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#include <util/delay.h>
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#include <util/delay.h>
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#include <stddef.h>
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#include <stddef.h>
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#include <string.h>
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#include <string.h>
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#include "configuration.h"
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#include "configuration.h"
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#include "controlMixer.h"
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#include "rc.h"
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#include "rc.h"
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#include "output.h"
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#include "output.h"
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#include "flight.h"
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#include "flight.h"
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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, gimbalServoConfigurations[0].manualControl), offsetof(DynamicParams_t, gimbalServoManualControl[0]),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, 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 = 1;
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  staticParams.airspeedCorrection = 1;
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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.servoCount = 7;
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  staticParams.servosReverse = CONTROL_SERVO_REVERSE_AILERONS;
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  staticParams.servos[CONTROL_ELEVATOR].reverse = 0;
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  staticParams.gimbalServoMaxManualSpeed = 10;
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  for (uint8_t i=0; i<2; i++) {
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    staticParams.gimbalServoConfigurations[i].manualControl = 128;
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    staticParams.gimbalServoConfigurations[i].stabilizationFactor = 0;
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    staticParams.gimbalServoConfigurations[i].minValue = 32;
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    staticParams.gimbalServoConfigurations[i].maxValue = 224;
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  staticParams.servos[CONTROL_AILERONS].reverse = 1;
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    staticParams.gimbalServoConfigurations[i].flags = 0;
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  }
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  staticParams.servos[CONTROL_RUDDER].reverse = 0;
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  // Battery warning and emergency flight
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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.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 = 40;
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          staticParams.gyroPID[i].P = 40;
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          staticParams.gyroPID[i].I = 40;
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          staticParams.gyroPID[i].I = 40;
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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 = 60;
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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.RCPolarity = 1;
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  channelMap.HWTrim = 110;
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  channelMap.HWTrim = 10;
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  channelMap.variableOffset = 131;
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  channelMap.variableOffset = 131;
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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;