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Rev 1887 Rev 1960
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        // Delay_ms(10);
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        // Delay_ms(10);
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        delay_ms_Mess(100);
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        delay_ms_Mess(100);
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}
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}
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void gyro_setDefaults(void) {
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void gyro_setDefaults(void) {
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        staticParams.GyroD = 3;
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  staticParams.gyroD = 3;
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        staticParams.GyroAccFactor = 1;
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  staticParams.driftCompDivider = 2;
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        staticParams.DriftComp = 3;
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  staticParams.driftCompLimit = 3;
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    staticParams.GyroAccTrim = 2;
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  staticParams.zerothOrderCorrection = 2;