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<parameterset eepromVersion="3" length="73">
  <parameter name="bitConfig">
    <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="0"/>
    <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="0"/>
    <bit name="CFG_HEADING_HOLD" value="0"/>
    <bit name="CFG_COMPASS_ACTIVE" value="0"/>
    <bit name="CFG_COMPASS_FIX" value="0"/>
    <bit name="CFG_GPS_ACTIVE" value="0"/>
    <bit name="CFG_AXIS_COUPLING_ACTIVE" value="0"/>
    <bit name="CFG_GYRO_SATURATION_PREVENTION" value="1"/>
  </parameter>

  <parameter name="gyroQuadrant" value="0"/>
  <parameter name="accQuadrant" value="4"/>
  <parameter name="imuReversedFlags">
    <bit name="IMU_REVERSE_GYRO_PR" value="0"/>
    <bit name="IMU_REVERSE_GYRO_YAW" value="0"/>
    <bit name="IMU_REVERSE_ACC_XY" value="1"/>
    <bit name="IMU_REVERSE_ACC_Z" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
  </parameter>

  <parameter name="gyroPIDFilterConstant" value="1"/>
  <parameter name="gyroATTFilterConstant" value="1"/>
  <parameter name="gyroDFilterConstant" value="1"/>
  <parameter name="accFilterConstant" value="15"/>

  <parameter name="maxAccVector" value="250"/>
  <parameter name="maxControlActivity" value="25"/>
  <parameter name="zerothOrderCorrection" value="10"/>
  <parameter name="driftCompDivider" value="2"/>
  <parameter name="driftCompLimit" value="0"/>
 
  <parameter name="axisCoupling1" value="90"/>
  <parameter name="axisCoupling2" value="67"/>
  <parameter name="axisCouplingYawCorrection" value="0"/>
 
  <parameter name="levelCorrectionPitch" value="128"/>
  <parameter name="levelCorrectionRoll" value="128"/>

  <parameter name="gyroP" value="70"/>
  <parameter name="gyroI" value="40"/>
  <parameter name="gyroD" value="40"/>
  <parameter name="attitudeControl" value="0"/>
  <parameter name="stickP" value="8"/>
  <parameter name="stickD" value="2"/>
  <parameter name="stickYawP" value="8"/>
  <parameter name="stickThrottleD" value="8"/>
  <parameter name="minThrottle" value="4"/>
  <parameter name="maxThrottle" value="230"/>
  <parameter name="externalControl" value="0"/>
  <parameter name="motorSmoothing" value="0"/>
  <parameter name="dynamicStability" value="50"/>
  <parameter name="IFactor" value="32"/>
  <parameter name="yawIFactor" value="40"/>
  <parameter name="compassYawEffect" value="128"/>
  <parameter name="batteryVoltageWarning" value="100"/>
  <parameter name="emergencyThrottle" value="40"/>
  <parameter name="emergencyFlightDuration" value="30"/>
 
 
  <parameter name="airpressureFilterConstant" value="8"/>
  <parameter name="airpressureWindowLength" value="0"/>
  <parameter name="airpressureAccZCorrection" value="184"/>
  <parameter name="heightP" value="var1"/>
  <parameter name="heightI" value="var2"/>
  <parameter name="heightD" value="0"/>
  <parameter name="heightSetting" value="var0"/>
  <parameter name="heightControlMaxIntegral" value="30"/>
  <parameter name="heightMaxThrottleChange" value="30"/>
  <parameter name="heightSlewRate" value="200"/>

 
  <parameter name="servoCount" value="7"/>
  <parameter name="servoManualMaxSpeed" value="10"/>
  <parameter name="pitchServoControl" value="128"/>
  <parameter name="pitchServoStabilization" value="0"/>
  <parameter name="pitchServoMinValue" value="32"/>
  <parameter name="pitchServoMaxValue" value="224"/>
  <parameter name="pitchServoFlags">
    <bit name="reverseStabilization" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
  </parameter>
  <parameter name="rollServoControl" value="128"/>
  <parameter name="rollServoStabilization" value="0"/>
  <parameter name="rollServoMinValue" value="32"/>
  <parameter name="rollServoMaxValue" value="224"/>
  <parameter name="rollServoFlags">
    <bit name="reverseStabilization" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
    <bit name="Unused" value="0"/>
  </parameter>

  <parameter name="output0BitMask">
    <bit name="t0" value="1"/>
    <bit name="t1" value="0"/>
    <bit name="t2" value="0"/>
    <bit name="t3" value="0"/>
    <bit name="t4" value="0"/>
    <bit name="t5" value="0"/>
    <bit name="t6" value="0"/>
    <bit name="t7" value="0"/>
  </parameter>
  <parameter name="output0Timing" value="15"/>
  <parameter name="output1BitMask">
    <bit name="t0" value="1"/>
    <bit name="t1" value="0"/>
    <bit name="t2" value="0"/>
    <bit name="t3" value="0"/>
    <bit name="t4" value="0"/>
    <bit name="t5" value="0"/>
    <bit name="t6" value="0"/>
    <bit name="t7" value="0"/>
  </parameter>
  <parameter name="output1Timing" value="14"/>
  <parameter name="outputDebugMask">
    <bit name="DEBUG_MAINLOOP_TIMER" value="0"/>
    <bit name="DEBUG_HEIGHT_DIFF" value="1"/>
    <bit name="DEBUG_HOVERTHROTTLE" value="0"/>
    <bit name="DEBUG_ACC0THORDER" value="0"/>
    <bit name="DEBUG_SIGNAL" value="0"/>
    <bit name="DEBUG_PRESSURERANGE" value="0"/>
    <bit name="DEBUG_CLIP" value="0"/>
    <bit name="DEBUG_SENSORLIMIT" value="0"/>
  </parameter>
  <parameter name="outputFlags">
    <bit name="INVERT_OUTPUT0" value="0"/>
    <bit name="INVERT_OUTPUT1" value="0"/>
    <bit name="FLASH_OUTPUT0_BEEPING" value="0"/>
    <bit name="FLASH_OUTPUT1_BEEPING" value="0"/>
    <bit name="USE_ONBOARD_LEDS" value="1"/>
    <bit name="TEST_OFF" value="0"/>
    <bit name="TEST_ON" value="0"/>
    <bit name="UNUSED" value="0"/>
  </parameter>
  <parameter name="userparam0" value="0"/>
  <parameter name="userparam1" value="0"/>
  <parameter name="userparam2" value="0"/>
  <parameter name="userparam3" value="0"/>
  <parameter name="userparam4" value="0"/>
  <parameter name="userparam5" value="0"/>
  <parameter name="userparam6" value="0"/>
  <parameter name="userparam7" value="0"/>
</parameterset>