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Rev 1977 Rev 1980
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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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  uint8_t maxControlActivityForAcc;
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  uint8_t maxAccVector;
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  // Height control
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  // Height control
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  /*PMM*/uint8_t heightP;
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  /*PMM*/uint8_t heightP;
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  int16_t offsets[3];
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  int16_t offsets[3];
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} sensorOffset_t;
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} sensorOffset_t;
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typedef struct {
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typedef struct {
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  uint8_t manualControl;
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  uint8_t manualMaxSpeed;
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  uint8_t manualControl;
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  uint8_t compensationFactor;
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  uint8_t stabilizationFactor;
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  uint8_t minValue;
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  uint8_t minValue;
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  uint8_t maxValue;
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  uint8_t maxValue;
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  uint8_t flags;
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  uint8_t flags;
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} servo_t;
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} servo_t;
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#define SERVO_COMPENSATION_REVERSE 1
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#define SERVO_STABILIZATION_REVERSE 1
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typedef struct {
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typedef struct {
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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 stickThrottleD;
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  uint8_t stickThrottleD;
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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 externalControl; // for serial Control
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  uint8_t externalControl; // for serial Control
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  uint8_t maxControlActivityForAcc;
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  uint8_t maxAccVector;
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  // IMU
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  // IMU
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  uint8_t gyroPIDFilterConstant;
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  uint8_t gyroPIDFilterConstant;
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  uint8_t gyroATTFilterConstant;
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  uint8_t gyroATTFilterConstant;
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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 yawIFactor;
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  uint8_t yawIFactor;
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  uint8_t compassYawEffect; // Value : 0-32
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  uint8_t compassYawEffect; // Value : 0-32
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  // Servos
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  servo_t servoConfigurations[2]; // [PITCH, ROLL]
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  // Servos
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  uint8_t servoCount;
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  uint8_t servoManualMaxSpeed;
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  uint8_t servoCount;
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  servo_t servoConfigurations[2]; // [PITCH, ROLL]
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  // Battery warning and emergency flight
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  // Battery warning and emergency flight
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  uint8_t batteryVoltageWarning; // Value : 0-250
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  uint8_t batteryVoltageWarning; // Value : 0-250
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#define MKFLAG_RESERVE1         (1<<5)
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#define MKFLAG_RESERVE1         (1<<5)
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#define MKFLAG_RESERVE2         (1<<6)
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#define MKFLAG_RESERVE2         (1<<6)
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#define MKFLAG_RESERVE3         (1<<7)
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#define MKFLAG_RESERVE3         (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_SIMPLE_HEIGHT_CONTROL       (1<<0)
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#define CFG_SIMPLE_HEIGHT_CONTROL               (1<<0)
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#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
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#define CFG_SIMPLE_HC_HOLD_SWITCH       (1<<1)
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#define CFG_HEADING_HOLD                (1<<2)
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#define CFG_HEADING_HOLD                        (1<<2)
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#define CFG_COMPASS_ACTIVE              (1<<3)
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#define CFG_COMPASS_ACTIVE                          (1<<3)
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#define CFG_COMPASS_FIX                 (1<<4)
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#define CFG_COMPASS_FIX                                 (1<<4)
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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_GYRO_SATURATION_PREVENTION  (1<<7)
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#define CFG_GYRO_SATURATION_PREVENTION  (1<<7)
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