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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 compassYawEffect;
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  /* P */uint8_t compassFixedHeading;
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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 maxControlActivity;
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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 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 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 axisCouplingYawCorrection;// Value: 0-250  Faktor, mit dem Nick und Roll verkoppelt werden
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  uint8_t levelCorrection[2];
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  uint8_t levelCorrection[2];
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  // Control
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  // Control
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  uint8_t gyroP;
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  uint8_t gyroP;
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  uint8_t gyroI;
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  uint8_t gyroI;
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  uint8_t gyroD;
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  uint8_t gyroD;
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  uint8_t attitudeControl;
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  uint8_t attitudeControl;
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- 
 
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  uint8_t stickP;
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  uint8_t stickP;
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  uint8_t stickD;
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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 stickYawP;
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  uint8_t stickThrottleD;
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  uint8_t minThrottle;
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  uint8_t minThrottle;
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  uint8_t maxThrottle;
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  uint8_t maxThrottle;
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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 motorSmoothing;
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  uint8_t dynamicStability; // PID limit for Attitude controller
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  uint8_t motorSmoothing;
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- 
 
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  uint8_t IFactor;
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  uint8_t yawIFactor;
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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 compassYawCorrection;
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  uint8_t yawIFactor;
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  uint8_t compassFixedHeading;
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  uint8_t compassYawEffect;
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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_UNUSED                                      (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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