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  uint8_t rateTolerance;
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  uint8_t rateTolerance;
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  uint8_t gyroActivityDamping;
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  uint8_t gyroActivityDamping;
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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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  int8_t gyroCalibrationTweak[3];
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} IMUConfig_t;
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} IMUConfig_t;
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  // Output and servo
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  // Output and servo
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  /*PMM*/uint8_t output0Timing;
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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 gimbalServoManualControl[2];
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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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*/
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*/
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typedef struct {
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typedef struct {
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  uint8_t RCPolarity; // 1=positive, 0=negative. Use positive with Futaba receiver, negative with FrSky.
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        uint8_t HWTrim;
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  uint8_t HWTrim;
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        uint8_t variableOffset;
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  uint8_t variableOffset;
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  uint8_t channels[MAX_CHANNELS];
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  uint8_t channels[MAX_CHANNELS];
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} ChannelMap_t;
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} ChannelMap_t;
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extern ChannelMap_t channelMap;
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// With fixed wing, we need some way to trim the plane. This is done during a trim flight without gyros activated,
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// and then save in a succeeding gyro calibration command.
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typedef struct {
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  int16_t trim[MAX_CHANNELS];
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} RCTrim_t;
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extern ChannelMap_t channelMap;
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extern RCTrim_t rcTrim;
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typedef struct {
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typedef struct {
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  int16_t offsets[3];
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  int16_t offsets[3];