046 B: minor bugfixes (actually bugfixes that should have been in 045B)and improvements
- introduce rcGain parameter to influence movement rate over rc controll
- modified and included meisters GUI

045 B: minor bugfixes and improvements, switched to Beta status
- change PID parameters to long int, resolution is still 0.001 (to overcome the 32 limit)
- change resolution for ACC weight to 0.0001 (for better fine tuning)
- modified and included meisters GUI


044 A: 
- add choice between absolute and proportional RC positioning
- add continious angle output for debugging/GUI purposes, toggled by serial command
- add choice between raw ACC and DMP for Horizont stabilization
  (DMP is experimental for now, PIDs have to be changed/lowered)
  (Default is ACC)
- Serial Protocol:
WE    (Writes active config to eeprom)
RE    (Restores values from eeprom to active config)
TC    (transmits all config values in eeprom save order)
SD    (Set Defaults)
SP gyroPitchKp gyroPitchKi gyroPitchKd    (Set PID for Pitch)
SR gyroRollKp gyroRollKi gyroRollKd    (Set PID for Roll)
SA accelWeight    (Set Weight in accelWeight/1000)
SF nPolesMotorPitch nPolesMotorRoll
SE maxPWMmotorPitch maxPWMmotorRoll     (Used for Power limitiation on each motor 255=high, 1=low)
SM dirMotorPitch dirMotorRoll motorNumberPitch motorNumberRoll
GC    (Recalibrates the Gyro Offsets)
TRC   (transmitts RC Config)
SRC minRCPitch maxRCPitch minRCRoll maxRCRoll (angles -90..90)
SCA rcAbsolute (1 = true, RC control is absolute; 0 = false, RC control is proportional)
TCA   (Transmit RC control absolute or not)
UAC useACC (1 = true, ACC; 0 = false, DMP)
TAC   (Transmit ACC status)
OAC accOutput (Toggle Angle output in ACC mode: 1 = true, 0 = false)
ODM dmpOutput  (Toggle Angle output in DMP mode: 1 = true, 0 = false)
HE    (This output)

043 A: 
- introduce RC Channel input :-)
  Use A1 and A2 as PWM input pins for Pitch and Roll, DO NOT CONNECT +5V from REC-Receiver to Controller
- add RC input config to serial protocol  
  Type HE in terminal to see additional Protocol stuff (min max Angles per Axis)
- start Code optimization: atan2 now runs ~2 times faster

042 A: 
- memory optimizations
- reintroduce a way to motor power control (use fixed progmem arrays):
PWM from 1 to 255

041 A: MAJOR UPDATE!!!
- removed "config.h", added serial protocol
-- configurable parameters now stored in eeprom
-- relevant parameters can be changes online now
- Still: floating point math!!!
-CAVEAT only 100%Power for now, was not able to finish that this weekend.

040 A: Test version, not published

039 A: MAJOR REWORK!!!
- Removed usage of DMP completely
- Relay on raw Gyro and raw ACC only! 
Gyro is used at ~1kHz to counter movements, ACC vs set point
is mixed into gyro signal to ensure horizontal camera (IMU) position
- global max PWM duty cycle and Power devider per motor can be configured in config.h 
Hint: lower torque = lower power allows for higher P on Pitch for me.
- code cleanup, removed obsolete stuff.
- 32kHz PWM works now for motor movement updates for up to 8 kHz. 
( No more beeping :-), i dont care for energy loss at the moment )

038 A: Test version, not published

037 A:
- NEW: Motor Power Management. Two Options: 
  -- Fixed max Torque/Power (caveat: 
  -- Lower Torque/Power for slower Movements -> EXPERIMENTAL (removed in 039)
- NEW: Use DMP output for I and D Part in control loop at 100Hz (or 200Hz), use raw Gyro at 500Hz for P-Part 
  -- Caveat: setting the sample rate to 500Hz for gyro screws up the dmp algorithm for now. 
     Some more research required ro configure the mpu correctly.
     Therefore sample rate for gyro is set to 200Hz as well, resulting in loss of accuracy.
  --> Remove choice of DMP/RAW_GYRO
- Code cleanup
- Removed the wiring.c modificitaions, does not work as intented anyway --> back to CC_FACTOR usage
- Moved some definitions from config.h to definitions.h, dont change them for now.
- Switched off Gyro and Accel write to DMP-FIFO, speeding up the code by ~200us per DMP read

036 A:
- Choose between DMP and Raw Gyro Stabilisation
  (Raw Gyro is only a tech demo implementation for now: P controller only, no setpoint)
- Faster Motor routine using uint8_t overflow for counter. Sinus Array length therefore is fixed now to 256.
- Raw Gyro can be filtered with low pass (change alpha below)
- YOU HAVE TO CHANGE wiring.c, see below !!!!
- DOES IT WORK? Well....no fo now.
*/