsigned char UserParam8;             // Wert : 0-250
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        //---Output ---------------------------------------------
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        //---Output ---------------------------------------------
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        unsigned char J16Bitmask;             // for the J16 Output
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        unsigned char J16Bitmask;             // for the J16 Output
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        unsigned char J16Timing;              // for the J16 Output
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        unsigned char J16Timing;              // for the J16 Output
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        unsigned char J17Bitmask;             // for the J17 Output
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        unsigned char J17Bitmask;             // for the J17 Output
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        unsigned char J17Timing;              // for the J17 Output
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        unsigned char J17Timing;              // for the J17 Output
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        // seit version V0.75c
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        // seit version V0.75c
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        unsigned char WARN_J16_Bitmask;       // for the J16 Output
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        unsigned char WARN_J16_Bitmask;       // for the J16 Output
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        unsigned char WARN_J17_Bitmask;       // for the J17 Output
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        unsigned char WARN_J17_Bitmask;       // for the J17 Output
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        //---NaviCtrl---------------------------------------------
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        //---NaviCtrl---------------------------------------------
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        unsigned char AutoPhotoDistance;      // Auto Photo
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        unsigned char AutoPhotoDistance;      // Auto Photo
254
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
254
        unsigned char NaviGpsModeChannel;     // Parameters for the Naviboard
255
        unsigned char NaviGpsGain;
255
        unsigned char NaviGpsGain;
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        unsigned char NaviGpsP;
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        unsigned char NaviGpsP;
257
        unsigned char NaviGpsI;
257
        unsigned char NaviGpsI;
258
        unsigned char NaviGpsD;
258
        unsigned char NaviGpsD;
259
        unsigned char NaviGpsPLimit;
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        unsigned char NaviGpsPLimit;
260
        unsigned char NaviGpsILimit;
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        unsigned char NaviGpsILimit;
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        unsigned char NaviGpsDLimit;
261
        unsigned char NaviGpsDLimit;
262
        unsigned char NaviGpsA;
262
        unsigned char NaviGpsA;
263
        unsigned char NaviGpsMinSat;
263
        unsigned char NaviGpsMinSat;
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        unsigned char NaviStickThreshold;
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        unsigned char NaviStickThreshold;
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        unsigned char NaviWindCorrection;
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        unsigned char NaviWindCorrection;
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        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
266
        unsigned char NaviAccCompensation;    // New since 0.86 -> was: SpeedCompensation
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        unsigned char NaviMaxFlyingRange;     // in 10m
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        unsigned char NaviMaxFlyingRange;     // in 10m
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        unsigned char NaviAngleLimitation;
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        unsigned char NaviAngleLimitation;
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        unsigned char NaviPH_LoginTime;
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        unsigned char NaviPH_LoginTime;
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        unsigned char NaviDescendRange;
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        unsigned char NaviDescendRange;
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        //---Ext.Ctrl---------------------------------------------
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        //---Ext.Ctrl---------------------------------------------
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        unsigned char ExternalControl;         // for serial Control
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        unsigned char ExternalControl;         // for serial Control
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        //---CareFree---------------------------------------------
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        //---CareFree---------------------------------------------
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        unsigned char OrientationAngle;        // Where is the front-direction?
274
        unsigned char OrientationAngle;        // Where is the front-direction?
275
        unsigned char CareFreeChannel;     // switch for CareFree
275
        unsigned char CareFreeChannel;     // switch for CareFree
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    unsigned char MotorSafetySwitch;
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    unsigned char MotorSafetySwitch;
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    unsigned char MotorSmooth;
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    unsigned char MotorSmooth;
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    unsigned char ComingHomeAltitude;
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    unsigned char ComingHomeAltitude;
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    unsigned char FailSafeTime;
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    unsigned char FailSafeTime;
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    unsigned char MaxAltitude;
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    unsigned char MaxAltitude;
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        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
281
        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
282
        unsigned char ServoFilterNick;  
282
        unsigned char ServoFilterNick;  
283
        unsigned char ServoFilterRoll;  
283
        unsigned char ServoFilterRoll;  
284
    unsigned char Servo3OnValue;
284
    unsigned char Servo3OnValue;
285
    unsigned char Servo3OffValue;
285
    unsigned char Servo3OffValue;
286
    unsigned char Servo4OnValue;
286
    unsigned char Servo4OnValue;
287
    unsigned char Servo4OffValue;
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    unsigned char Servo4OffValue;
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        unsigned char StartLandChannel;  
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        unsigned char StartLandChannel;  
289
        unsigned char LandingSpeed;  
289
        unsigned char LandingSpeed;  
290
        unsigned char CompassOffset;        
290
        unsigned char CompassOffset;        
291
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
291
        unsigned char AutoLandingVoltage;    // in 0,1V  0 -> disabled
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        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
292
        unsigned char ComingHomeVoltage;    // in 0,1V  0 -> disabled
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        unsigned char AutoPhotoAtitudes;
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        unsigned char AutoPhotoAtitudes;
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        unsigned char SingleWpSpeed;
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        unsigned char SingleWpSpeed;
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        //------------------------------------------------
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        //------------------------------------------------
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        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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        unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
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        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
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        unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen
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        unsigned char ExtraConfig;        // bitcodiert
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        unsigned char ExtraConfig;        // bitcodiert
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        unsigned char GlobalConfig3;      // bitcodiert
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        unsigned char GlobalConfig3;      // bitcodiert
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        char Name[12];
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        char Name[12];
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        unsigned char crc;                                // must be the last byte!
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        unsigned char crc;                                // must be the last byte!
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} paramset_t; // 127 bytes
302
} paramset_t; // 134 bytes (V1.06)
-
 
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typedef struct {
305
typedef struct {
305
    u8 SettingsIndex;
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    u8 SettingsIndex;
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    paramset_t param;
307
    paramset_t param;
307
} __attribute__((packed)) paramset_serial;
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} __attribute__((packed)) paramset_serial;