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Rev 1799 Rev 1806
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<parameterset eepromVersion="4" length="79">
1
<parameterset eepromVersion="4" length="81">
2
  <parameter name="bitConfig">
2
  <parameter name="bitConfig">
3
    <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="0"/>
3
    <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="0"/>
4
    <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="0"/>
4
    <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="0"/>
5
    <bit name="CFG_UNUSED" value="0"/>
5
    <bit name="CFG_UNUSED" value="0"/>
6
    <bit name="CFG_COMPASS_ACTIVE" value="0"/>
6
    <bit name="CFG_COMPASS_ACTIVE" value="0"/>
7
    <bit name="CFG_UNUSED2" value="0"/>
7
    <bit name="CFG_UNUSED2" value="0"/>
8
    <bit name="CFG_GPS_ACTIVE" value="0"/>
8
    <bit name="CFG_GPS_ACTIVE" value="0"/>
9
    <bit name="CFG_UNUSED3" value="0"/>
9
    <bit name="CFG_UNUSED3" value="0"/>
10
    <bit name="CFG_GYRO_SATURATION_PREVENTION" value="0"/>
10
    <bit name="CFG_GYRO_SATURATION_PREVENTION" value="0"/>
11
  </parameter>
11
  </parameter>
12
  <parameter name="flightMode" value="var0"/>
12
  <parameter name="flightMode" value="var0"/>
13
  <parameter name="levelCorrectionPitch" value="var1"/>
13
  <parameter name="levelCorrectionPitch" value="var1"/>
14
  <parameter name="levelCorrectionRoll" value="var2"/>
14
  <parameter name="levelCorrectionRoll" value="var2"/>
15
 
-
 
16
  <parameter name="attGyroP" value="100"/>
15
  <parameter name="attGyroP" value="100"/>
17
  <parameter name="attGyroI" value="100"/>
16
  <parameter name="attGyroI" value="100"/>
18
  <parameter name="attGyroIMax" value="0"/>
17
  <parameter name="attGyroIMax" value="0"/>
19
  <parameter name="attGyroD" value="100"/>
18
  <parameter name="attGyroD" value="100"/>
20
 
-
 
21
  <parameter name="rateGyroP" value="100"/>
19
  <parameter name="rateGyroP" value="100"/>
22
  <parameter name="rateGyroI" value="100"/>
20
  <parameter name="rateGyroI" value="100"/>
23
  <parameter name="rateGyroIMax" value="0"/>
21
  <parameter name="rateGyroIMax" value="0"/>
24
    <parameter name="rateGyroD" value="100"/>
22
  <parameter name="rateGyroD" value="100"/>
25
 
-
 
26
  <parameter name="yawGyroP" value="100"/>
23
  <parameter name="yawGyroP" value="100"/>
27
  <parameter name="yawGyroI" value="100"/>
24
  <parameter name="yawGyroI" value="100"/>
28
  <parameter name="yawGyroD" value="100"/>
25
  <parameter name="yawGyroD" value="100"/>
29
 
-
 
30
  <parameter name="externalControl" value="0"/>
26
  <parameter name="externalControl" value="0"/>
31
  <parameter name="attitudeControl" value="0"/>
27
  <parameter name="attitudeControl" value="0"/>
32
  <parameter name="dynamicStability" value="80"/>
28
  <parameter name="dynamicStability" value="80"/>
33
 
-
 
34
  <parameter name="stickP" value="8"/>
29
  <parameter name="stickP" value="8"/>
35
  <parameter name="stickD" value="0"/>
30
  <parameter name="stickD" value="0"/>
36
  <parameter name="stickYawP" value="8"/>
31
  <parameter name="stickYawP" value="8"/>
37
 
-
 
38
  <parameter name="stickThrottleD" value="4"/>
32
  <parameter name="stickThrottleD" value="4"/>
39
  <parameter name="minThrottle" value="8"/>
33
  <parameter name="minThrottle" value="8"/>
40
  <parameter name="maxThrottle" value="230"/>
34
  <parameter name="maxThrottle" value="230"/>
41
 
-
 
-
 
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  <parameter name="absoluteMinThrottle" value="1"/>
-
 
36
  <parameter name="absoluteMaxThrottle" value="255"/>
42
  <parameter name="compassMode" value="0"/>
37
  <parameter name="compassMode" value="0"/>
43
  <parameter name="compassYawCorrection" value="64"/>
38
  <parameter name="compassYawCorrection" value="64"/>
44
  <parameter name="compassBendingReturnSpeed" value="255"/>
39
  <parameter name="compassBendingReturnSpeed" value="255"/>
45
  <parameter name="compassP" value="100"/>
40
  <parameter name="compassP" value="100"/>
46
 
-
 
47
  <parameter name="batteryVoltageWarning" value="101"/>
41
  <parameter name="batteryVoltageWarning" value="101"/>
48
  <parameter name="emergencyThrottle" value="35"/>
42
  <parameter name="emergencyThrottle" value="35"/>
49
  <parameter name="emergencyFlightDuration" value="30"/>
43
  <parameter name="emergencyFlightDuration" value="30"/>
50
 
-
 
51
  <parameter name="airpressureFilterConstant" value="8"/>
44
  <parameter name="airpressureFilterConstant" value="8"/>
52
  <parameter name="airpressureWindowLength" value="0"/>
45
  <parameter name="airpressureWindowLength" value="0"/>
53
  <parameter name="airpressureDWindowLength" value="24"/>
46
  <parameter name="airpressureDWindowLength" value="24"/>
54
  <parameter name="airpressureAccZCorrection" value="184"/>
47
  <parameter name="airpressureAccZCorrection" value="184"/>
55
 
-
 
56
  <parameter name="heightP" value="10"/>
48
  <parameter name="heightP" value="10"/>
57
  <parameter name="heightI" value="var7"/>
49
  <parameter name="heightI" value="var7"/>
58
  <parameter name="heightD" value="30"/>
50
  <parameter name="heightD" value="30"/>
59
  <parameter name="heightSetting" value="var3"/>
51
  <parameter name="heightSetting" value="var3"/>
60
 
-
 
61
  <parameter name="heightControlMaxIntegralIn" value="125"/>
52
  <parameter name="heightControlMaxIntegralIn" value="125"/>
62
  <parameter name="heightControlMaxIntegralOut" value="75"/>
53
  <parameter name="heightControlMaxIntegralOut" value="75"/>
63
  <parameter name="heightMaxThrottleChange" value="75"/>
54
  <parameter name="heightMaxThrottleChange" value="75"/>
64
  <parameter name="heightControlTestOscPeriod" value="0"/>
55
  <parameter name="heightControlTestOscPeriod" value="0"/>
65
  <parameter name="heightControlTestOscAmplitude" value="0"/>
56
  <parameter name="heightControlTestOscAmplitude" value="0"/>
66
  <parameter name="servoCount" value="7"/>
57
  <parameter name="servoCount" value="7"/>
67
  <parameter name="servoManualMaxSpeed" value="10"/>
58
  <parameter name="servoManualMaxSpeed" value="10"/>
68
  <parameter name="pitchServoControl" value="128"/>
59
  <parameter name="pitchServoControl" value="128"/>
69
  <parameter name="pitchServoStabilization" value="0"/>
60
  <parameter name="pitchServoStabilization" value="50"/>
70
  <parameter name="pitchServoMinValue" value="32"/>
61
  <parameter name="pitchServoMinValue" value="32"/>
71
  <parameter name="pitchServoMaxValue" value="224"/>
62
  <parameter name="pitchServoMaxValue" value="224"/>
72
  <parameter name="pitchServoFlags">
63
  <parameter name="pitchServoFlags">
73
    <bit name="reverseStabilization" value="0"/>
64
    <bit name="reverseStabilization" value="0"/>
74
    <bit name="Unused" value="0"/>
65
    <bit name="Unused" value="0"/>
75
    <bit name="Unused" value="0"/>
66
    <bit name="Unused" value="0"/>
76
    <bit name="Unused" value="0"/>
67
    <bit name="Unused" value="0"/>
77
    <bit name="Unused" value="0"/>
68
    <bit name="Unused" value="0"/>
78
    <bit name="Unused" value="0"/>
69
    <bit name="Unused" value="0"/>
79
    <bit name="Unused" value="0"/>
70
    <bit name="Unused" value="0"/>
80
    <bit name="Unused" value="0"/>
71
    <bit name="Unused" value="0"/>
81
  </parameter>
72
  </parameter>
82
  <parameter name="rollServoControl" value="128"/>
73
  <parameter name="rollServoControl" value="128"/>
83
  <parameter name="rollServoStabilization" value="0"/>
74
  <parameter name="rollServoStabilization" value="50"/>
84
  <parameter name="rollServoMinValue" value="32"/>
75
  <parameter name="rollServoMinValue" value="32"/>
85
  <parameter name="rollServoMaxValue" value="224"/>
76
  <parameter name="rollServoMaxValue" value="224"/>
86
  <parameter name="rollServoFlags">
77
  <parameter name="rollServoFlags">
87
    <bit name="reverseStabilization" value="0"/>
78
    <bit name="reverseStabilization" value="0"/>
88
    <bit name="Unused" value="0"/>
79
    <bit name="Unused" value="0"/>
89
    <bit name="Unused" value="0"/>
80
    <bit name="Unused" value="0"/>
90
    <bit name="Unused" value="0"/>
81
    <bit name="Unused" value="0"/>
91
    <bit name="Unused" value="0"/>
82
    <bit name="Unused" value="0"/>
92
    <bit name="Unused" value="0"/>
83
    <bit name="Unused" value="0"/>
93
    <bit name="Unused" value="0"/>
84
    <bit name="Unused" value="0"/>
94
    <bit name="Unused" value="0"/>
85
    <bit name="Unused" value="0"/>
95
  </parameter>
86
  </parameter>
96
  <parameter name="output0BitMask">
87
  <parameter name="output0BitMask">
97
    <bit name="t0" value="1"/>
88
    <bit name="t0" value="1"/>
98
    <bit name="t1" value="0"/>
89
    <bit name="t1" value="0"/>
99
    <bit name="t2" value="0"/>
90
    <bit name="t2" value="0"/>
100
    <bit name="t3" value="0"/>
91
    <bit name="t3" value="0"/>
101
    <bit name="t4" value="0"/>
92
    <bit name="t4" value="0"/>
102
    <bit name="t5" value="0"/>
93
    <bit name="t5" value="0"/>
103
    <bit name="t6" value="0"/>
94
    <bit name="t6" value="0"/>
104
    <bit name="t7" value="0"/>
95
    <bit name="t7" value="0"/>
105
  </parameter>
96
  </parameter>
106
  <parameter name="output0Timing" value="15"/>
97
  <parameter name="output0Timing" value="15"/>
107
  <parameter name="output1BitMask">
98
  <parameter name="output1BitMask">
108
    <bit name="t0" value="1"/>
99
    <bit name="t0" value="1"/>
109
    <bit name="t1" value="1"/>
100
    <bit name="t1" value="1"/>
110
    <bit name="t2" value="0"/>
101
    <bit name="t2" value="0"/>
111
    <bit name="t3" value="0"/>
102
    <bit name="t3" value="0"/>
112
    <bit name="t4" value="0"/>
103
    <bit name="t4" value="0"/>
113
    <bit name="t5" value="0"/>
104
    <bit name="t5" value="0"/>
114
    <bit name="t6" value="0"/>
105
    <bit name="t6" value="0"/>
115
    <bit name="t7" value="0"/>
106
    <bit name="t7" value="0"/>
116
  </parameter>
107
  </parameter>
117
  <parameter name="output1Timing" value="15"/>
108
  <parameter name="output1Timing" value="15"/>
118
  <parameter name="outputDebugMask">
109
  <parameter name="outputDebugMask">
119
    <bit name="DEBUG_MAINLOOP_TIMER" value="1"/>
110
    <bit name="DEBUG_MAINLOOP_TIMER" value="0"/>
120
    <bit name="DEBUG_HEIGHT_DIFF" value="0"/>
111
    <bit name="DEBUG_HEIGHT_DIFF" value="0"/>
121
    <bit name="DEBUG_HOVERTHROTTLE" value="0"/>
112
    <bit name="DEBUG_HOVERTHROTTLE" value="1"/>
122
    <bit name="DEBUG_ACC0THORDER" value="0"/>
113
    <bit name="DEBUG_ACC0THORDER" value="0"/>
123
    <bit name="DEBUG_SIGNAL" value="0"/>
114
    <bit name="DEBUG_SIGNAL" value="0"/>
124
    <bit name="DEBUG_PRESSURERANGE" value="0"/>
115
    <bit name="DEBUG_PRESSURERANGE" value="0"/>
125
    <bit name="DEBUG_CLIP" value="0"/>
116
    <bit name="DEBUG_CLIP" value="0"/>
126
    <bit name="DEBUG_SENSORLIMIT" value="0"/>
117
    <bit name="DEBUG_SENSORLIMIT" value="0"/>
127
  </parameter>
118
  </parameter>
128
  <parameter name="outputFlags">
119
  <parameter name="outputFlags">
129
    <bit name="INVERT_OUTPUT0" value="0"/>
120
    <bit name="INVERT_OUTPUT0" value="0"/>
130
    <bit name="INVERT_OUTPUT1" value="0"/>
121
    <bit name="INVERT_OUTPUT1" value="0"/>
131
    <bit name="FLASH_OUTPUT0_BEEPING" value="0"/>
122
    <bit name="FLASH_OUTPUT0_BEEPING" value="0"/>
132
    <bit name="FLASH_OUTPUT1_BEEPING" value="0"/>
123
    <bit name="FLASH_OUTPUT1_BEEPING" value="0"/>
133
    <bit name="USE_ONBOARD_LEDS" value="1"/>
124
    <bit name="USE_ONBOARD_LEDS" value="1"/>
134
    <bit name="TEST_OFF" value="0"/>
125
    <bit name="TEST_OFF" value="0"/>
135
    <bit name="TEST_ON" value="0"/>
126
    <bit name="TEST_ON" value="0"/>
136
    <bit name="UNUSED" value="0"/>
127
    <bit name="UNUSED" value="0"/>
137
  </parameter>
128
  </parameter>
138
  <parameter name="naviMode" value="0"/>
129
  <parameter name="naviMode" value="0"/>
139
  <parameter name="naviStickThreshold" value="255"/>
130
  <parameter name="naviStickThreshold" value="255"/>
140
  <parameter name="naviStickLimit" value="255"/>
131
  <parameter name="naviStickLimit" value="255"/>
141
  <parameter name="GPSMinimumSatellites" value="255"/>
132
  <parameter name="GPSMinimumSatellites" value="255"/>
142
  <parameter name="naviP" value="255"/>
133
  <parameter name="naviP" value="255"/>
143
  <parameter name="naviI" value="255"/>
134
  <parameter name="naviI" value="255"/>
144
  <parameter name="naviD" value="255"/>
135
  <parameter name="naviD" value="255"/>
145
  <parameter name="naviTestOscPeriod" value="255"/>
136
  <parameter name="naviTestOscPeriod" value="255"/>
146
  <parameter name=" naviTestOscAmplitude" value="255"/>
137
  <parameter name=" naviTestOscAmplitude" value="255"/>
147
  <parameter name="userparam0" value="0"/>
138
  <parameter name="userparam0" value="0"/>
148
  <parameter name="userparam1" value="1"/>
139
  <parameter name="userparam1" value="1"/>
149
  <parameter name="userparam2" value="2"/>
140
  <parameter name="userparam2" value="2"/>
150
  <parameter name="userparam3" value="3"/>
141
  <parameter name="userparam3" value="3"/>
151
  <parameter name="userparam4" value="4"/>
142
  <parameter name="userparam4" value="4"/>
152
  <parameter name="userparam5" value="5"/>
143
  <parameter name="userparam5" value="5"/>
153
  <parameter name="userparam6" value="6"/>
144
  <parameter name="userparam6" value="6"/>
154
  <parameter name="userparam7" value="7"/>
145
  <parameter name="userparam7" value="7"/>
155
</parameterset>
146
</parameterset>
156
 
147
 
157
 
148