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extern VersionInfo_t versionInfo;
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extern VersionInfo_t versionInfo;
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typedef struct {
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typedef struct {
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  // IMU
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  // IMU
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  /*PMM*/uint8_t gyroP;
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  /* P */uint8_t gyroD;
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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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  /* P */uint8_t IFactor;
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  uint8_t yawIFactor;
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  /* P */uint8_t gyroD;
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  /* P */uint8_t compassYawEffect;
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  /* P */uint8_t compassYawEffect;
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  // Control
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  /* P */uint8_t externalControl;
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  /* P */uint8_t axisCoupling1;
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  /* P */uint8_t axisCoupling2;
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  // Control
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  /* P */uint8_t axisCouplingYawCorrection;
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  /* P */uint8_t externalControl;
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  /* P */uint8_t dynamicStability;
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  /* P */uint8_t dynamicStability;
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  uint8_t maxAccVector;
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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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  /*PMM*/uint8_t heightD;
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  /* P */uint8_t heightI;
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  /* P */uint8_t heightSetting;
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  /*PMM*/uint8_t heightD;
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  /* P */uint8_t heightACCEffect;
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  /* P */uint8_t heightSetting;
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  uint8_t attitudeControl;
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  uint8_t attitudeControl;
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  // The rest...
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  /* P */uint8_t userParams[8];
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  /*PMM*/uint8_t output0Timing;
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  // The rest...
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  /*PMM*/uint8_t output0Timing;
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  /*PMM*/uint8_t output1Timing;
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  /*PMM*/uint8_t output1Timing;
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  uint8_t servoManualControl[2];
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  uint8_t servoManualControl[2];
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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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  // Global bitflags
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  // Global bitflags
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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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  // Height Control
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  uint8_t airpressureFilter;
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  uint8_t airpressureAccZCorrection;
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  uint8_t heightP;
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  uint8_t heightD;
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  uint8_t heightSetting;
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  uint8_t heightControlMaxThrottleChange;
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  uint8_t heightSlewRate;
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  // Attitude Control
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  uint8_t attitudeControl;
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  // Control
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  uint8_t stickP;
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  uint8_t stickD;
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  uint8_t stickYawP;
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  uint8_t stickThrottleD;
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  uint8_t minThrottle;
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  uint8_t maxThrottle;
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  uint8_t externalControl; // for serial Control
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  uint8_t maxAccVector;
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  uint8_t maxControlActivity;
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  uint8_t motorSmoothing;
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  // IMU
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  // IMU
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  uint8_t gyroQuadrant;
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  uint8_t gyroQuadrant;
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  uint8_t accQuadrant;
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  uint8_t accQuadrant;
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  uint8_t imuReversedFlags;
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  uint8_t imuReversedFlags;
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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 gyroDFilterConstant;
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  uint8_t accFilterConstant;
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  uint8_t gyroDFilterConstant;
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  uint8_t accFilterConstant;
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  uint8_t gyroP;
 - 
 
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  uint8_t gyroI;
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  uint8_t gyroD;
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  uint8_t maxAccVector;
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  uint8_t maxControlActivity;
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  uint8_t zerothOrderCorrection;
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  uint8_t zerothOrderCorrection;
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  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t driftCompDivider; // 1/k  (Koppel_ACC_Wirkung)
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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  uint8_t driftCompLimit;   // limit for gyrodrift compensation
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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 axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t levelCorrection[2];
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  // Control
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  uint8_t gyroP;
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  uint8_t gyroI;
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  uint8_t gyroD;
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  uint8_t attitudeControl;
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  uint8_t stickP;
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  uint8_t stickD;
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  uint8_t stickYawP;
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  uint8_t stickThrottleD;
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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 minThrottle;
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  uint8_t axisCoupling2; // Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t maxThrottle;
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  uint8_t axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t externalControl; // for serial Control
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  uint8_t motorSmoothing;
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  uint8_t dynamicStability; // PID limit for Attitude controller
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  uint8_t IFactor;
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  uint8_t yawIFactor;
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  uint8_t compassYawEffect;
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  uint8_t batteryVoltageWarning;
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  uint8_t emergencyThrottle;
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  uint8_t emergencyFlightDuration;
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  // Height Control
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 161 
  uint8_t airpressureFilter;
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  uint8_t airpressureAccZCorrection;
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  uint8_t heightP;
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  uint8_t heightI;
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  uint8_t dynamicStability; // PID limit for Attitude controller
 165 
  uint8_t heightD;
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  uint8_t IFactor;
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  uint8_t heightSetting;
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  uint8_t yawIFactor;
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  uint8_t heightControlMaxIntegralThrottleChange;
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  uint8_t compassYawEffect;
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  uint8_t heightControlMaxThrottleChange;
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  uint8_t levelCorrection[2];
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  // Servos
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  uint8_t servoCount;
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177 
  uint8_t servoManualMaxSpeed;
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178 
  servo_t servoConfigurations[2]; // [PITCH, ROLL]
 169 
  uint8_t heightSlewRate;
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 170 
 
180 
  // Battery warning and emergency flight
 171 
  // Servos
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  uint8_t batteryVoltageWarning;
 172 
  uint8_t servoCount;