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#include "flight.h"
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#include "flight.h"
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int16_t variables[VARIABLE_COUNT];
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int16_t variables[VARIABLE_COUNT];
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ParamSet_t staticParams;
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ParamSet_t staticParams;
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ChannelMap_t channelMap;
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ChannelMap_t channelMap;
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RCTrim_t rcTrim;
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IMUConfig_t IMUConfig;
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IMUConfig_t IMUConfig;
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volatile DynamicParams_t dynamicParams;
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volatile DynamicParams_t dynamicParams;
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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].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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{offsetof(ParamSet_t, gyroPID[2].I), offsetof(DynamicParams_t, gyroPID[2].I),0,255},
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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, gyroPID[2].D), offsetof(DynamicParams_t, gyroPID[2].D),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, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[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, gimbalServoConfigurations[1].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[1]),0,255},
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{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
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{offsetof(ParamSet_t, outputFlash[0].timing), offsetof(DynamicParams_t, output0Timing),0,255},
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{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
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{offsetof(ParamSet_t, outputFlash[1].timing), offsetof(DynamicParams_t, output1Timing),0,255},
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  staticParams.airspeedCorrection = 100;
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  staticParams.airspeedCorrection = 100;
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  staticParams.isFlyingThreshold = 100;
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  staticParams.isFlyingThreshold = 100;
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  // Servos
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  // Servos
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  staticParams.servoCount = 7;
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  staticParams.servosReverse = CONTROL_SERVO_REVERSE_ELEVATOR | CONTROL_SERVO_REVERSE_RUDDER;
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  staticParams.servoCount = 7;
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  staticParams.gimbalServoMaxManualSpeed = 10;
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  staticParams.gimbalServoMaxManualSpeed = 10;
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  for (uint8_t i=0; i<2; i++) {
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  for (uint8_t i=0; i<2; i++) {
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    staticParams.servoConfigurations[i].manualControl = 128;
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    staticParams.gimbalServoConfigurations[i].manualControl = 128;
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    staticParams.servoConfigurations[i].stabilizationFactor = 0;
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    staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0;
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    staticParams.servoConfigurations[i].minValue = 32;
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    staticParams.gimbalServoConfigurations[i].minValue = 32;
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    staticParams.servoConfigurations[i].maxValue = 224;
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    staticParams.gimbalServoConfigurations[i].maxValue = 224;
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    staticParams.servoConfigurations[i].flags = 0;
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    staticParams.gimbalServoConfigurations[i].flags = 0;
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  }
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  }
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  // Battery warning and emergency flight
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  staticParams.batteryWarningVoltage = 101;  // 3.7 each for 3S
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  staticParams.emergencyThrottle = 35;
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  // Battery warning and emergency flight
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  staticParams.emergencyFlightDuration = 30;
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  staticParams.batteryWarningVoltage = 101;  // 3.7 each for 3S
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  for (uint8_t i=0; i<3; i++) {
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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].P = 80;
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          staticParams.gyroPID[i].I = 80;
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          staticParams.gyroPID[i].I = 80;
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          staticParams.gyroPID[i].D = 40;
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          staticParams.gyroPID[i].D = 40;
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          staticParams.gyroPID[i].iMax = 45;
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          staticParams.gyroPID[i].iMax = 45;
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  }
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  }
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  staticParams.stickIElevator = 80;
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  staticParams.stickIElevator = 60;
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  staticParams.stickIAilerons = 120;
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  staticParams.stickIAilerons = 80;
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  staticParams.stickIRudder = 40;
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  staticParams.stickIRudder = 25;
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  IMUConfig.gyroDFilterConstant = 1;
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  IMUConfig.gyroDFilterConstant = 1;
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  IMUConfig.rateTolerance = 120;
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  IMUConfig.rateTolerance = 120;
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  IMUConfig.gyroDWindowLength = 3;
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  IMUConfig.gyroDWindowLength = 3;
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  IMUConfig.gyroQuadrant = 0;
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  IMUConfig.gyroQuadrant = 0;
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  IMUConfig.imuReversedFlags = 0;
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  IMUConfig.imuReversedFlags = 0;
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  IMUConfig.gyroCalibrationTweak[0] =
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  IMUConfig.gyroCalibrationTweak[1] =
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  IMUConfig.gyroCalibrationTweak[2] = 0;
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}
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}
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/***************************************************/
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/***************************************************/
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/*    Default Values for R/C Channels              */
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/*    Default Values for R/C Channels              */
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/***************************************************/
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/***************************************************/
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void channelMap_default(void) {
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void channelMap_default(void) {
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  channelMap.RCPolarity = 1;
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  channelMap.HWTrim = 192;
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        channelMap.HWTrim = 0;
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  channelMap.variableOffset = 128;
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  channelMap.channels[CH_ELEVATOR] = 1;
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  channelMap.channels[CH_ELEVATOR] = 1;
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  channelMap.channels[CH_AILERONS] = 0;
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  channelMap.channels[CH_AILERONS] = 0;
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  channelMap.channels[CH_THROTTLE] = 2;
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  channelMap.channels[CH_THROTTLE] = 2;
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  channelMap.channels[CH_RUDDER]   = 3;
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  channelMap.channels[CH_RUDDER]   = 3;