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Rev 2140 Rev 2142
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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 "sensors.h"
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#include "sensors.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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void setOtherDefaults(void) {
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void setOtherDefaults(void) {
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  // Control
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  // Control
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  staticParams.externalControl = 0;
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  staticParams.externalControl = 0;
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  staticParams.IFactor = 52;
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  staticParams.IFactor = 52;
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  staticParams.airspeedCorrection = 100;
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  staticParams.airspeedCorrection = 1;
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  staticParams.isFlyingThreshold = 100;
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  staticParams.isFlyingThreshold = 10;
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  // Servos
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  // Servos
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  staticParams.servoCount = 7;
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  staticParams.servos[CONTROL_ELEVATOR].reverse = 1;
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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.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.gimbalServoConfigurations[i].flags = 0;
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  staticParams.servos[CONTROL_AILERONS].reverse = 0;
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  }
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  staticParams.servos[CONTROL_RUDDER].reverse = 1;
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  // Battery warning and emergency flight
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  // Battery warning and emergency flight
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void IMUConfig_default(void) {
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void IMUConfig_default(void) {
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  IMUConfig.gyroPIDFilterConstant = 8;
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  IMUConfig.gyroPIDFilterConstant = 8;
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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 = 8;
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  IMUConfig.gyroQuadrant = 2;
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  IMUConfig.gyroQuadrant = 2;
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  IMUConfig.imuReversedFlags = 0;
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  IMUConfig.imuReversedFlags = 0;
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