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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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  /*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 gyroD;
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  /* P */uint8_t gyroD;
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  /* P */uint8_t compassFixedHeading;
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  /* P */uint8_t compassControlHeading;
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  // Control
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  // Control
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  /* P */uint8_t externalControl;
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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 dynamicStability; // PID limit for Attitude controller
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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 IFactor;
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  uint8_t yawIFactor;
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  uint8_t yawIFactor;
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  uint8_t compassMode;      // bitflag thing.
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  uint8_t compassYawCorrection;
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  uint8_t compassYawCorrection;
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  uint8_t compassBendingReturnSpeed;
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  uint8_t compassFixedHeading;
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  uint8_t compassP;
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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_ENABLED             (1<<3)
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#define CFG_UNUSED                                      (1<<4)
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#define CFG_UNUSED                              (1<<4)
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#define CFG_GPS_ACTIVE                          (1<<5)
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#define CFG_GPS_ENABLED                         (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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