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#include <inttypes.h>
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/io.h>
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typedef struct {
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typedef struct {
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        /*PMM*/uint8_t HeightD;
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  /*PMM*/uint8_t HeightD;
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        /* P */uint8_t MaxHeight;
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  /* P */uint8_t MaxHeight;
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        /*PMM*/uint8_t HeightP;
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  /*PMM*/uint8_t HeightP;
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        /* P */uint8_t Height_ACC_Effect;
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  /* P */uint8_t Height_ACC_Effect;
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        /* P */uint8_t CompassYawEffect;
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  /* P */uint8_t CompassYawEffect;
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        /* P */uint8_t GyroD;
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  /* P */uint8_t GyroD;
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        /*PMM*/uint8_t GyroP;
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  /*PMM*/uint8_t GyroP;
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        /* P */uint8_t GyroI;
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  /* P */uint8_t GyroI;
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        /* Never used */uint8_t StickYawP;
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  /* Never used */uint8_t StickYawP;
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        /* P */uint8_t IFactor;
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  /* P */uint8_t IFactor;
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        /* P */uint8_t UserParams[8];
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  /* P */uint8_t UserParams[8];
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        /* P */uint8_t ServoPitchControl;
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  /* P */uint8_t ServoPitchControl;
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        /* P */uint8_t LoopGasLimit;
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  /* P */uint8_t LoopGasLimit;
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        /* P */uint8_t AxisCoupling1;
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  /* P */uint8_t AxisCoupling1;
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        /* P */uint8_t AxisCoupling2;
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  /* P */uint8_t AxisCoupling2;
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        /* P */uint8_t AxisCouplingYawCorrection;
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  /* P */uint8_t AxisCouplingYawCorrection;
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        /* P */uint8_t DynamicStability;
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  /* P */uint8_t DynamicStability;
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        /* P */uint8_t ExternalControl;
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  /* P */uint8_t ExternalControl;
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        /*PMM*/uint8_t J16Timing;
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  /*PMM*/uint8_t J16Timing;
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        /*PMM*/uint8_t J17Timing;
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  /*PMM*/uint8_t J17Timing;
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        /* P */uint8_t NaviGpsModeControl;
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  /* P */uint8_t NaviGpsModeControl;
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        /* P */uint8_t NaviGpsGain;
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  /* P */uint8_t NaviGpsGain;
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        /* P */uint8_t NaviGpsP;
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  /* P */uint8_t NaviGpsP;
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        /* P */uint8_t NaviGpsI;
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  /* P */uint8_t NaviGpsI;
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        /* P */uint8_t NaviGpsD;
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  /* P */uint8_t NaviGpsD;
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        /* P */uint8_t NaviGpsACC;
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  /* P */uint8_t NaviGpsACC;
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        /*PMM*/uint8_t NaviOperatingRadius;
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  /*PMM*/uint8_t NaviOperatingRadius;
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        /* P */uint8_t NaviWindCorrection;
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  /* P */uint8_t NaviWindCorrection;
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        /* P */uint8_t NaviSpeedCompensation;
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  /* P */uint8_t NaviSpeedCompensation;
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        int8_t KalmanK;
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  int8_t KalmanK;
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        int8_t KalmanMaxDrift;
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  int8_t KalmanMaxDrift;
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        int8_t KalmanMaxFusion;
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  int8_t KalmanMaxFusion;
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} dynamicParam_t;
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} dynamicParam_t;
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extern dynamicParam_t dynamicParams;
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extern dynamicParam_t dynamicParams;
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typedef struct {
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typedef struct {
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        uint8_t sourceIdx, targetIdx;
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  uint8_t sourceIdx, targetIdx;
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        uint8_t min, max;
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  uint8_t min, max;
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} MMXLATION;
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} MMXLATION;
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typedef struct {
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typedef struct {
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        uint8_t sourceIdx, targetIdx;
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  uint8_t sourceIdx, targetIdx;
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} XLATION;
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} XLATION;
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// values above 250 representing poti1 to poti4
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// values above 250 representing poti1 to poti4
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typedef struct {
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typedef struct {
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        uint8_t ChannelAssignment[8]; // see upper defines for details
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  uint8_t ChannelAssignment[8]; // see upper defines for details
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        uint8_t GlobalConfig; // see upper defines for bitcoding
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  uint8_t GlobalConfig; // see upper defines for bitcoding
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        uint8_t HeightMinGas; // Value : 0-100
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  uint8_t HeightMinGas; // Value : 0-100
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        uint8_t HeightD; // Value : 0-250
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  uint8_t HeightD; // Value : 0-250
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        uint8_t MaxHeight; // Value : 0-32
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  uint8_t MaxHeight; // Value : 0-32
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        uint8_t HeightP; // Value : 0-32
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  uint8_t HeightP; // Value : 0-32
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        uint8_t Height_Gain; // Value : 0-50
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  uint8_t Height_Gain; // Value : 0-50
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        uint8_t Height_ACC_Effect; // Value : 0-250
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  uint8_t Height_ACC_Effect; // Value : 0-250
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        uint8_t StickP; // Value : 1-6
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  uint8_t StickP; // Value : 1-6
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        uint8_t StickD; // Value : 0-64
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  uint8_t StickD; // Value : 0-64
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        uint8_t StickYawP; // Value : 1-20
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  uint8_t StickYawP; // Value : 1-20
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        uint8_t MinThrottle; // Value : 0-32
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  uint8_t MinThrottle; // Value : 0-32
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        uint8_t MaxThrottle; // Value : 33-250
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  uint8_t MaxThrottle; // Value : 33-250
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        uint8_t GyroAccFactor; // Value : 1-64
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  uint8_t GyroAccFactor; // Value : 1-64
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        uint8_t CompassYawEffect; // Value : 0-32
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  uint8_t CompassYawEffect; // Value : 0-32
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        uint8_t GyroP; // Value : 10-250
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  uint8_t GyroP; // Value : 10-250
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        uint8_t GyroI; // Value : 0-250
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  uint8_t GyroI; // Value : 0-250
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        uint8_t GyroD; // Value : 0-250
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  uint8_t GyroD; // Value : 0-250
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        uint8_t LowVoltageWarning; // Value : 0-250
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  uint8_t LowVoltageWarning; // Value : 0-250
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        uint8_t EmergencyGas; // Value : 0-250     //Gaswert bei Emp�ngsverlust
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  uint8_t EmergencyGas; // Value : 0-250     //Gaswert bei Emp�ngsverlust
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        uint8_t EmergencyGasDuration; // Value : 0-250     // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
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  uint8_t EmergencyGasDuration; // Value : 0-250     // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen
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        uint8_t Unused0; //
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  uint8_t Unused0; //
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        uint8_t IFactor; // Value : 0-250
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  uint8_t IFactor; // Value : 0-250
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        uint8_t UserParams1[4]; // Value : 0-250
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  uint8_t UserParams1[4]; // Value : 0-250
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        /*
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  /*
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         uint8_t UserParam2;             // Value : 0-250
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   uint8_t UserParam2;             // Value : 0-250
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         uint8_t UserParam3;             // Value : 0-250
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   uint8_t UserParam3;             // Value : 0-250
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         uint8_t UserParam4;             // Value : 0-250
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   uint8_t UserParam4;             // Value : 0-250
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         */
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   */
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        uint8_t ServoPitchControl; // Value : 0-250     // Stellung des Servos
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  uint8_t ServoPitchControl; // Value : 0-250     // Stellung des Servos
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        uint8_t ServoPitchComp; // Value : 0-250     // Einfluss Gyro/Servo
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  uint8_t ServoPitchComp; // Value : 0-250     // Einfluss Gyro/Servo
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        uint8_t ServoPitchMin; // Value : 0-250     // Anschlag
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  uint8_t ServoPitchMin; // Value : 0-250     // Anschlag
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        uint8_t ServoPitchMax; // Value : 0-250     // Anschlag
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  uint8_t ServoPitchMax; // Value : 0-250     // Anschlag
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        uint8_t ServoRefresh; // Value: 0-250        // Refreshrate of servo pwm output
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  uint8_t ServoRefresh; // Value: 0-250      // Refreshrate of servo pwm output
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        uint8_t LoopGasLimit; // Value: 0-250  max. Gas w�hrend Looping
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  uint8_t LoopGasLimit; // Value: 0-250  max. Gas w�hrend Looping
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        uint8_t LoopThreshold; // Value: 0-250  Schwelle f�r Stickausschlag
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  uint8_t LoopThreshold; // Value: 0-250  Schwelle f�r Stickausschlag
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        uint8_t LoopHysteresis; // Value: 0-250  Hysterese f�r Stickausschlag
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  uint8_t LoopHysteresis; // Value: 0-250  Hysterese f�r Stickausschlag
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        uint8_t AxisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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  uint8_t AxisCoupling1; // Value: 0-250  Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung)
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        uint8_t AxisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t AxisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        uint8_t AxisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t AxisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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        uint8_t AngleTurnOverPitch; // Value: 0-250  180�-Punkt
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  uint8_t AngleTurnOverPitch; // Value: 0-250  180�-Punkt
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        uint8_t AngleTurnOverRoll; // Value: 0-250  180�-Punkt
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  uint8_t AngleTurnOverRoll; // Value: 0-250  180�-Punkt
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        uint8_t GyroAccTrim; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t GyroAccTrim; // 1/k  (Koppel_ACC_Wirkung)
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        uint8_t DriftComp; // limit for gyrodrift compensation
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  uint8_t DriftComp; // limit for gyrodrift compensation
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        uint8_t DynamicStability; // PID limit for Attitude controller
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  uint8_t DynamicStability; // PID limit for Attitude controller
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        uint8_t UserParams2[4]; // Value : 0-250
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  uint8_t UserParams2[4]; // Value : 0-250
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        /*
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  /*
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         uint8_t UserParam6;             // Value : 0-250
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   uint8_t UserParam6;             // Value : 0-250
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         uint8_t UserParam7;             // Value : 0-250
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   uint8_t UserParam7;             // Value : 0-250
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         uint8_t UserParam8;             // Value : 0-250
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   uint8_t UserParam8;             // Value : 0-250
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         */
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   */
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        uint8_t J16Bitmask; // for the J16 Output
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  uint8_t J16Bitmask; // for the J16 Output
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        uint8_t J16Timing; // for the J16 Output
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  uint8_t J16Timing; // for the J16 Output
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        uint8_t J17Bitmask; // for the J17 Output
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  uint8_t J17Bitmask; // for the J17 Output
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        uint8_t J17Timing; // for the J17 Output
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  uint8_t J17Timing; // for the J17 Output
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        uint8_t NaviGpsModeControl; // Parameters for the Naviboard
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  uint8_t NaviGpsModeControl; // Parameters for the Naviboard
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        uint8_t NaviGpsGain; // overall gain for GPS-PID controller
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  uint8_t NaviGpsGain; // overall gain for GPS-PID controller
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        uint8_t NaviGpsP; // P gain for GPS-PID controller
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  uint8_t NaviGpsP; // P gain for GPS-PID controller
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        uint8_t NaviGpsI; // I gain for GPS-PID controller
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  uint8_t NaviGpsI; // I gain for GPS-PID controller
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        uint8_t NaviGpsD; // D gain for GPS-PID controller
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  uint8_t NaviGpsD; // D gain for GPS-PID controller
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        uint8_t NaviGpsPLimit; // P limit for GPS-PID controller
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  uint8_t NaviGpsPLimit; // P limit for GPS-PID controller
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        uint8_t NaviGpsILimit; // I limit for GPS-PID controller
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  uint8_t NaviGpsILimit; // I limit for GPS-PID controller
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        uint8_t NaviGpsDLimit; // D limit for GPS-PID controller
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  uint8_t NaviGpsDLimit; // D limit for GPS-PID controller
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        uint8_t NaviGpsACC; // ACC gain for GPS-PID controller
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  uint8_t NaviGpsACC; // ACC gain for GPS-PID controller
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        uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions
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  uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions
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        uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements
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  uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements
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        uint8_t NaviWindCorrection; // streng of wind course correction
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  uint8_t NaviWindCorrection; // streng of wind course correction
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        uint8_t NaviSpeedCompensation; // D gain fefore position hold login
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  uint8_t NaviSpeedCompensation; // D gain fefore position hold login
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        uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights
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  uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights
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        uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm
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  uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm
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        uint8_t NaviPHLoginTime; // position hold logintimeout
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  uint8_t NaviPHLoginTime; // position hold logintimeout
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        uint8_t ExternalControl; // for serial Control
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  uint8_t ExternalControl; // for serial Control
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        uint8_t BitConfig; // see upper defines for bitcoding
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  uint8_t BitConfig; // see upper defines for bitcoding
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        uint8_t ServoPitchCompInvert; // Value : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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  uint8_t ServoPitchCompInvert; // Value : 0-250   0 oder 1  // WICHTIG!!! am Ende lassen
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        uint8_t Reserved[4];
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  uint8_t Reserved[4];
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        int8_t Name[12];
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  int8_t Name[12];
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} paramset_t;
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} paramset_t;
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#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)
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#define  PARAMSET_STRUCT_LEN  sizeof(paramset_t)
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extern paramset_t staticParams;
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extern paramset_t staticParams;
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#define CFG_GPS_ACTIVE          (1<<5)
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#define CFG_GPS_ACTIVE          (1<<5)
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#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
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#define CFG_AXIS_COUPLING_ACTIVE (1<<6)
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#define CFG_ROTARY_RATE_LIMITER (1<<7)
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#define CFG_ROTARY_RATE_LIMITER (1<<7)
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// bit mask for staticParams.BitConfig
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// bit mask for staticParams.BitConfig
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#define CFG_LOOP_UP             (1<<0)
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#define CFG_LOOP_UP                 (1<<0)
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#define CFG_LOOP_DOWN           (1<<1)
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#define CFG_LOOP_DOWN           (1<<1)
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#define CFG_LOOP_LEFT           (1<<2)
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#define CFG_LOOP_LEFT           (1<<2)
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#define CFG_LOOP_RIGHT          (1<<3)
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#define CFG_LOOP_RIGHT          (1<<3)
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#define MIX_PITCH       1
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#define MIX_PITCH       1
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#define MIX_ROLL        2
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#define MIX_ROLL        2
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#define MIX_YAW         3
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#define MIX_YAW         3
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extern volatile uint8_t MKFlags;
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extern volatile uint8_t MKFlags;
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extern int16_t variables[8];
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extern int16_t variables[8]; // The "Poti"s.
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extern uint8_t BoardRelease;
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extern uint8_t BoardRelease;
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extern uint8_t CPUType;
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extern uint8_t CPUType;
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