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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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MixerMatrix_t mixerMatrix;
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MotorMixer_t motorMixer;
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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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  staticParams.stickYawP = 12;
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  staticParams.stickYawP = 12;
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  staticParams.stickThrottleD = 12;
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  staticParams.stickThrottleD = 12;
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  staticParams.minThrottle = 8;
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  staticParams.minThrottle = 8;
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  staticParams.maxThrottle = 230;
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  staticParams.maxThrottle = 230;
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  staticParams.externalControl = 0;
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  staticParams.externalControl = 0;
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  staticParams.attitudeControl = 0;
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  staticParams.motorSmoothing = 0;
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  staticParams.motorSmoothing = 0;
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  staticParams.gyroP = 60;
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  staticParams.gyroP = 60;
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  staticParams.gyroI = 80;
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  staticParams.gyroI = 80;
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  staticParams.outputFlash[0].bitmask = 1; //0b01011111;
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  staticParams.outputFlash[0].bitmask = 1; //0b01011111;
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  staticParams.outputFlash[0].timing = 15;
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  staticParams.outputFlash[0].timing = 15;
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  staticParams.outputFlash[1].bitmask = 3; //0b11110011;
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  staticParams.outputFlash[1].bitmask = 3; //0b11110011;
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  staticParams.outputFlash[1].timing = 15;
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  staticParams.outputFlash[1].timing = 15;
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  staticParams.outputDebugMask = 8;
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  staticParams.outputDebugMask = DEBUG_ACC0THORDER;
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  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;
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  staticParams.outputFlags   = OUTPUTFLAGS_FLASH_0_AT_BEEP | OUTPUTFLAGS_FLASH_1_AT_BEEP | OUTPUTFLAGS_USE_ONBOARD_LEDS;
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  staticParams.naviMode = 0; // free.
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  staticParams.naviMode = 0; // free.
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  for (uint8_t i=0; i<8; i++) {
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  for (uint8_t i=0; i<8; i++) {
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    staticParams.userParams[i] = i;
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    staticParams.userParams[i] = i;
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  }
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  }
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  staticParams.bitConfig =
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    CFG_GYRO_SATURATION_PREVENTION | CFG_COMPASS_ENABLED;
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  staticParams.bitConfig = CFG_GYRO_SATURATION_PREVENTION;
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  memcpy(staticParams.name, "Default\0", 6);
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  memcpy(staticParams.name, "Default\0", 6);
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}
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}
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void IMUConfig_default(void) {
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void IMUConfig_default(void) {
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  IMUConfig.gyroPIDFilterConstant = 1;
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  IMUConfig.gyroPIDFilterConstant = 1;
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  IMUConfig.gyroDWindowLength = 3;
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  IMUConfig.gyroDWindowLength = 3;
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  IMUConfig.gyroDFilterConstant = 1;
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  // IMUConfig.gyroDFilterConstant = 1;
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  IMUConfig.accFilterConstant = 10;
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  IMUConfig.accFilterConstant = 10;
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  IMUConfig.rateTolerance = 120;
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  IMUConfig.rateTolerance = 120;
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  IMUConfig.gyroActivityDamping = 24;
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  IMUConfig.gyroActivityDamping = 24;
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  gyro_setDefaultParameters();
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  gyro_setDefaultParameters();
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}
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}
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/***************************************************/
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/*    Default Values for Mixer Table               */
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/***************************************************/
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/***************************************************/
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/*    Default Values for Mixer Table               */
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void mixerMatrix_default(void) { // Quadro
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/***************************************************/
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  uint8_t i;
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void motorMixer_default(void) { // Quadro
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  // mixerMatric.revision = EEMIXER_REVISION;
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  uint8_t i;
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  // clear mixer table (but preset throttle)
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  // clear mixer table (but preset throttle)
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  for (i = 0; i < 16; i++) {
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  for (i = 0; i < MAX_MOTORS; i++) {
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    mixerMatrix.motor[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
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    motorMixer.matrix[i][MIX_THROTTLE] = i < 4 ? 64 : 0;
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    mixerMatrix.motor[i][MIX_PITCH] = 0;
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    motorMixer.matrix[i][MIX_PITCH] = 0;
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    motorMixer.matrix[i][MIX_ROLL] = 0;
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    motorMixer.matrix[i][MIX_YAW] = 0;
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    mixerMatrix.motor[i][MIX_ROLL] = 0;
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  }
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    mixerMatrix.motor[i][MIX_YAW] = 0;
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  // default = Quadro
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  motorMixer.matrix[0][MIX_PITCH] = +64;
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  motorMixer.matrix[0][MIX_YAW] = +64;
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  }
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  motorMixer.matrix[0][MIX_OPPOSITE_MOTOR] = 1;
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  // default = Quadro
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  motorMixer.matrix[1][MIX_PITCH] = -64;
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  motorMixer.matrix[1][MIX_YAW] = +64;
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  mixerMatrix.motor[0][MIX_PITCH] = +64;
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  motorMixer.matrix[1][MIX_OPPOSITE_MOTOR] = 0;
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  mixerMatrix.motor[0][MIX_YAW] = +64;
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  motorMixer.matrix[2][MIX_ROLL] = -64;
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  motorMixer.matrix[2][MIX_YAW] = -64;
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  mixerMatrix.motor[1][MIX_PITCH] = -64;
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  motorMixer.matrix[2][MIX_OPPOSITE_MOTOR] = 3;
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  mixerMatrix.motor[1][MIX_YAW] = +64;
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  mixerMatrix.motor[2][MIX_ROLL] = -64;
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  motorMixer.matrix[3][MIX_ROLL] = +64;
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  mixerMatrix.motor[2][MIX_YAW] = -64;
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  motorMixer.matrix[3][MIX_YAW] = -64;
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  mixerMatrix.motor[3][MIX_ROLL] = +64;
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  motorMixer.matrix[3][MIX_OPPOSITE_MOTOR] = 2;
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  mixerMatrix.motor[2][MIX_YAW]   = -64;
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  mixerMatrix.motor[2][MIX_YAW]   = -64;
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  mixerMatrix.motor[3][MIX_PITCH] = -45;
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  mixerMatrix.motor[3][MIX_PITCH] = -45;
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  mixerMatrix.motor[3][MIX_ROLL]  = +45;
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  mixerMatrix.motor[3][MIX_ROLL]  = +45;
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  mixerMatrix.motor[3][MIX_YAW]   = -64;
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  */
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  mixerMatrix.motor[3][MIX_YAW]   = -64;
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  memcpy(motorMixer.name, "Quadro X\0", 9);
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  memcpy(mixerMatrix.name, "X\0", 7);
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  */
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}
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}
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