moved default value config to UserConfig.h, added transmitter cal code, critical part currently commented out until testing completed.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@249 f9c3cf11-9bcb-44bc-f272-b75c42450872

Arducopter/ArduCopter.h

@@ -1,5 +1,5 @@
 /*
-  ArduCopter 1.3 - Aug 2010
+  ArduCopter 1.3 - August 2010
   www.ArduCopter.com
   Copyright (c) 2010. All rights reserved.
   An Open Source Arduino based multicopter.
@@ -19,7 +19,6 @@
 */
 
 #include "WProgram.h"
-#include "UserConfig.h"
 
 /*******************************************************************/
 // ArduPilot Mega specific hardware and software settings
@@ -245,171 +244,3 @@ long tlmTimer = 0;
 // Arming/Disarming
 uint8_t Arming_counter=0;
 uint8_t Disarming_counter=0;
-
-
-
-/*****************************************************/
-// APM Specific Memory variables
-
-// Following variables stored in EEPROM
-float KP_QUAD_ROLL;
-float KD_QUAD_ROLL;
-float KI_QUAD_ROLL;
-float KP_QUAD_PITCH;
-float KD_QUAD_PITCH;
-float KI_QUAD_PITCH;
-float KP_QUAD_YAW;
-float KD_QUAD_YAW;
-float KI_QUAD_YAW;
-float STABLE_MODE_KP_RATE;
-float KP_GPS_ROLL;
-float KD_GPS_ROLL;
-float KI_GPS_ROLL;
-float KP_GPS_PITCH;
-float KD_GPS_PITCH;
-float KI_GPS_PITCH;
-float GPS_MAX_ANGLE;
-float KP_ALTITUDE;
-float KD_ALTITUDE;
-float KI_ALTITUDE;
-int acc_offset_x;
-int acc_offset_y;
-int acc_offset_z;
-int gyro_offset_roll;
-int gyro_offset_pitch;
-int gyro_offset_yaw;
-float Kp_ROLLPITCH;
-float Ki_ROLLPITCH;
-float Kp_YAW;
-float Ki_YAW;
-float GEOG_CORRECTION_FACTOR;
-int MAGNETOMETER;
-float Kp_RateRoll;
-float Ki_RateRoll;
-float Kd_RateRoll;
-float Kp_RatePitch;
-float Ki_RatePitch;
-float Kd_RatePitch;
-float Kp_RateYaw;
-float Ki_RateYaw;
-float Kd_RateYaw;
-float xmitFactor;
-
-// EEPROM storage addresses
-#define KP_QUAD_ROLL_ADR 0
-#define KD_QUAD_ROLL_ADR 4
-#define KI_QUAD_ROLL_ADR 8
-#define KP_QUAD_PITCH_ADR 12
-#define KD_QUAD_PITCH_ADR 16
-#define KI_QUAD_PITCH_ADR 20
-#define KP_QUAD_YAW_ADR 24
-#define KD_QUAD_YAW_ADR 28
-#define KI_QUAD_YAW_ADR 32
-#define STABLE_MODE_KP_RATE_ADR 36
-#define KP_GPS_ROLL_ADR 40
-#define KD_GPS_ROLL_ADR 44
-#define KI_GPS_ROLL_ADR 48
-#define KP_GPS_PITCH_ADR 52
-#define KD_GPS_PITCH_ADR 56
-#define KI_GPS_PITCH_ADR 60
-#define GPS_MAX_ANGLE_ADR 64
-#define KP_ALTITUDE_ADR 68
-#define KD_ALTITUDE_ADR 72
-#define KI_ALTITUDE_ADR 76
-#define acc_offset_x_ADR 80
-#define acc_offset_y_ADR 84
-#define acc_offset_z_ADR 88
-#define gyro_offset_roll_ADR 92
-#define gyro_offset_pitch_ADR 96
-#define gyro_offset_yaw_ADR 100
-#define Kp_ROLLPITCH_ADR 104
-#define Ki_ROLLPITCH_ADR 108
-#define Kp_YAW_ADR 112
-#define Ki_YAW_ADR 116
-#define GEOG_CORRECTION_FACTOR_ADR 120
-#define MAGNETOMETER_ADR 124
-#define XMITFACTOR_ADR 128
-#define KP_RATEROLL_ADR 132
-#define KI_RATEROLL_ADR 136
-#define KD_RATEROLL_ADR 140
-#define KP_RATEPITCH_ADR 144
-#define KI_RATEPITCH_ADR 148
-#define KD_RATEPITCH_ADR 152
-#define KP_RATEYAW_ADR 156
-#define KI_RATEYAW_ADR 160
-#define KD_RATEYAW_ADR 164
-#define CHROLL_MID 168
-#define CHPITCH_MID 172
-#define CHYAW_MID 176
-
-// Utilities for writing and reading from the EEPROM
-float readEEPROM(int address) {
-  union floatStore {
-    byte floatByte[4];
-    float floatVal;
-  } floatOut;
-  
-  for (int i = 0; i < 4; i++) 
-    floatOut.floatByte[i] = EEPROM.read(address + i);
-  return floatOut.floatVal;
-}
-
-void writeEEPROM(float value, int address) {
-  union floatStore {
-    byte floatByte[4];
-    float floatVal;
-  } floatIn;
-  
-  floatIn.floatVal = value;
-  for (int i = 0; i < 4; i++) 
-    EEPROM.write(address + i, floatIn.floatByte[i]);
-}
-
-void readUserConfig() {
-  KP_QUAD_ROLL = readEEPROM(KP_QUAD_ROLL_ADR);
-  KD_QUAD_ROLL = readEEPROM(KD_QUAD_ROLL_ADR);
-  KI_QUAD_ROLL = readEEPROM(KI_QUAD_ROLL_ADR);
-  KP_QUAD_PITCH = readEEPROM(KP_QUAD_PITCH_ADR);
-  KD_QUAD_PITCH = readEEPROM(KD_QUAD_PITCH_ADR);
-  KI_QUAD_PITCH = readEEPROM(KI_QUAD_PITCH_ADR);
-  KP_QUAD_YAW = readEEPROM(KP_QUAD_YAW_ADR);
-  KD_QUAD_YAW = readEEPROM(KD_QUAD_YAW_ADR);
-  KI_QUAD_YAW = readEEPROM(KI_QUAD_YAW_ADR);
-  STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR);
-  KP_GPS_ROLL = readEEPROM(KP_GPS_ROLL_ADR);
-  KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
-  KI_GPS_ROLL = readEEPROM(KI_GPS_ROLL_ADR);
-  KP_GPS_PITCH = readEEPROM(KP_GPS_PITCH_ADR);
-  KD_GPS_PITCH = readEEPROM(KD_GPS_PITCH_ADR);
-  KI_GPS_PITCH = readEEPROM(KI_GPS_PITCH_ADR);
-  GPS_MAX_ANGLE = readEEPROM(GPS_MAX_ANGLE_ADR);
-  KP_ALTITUDE = readEEPROM(KP_ALTITUDE_ADR);
-  KD_ALTITUDE = readEEPROM(KD_ALTITUDE_ADR);
-  KI_ALTITUDE = readEEPROM(KI_ALTITUDE_ADR);
-  acc_offset_x = readEEPROM(acc_offset_x_ADR);
-  acc_offset_y = readEEPROM(acc_offset_y_ADR);
-  acc_offset_z = readEEPROM(acc_offset_z_ADR);
-  gyro_offset_roll = readEEPROM(gyro_offset_roll_ADR);
-  gyro_offset_pitch = readEEPROM(gyro_offset_pitch_ADR);
-  gyro_offset_yaw = readEEPROM(gyro_offset_yaw_ADR);
-  Kp_ROLLPITCH = readEEPROM(Kp_ROLLPITCH_ADR);
-  Ki_ROLLPITCH = readEEPROM(Ki_ROLLPITCH_ADR);
-  Kp_YAW = readEEPROM(Kp_YAW_ADR);
-  Ki_YAW = readEEPROM(Ki_YAW_ADR);
-  GEOG_CORRECTION_FACTOR = readEEPROM(GEOG_CORRECTION_FACTOR_ADR);
-  MAGNETOMETER = readEEPROM(MAGNETOMETER_ADR);
-  Kp_RateRoll = readEEPROM(KP_RATEROLL_ADR);
-  Ki_RateRoll = readEEPROM(KI_RATEROLL_ADR);
-  Kd_RateRoll = readEEPROM(KD_RATEROLL_ADR);
-  Kp_RatePitch = readEEPROM(KP_RATEPITCH_ADR);
-  Ki_RatePitch = readEEPROM(KI_RATEPITCH_ADR);
-  Kd_RatePitch = readEEPROM(KD_RATEPITCH_ADR);
-  Kp_RateYaw = readEEPROM(KP_RATEYAW_ADR);
-  Ki_RateYaw = readEEPROM(KI_RATEYAW_ADR);
-  Kd_RateYaw = readEEPROM(KD_RATEYAW_ADR);
-  xmitFactor = readEEPROM(XMITFACTOR_ADR);
-  roll_mid = readEEPROM(CHROLL_MID);
-  pitch_mid = readEEPROM(CHPITCH_MID);
-  yaw_mid = readEEPROM(CHYAW_MID);
-
-}

Arducopter/Arducopter.pde

@@ -38,7 +38,6 @@
 
  Green LED blink slow = Motors armed, Stable mode
  Green LED blink rapid = Motors armed, Acro mode 
- 
 */
 
 /* User definable modules */
@@ -444,12 +443,12 @@ void loop(){
     {
       // Commands from radio Rx... 
       // Stick position defines the desired angle in roll, pitch and yaw
-      ch_roll = channel_filter(APM_RC.InputCh(0), ch_roll);
+      ch_roll = channel_filter(APM_RC.InputCh(0), ch_roll) * ch_roll_slope + ch_roll_offset;
-      ch_pitch = channel_filter(APM_RC.InputCh(1), ch_pitch);
+      ch_pitch = channel_filter(APM_RC.InputCh(1), ch_pitch) * ch_pitch_slope + ch_pitch_offset;
-      ch_throttle = channel_filter(APM_RC.InputCh(2), ch_throttle);
+      ch_throttle = channel_filter(APM_RC.InputCh(2), ch_throttle) * ch_throttle_slope + ch_throttle_offset;
-      ch_yaw = channel_filter(APM_RC.InputCh(3), ch_yaw);
+      ch_yaw = channel_filter(APM_RC.InputCh(3), ch_yaw) * ch_yaw_slope + ch_yaw_offset;
-      ch_aux = APM_RC.InputCh(4);
+      ch_aux = APM_RC.InputCh(4) * ch_aux_slope + ch_aux_offset;
-      ch_aux2 = APM_RC.InputCh(5);
+      ch_aux2 = APM_RC.InputCh(5) * ch_aux2_slope + ch_aux2_offset;
       command_rx_roll_old = command_rx_roll;
       command_rx_roll = (ch_roll-CHANN_CENTER) / 12.0;
       command_rx_roll_diff = command_rx_roll - command_rx_roll_old;

Arducopter/DCM.pde

@@ -1,5 +1,5 @@
 /*
- ArduCopter v1.3 - Aug 2010
+ ArduCopter v1.3 - August 2010
  www.ArduCopter.com
  Copyright (c) 2010.  All rights reserved.
  An Open Source Arduino based multicopter.
@@ -16,7 +16,7 @@
  
  You should have received a copy of the GNU General Public License 
  along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
+*/
  
  
 /* ******* ADC functions ********************* */

Arducopter/Functions.pde

@@ -1,5 +1,5 @@
 /*
- ArduCopter 1.3 - Aug 2010
+   ArduCopter 1.3 - August 2010
    www.ArduCopter.com
    Copyright (c) 2010. All rights reserved.
    An Open Source Arduino based multicopter.
@@ -16,7 +16,7 @@
    
    You should have received a copy of the GNU General Public License 
    along with this program. If not, see <http://www.gnu.org/licenses/>. 
- */
+*/
 
 void RadioCalibration() {
   long command_timer;
@@ -131,7 +131,6 @@ void RadioCalibration() {
   else Serial.println("Command timeout, returning normal mode....");
 }
 
-
 void comma() {
   Serial.print(',');
 }

Arducopter/Navigation.pde

@@ -1,5 +1,5 @@
 /*
- ArduCopter v1.3 - Aug 2010
+ ArduCopter v1.3 - August 2010
  www.ArduCopter.com
  Copyright (c) 2010.  All rights reserved.
  An Open Source Arduino based multicopter.
@@ -16,7 +16,7 @@
  
  You should have received a copy of the GNU General Public License 
  along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
+*/
 
 /* ************************************************************ */
 /* GPS based Position control */

Arducopter/SerialCom.pde

@@ -1,5 +1,5 @@
 /*
-  ArduCopter v1.2 - June 2010
+ ArduCopter v1.3 - August 2010
  www.ArduCopter.com
  Copyright (c) 2010.  All rights reserved.
  An Open Source Arduino based multicopter.
@@ -16,7 +16,7 @@
  
  You should have received a copy of the GNU General Public License 
  along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
+*/
 
 void readSerialCommand() {
   // Check for serial message
@@ -134,51 +134,21 @@ void readSerialCommand() {
       writeEEPROM(yaw_mid, CHYAW_MID);
       break;
     case 'Y': // Initialize EEPROM with default values
-      KP_QUAD_ROLL = 1.8;
+      setUserConfig();
-      KD_QUAD_ROLL = 0.4; //0.48
+      break;
-      KI_QUAD_ROLL = 0.30; //0.4
+    case '1': // Receive transmitter calibration values
-      KP_QUAD_PITCH = 1.8;
+      ch_roll_slope = readFloatSerial();
-      KD_QUAD_PITCH = 0.4; //0.48
+      ch_roll_offset = readFloatSerial();
-      KI_QUAD_PITCH = 0.30; //0.4
+      ch_pitch_slope = readFloatSerial();
-      KP_QUAD_YAW = 3.6;
+      ch_pitch_offset = readFloatSerial();
-      KD_QUAD_YAW = 1.2;
+      ch_yaw_slope = readFloatSerial();
-      KI_QUAD_YAW = 0.15;
+      ch_yaw_offset = readFloatSerial();
-      STABLE_MODE_KP_RATE = 0.2;  // New param for stable mode
+      ch_throttle_slope = readFloatSerial();
-      KP_GPS_ROLL = 0.02;
+      ch_throttle_offset = readFloatSerial();
-      KD_GPS_ROLL = 0.006;
+      ch_aux_slope = readFloatSerial();
-      KI_GPS_ROLL = 0.008;
+      ch_aux_offset = readFloatSerial();
-      KP_GPS_PITCH = 0.02;
+      ch_aux2_slope = readFloatSerial();
-      KD_GPS_PITCH = 0.006;
+      ch_aux2_offset = readFloatSerial();
-      KI_GPS_PITCH = 0.008;
-      GPS_MAX_ANGLE = 18;
-      KP_ALTITUDE = 0.8;
-      KD_ALTITUDE = 0.2;
-      KI_ALTITUDE = 0.2;
-      acc_offset_x = 2073;
-      acc_offset_y = 2056;
-      acc_offset_z = 2010;
-      gyro_offset_roll = 1659;
-      gyro_offset_pitch = 1618;
-      gyro_offset_yaw = 1673;
-      Kp_ROLLPITCH = 0.0014;
-      Ki_ROLLPITCH = 0.00000015;
-      Kp_YAW = 1.2;
-      Ki_YAW = 0.00005;
-      GEOG_CORRECTION_FACTOR = 0.87;
-      MAGNETOMETER = 0;
-      Kp_RateRoll = 0.6;
-      Ki_RateRoll = 0.1;
-      Kd_RateRoll = -0.8;
-      Kp_RatePitch = 0.6;
-      Ki_RatePitch = 0.1;
-      Kd_RatePitch = -0.8;  
-      Kp_RateYaw = 1.6;
-      Ki_RateYaw = 0.3;
-      Kd_RateYaw = 0;
-      xmitFactor = 0.8;
-      roll_mid = 1500;
-      pitch_mid = 1500;
-      yaw_mid = 1500;
     break;
     }
   }
@@ -399,7 +369,6 @@ void sendSerialTelemetry() {
     Serial.print(pitch_mid); // Pitch MID value
     comma();
     Serial.println(yaw_mid); // Yaw MID Value
-
     break;
   case 'V': // Spare
     break;
@@ -435,10 +404,3 @@ float readFloatSerial() {
   while ((data[constrain(index-1, 0, 128)] != ';') && (timeout < 5) && (index < 128));
   return atof(data);
 }
-
-/*
-void comma() {
- Serial.print(',');
- }
- */
-

Arducopter/UserConfig.h

@@ -1,5 +1,5 @@
 /*
-  ArduCopter v1.3 - Aug 2010
+ ArduCopter v1.3 - August 2010
  www.ArduCopter.com
  Copyright (c) 2010.  All rights reserved.
  An Open Source Arduino based multicopter.
@@ -16,15 +16,13 @@
  
  You should have received a copy of the GNU General Public License 
  along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
+*/
  
 /* *************************************************************
 TODO:
 
-  - move all user definable variables from main pde to here
   - comment variables properly
 
-
 ************************************************************* */
 
 
@@ -68,3 +66,264 @@ TODO:
 #define CHANN_CENTER 1500       // Channel center, legacy
 #define MIN_THROTTLE 1040       // Throttle pulse width at minimun...
 
+// Following variables stored in EEPROM
+float KP_QUAD_ROLL;
+float KD_QUAD_ROLL;
+float KI_QUAD_ROLL;
+float KP_QUAD_PITCH;
+float KD_QUAD_PITCH;
+float KI_QUAD_PITCH;
+float KP_QUAD_YAW;
+float KD_QUAD_YAW;
+float KI_QUAD_YAW;
+float STABLE_MODE_KP_RATE;
+float KP_GPS_ROLL;
+float KD_GPS_ROLL;
+float KI_GPS_ROLL;
+float KP_GPS_PITCH;
+float KD_GPS_PITCH;
+float KI_GPS_PITCH;
+float GPS_MAX_ANGLE;
+float KP_ALTITUDE;
+float KD_ALTITUDE;
+float KI_ALTITUDE;
+int acc_offset_x;
+int acc_offset_y;
+int acc_offset_z;
+int gyro_offset_roll;
+int gyro_offset_pitch;
+int gyro_offset_yaw;
+float Kp_ROLLPITCH;
+float Ki_ROLLPITCH;
+float Kp_YAW;
+float Ki_YAW;
+float GEOG_CORRECTION_FACTOR;
+int MAGNETOMETER;
+float Kp_RateRoll;
+float Ki_RateRoll;
+float Kd_RateRoll;
+float Kp_RatePitch;
+float Ki_RatePitch;
+float Kd_RatePitch;
+float Kp_RateYaw;
+float Ki_RateYaw;
+float Kd_RateYaw;
+float xmitFactor;
+float ch_roll_slope = 1;
+float ch_pitch_slope = 1;
+float ch_throttle_slope = 1;
+float ch_yaw_slope = 1;
+float ch_aux_slope = 1;
+float ch_aux2_slope = 1;
+float ch_roll_offset = 0;
+float ch_pitch_offset = 0;
+float ch_throttle_offset = 0;
+float ch_yaw_offset = 0;
+float ch_aux_offset = 0;
+float ch_aux2_offset = 0;
+
+// This function call contains the default values that are set to the ArduCopter
+// when a "Default EEPROM Value" command is sent through serial interface
+void setUserConfig() {
+  KP_QUAD_ROLL = 1.8;
+  KD_QUAD_ROLL = 0.4; //0.48
+  KI_QUAD_ROLL = 0.30; //0.4
+  KP_QUAD_PITCH = 1.8;
+  KD_QUAD_PITCH = 0.4; //0.48
+  KI_QUAD_PITCH = 0.30; //0.4
+  KP_QUAD_YAW = 3.6;
+  KD_QUAD_YAW = 1.2;
+  KI_QUAD_YAW = 0.15;
+  STABLE_MODE_KP_RATE = 0.2;  // New param for stable mode
+  KP_GPS_ROLL = 0.012;
+  KD_GPS_ROLL = 0.005;
+  KI_GPS_ROLL = 0.004;
+  KP_GPS_PITCH = 0.012;
+  KD_GPS_PITCH = 0.005;
+  KI_GPS_PITCH = 0.004;
+  GPS_MAX_ANGLE = 10;
+  KP_ALTITUDE = 0.8;
+  KD_ALTITUDE = 0.2;
+  KI_ALTITUDE = 0.2;
+  acc_offset_x = 2073;
+  acc_offset_y = 2056;
+  acc_offset_z = 2010;
+  gyro_offset_roll = 1659;
+  gyro_offset_pitch = 1618;
+  gyro_offset_yaw = 1673;
+  Kp_ROLLPITCH = 0.0014;
+  Ki_ROLLPITCH = 0.00000015;
+  Kp_YAW = 1.2;
+  Ki_YAW = 0.00005;
+  GEOG_CORRECTION_FACTOR = 0.87;
+  MAGNETOMETER = 0;
+  Kp_RateRoll = 0.6;
+  Ki_RateRoll = 0.1;
+  Kd_RateRoll = -0.8;
+  Kp_RatePitch = 0.6;
+  Ki_RatePitch = 0.1;
+  Kd_RatePitch = -0.8;  
+  Kp_RateYaw = 1.6;
+  Ki_RateYaw = 0.3;
+  Kd_RateYaw = 0;
+  xmitFactor = 0.8;
+  roll_mid = 1500;
+  pitch_mid = 1500;
+  yaw_mid = 1500;
+  ch_roll_slope = 1;
+  ch_pitch_slope = 1;
+  ch_throttle_slope = 1;
+  ch_yaw_slope = 1;
+  ch_aux_slope = 1;
+  ch_aux2_slope = 1;
+  ch_roll_offset = 0;
+  ch_pitch_offset = 0;
+  ch_throttle_offset = 0;
+  ch_yaw_offset = 0;
+  ch_aux_offset = 0;
+  ch_aux2_offset = 0;
+}
+
+// EEPROM storage addresses
+#define KP_QUAD_ROLL_ADR 0
+#define KD_QUAD_ROLL_ADR 4
+#define KI_QUAD_ROLL_ADR 8
+#define KP_QUAD_PITCH_ADR 12
+#define KD_QUAD_PITCH_ADR 16
+#define KI_QUAD_PITCH_ADR 20
+#define KP_QUAD_YAW_ADR 24
+#define KD_QUAD_YAW_ADR 28
+#define KI_QUAD_YAW_ADR 32
+#define STABLE_MODE_KP_RATE_ADR 36
+#define KP_GPS_ROLL_ADR 40
+#define KD_GPS_ROLL_ADR 44
+#define KI_GPS_ROLL_ADR 48
+#define KP_GPS_PITCH_ADR 52
+#define KD_GPS_PITCH_ADR 56
+#define KI_GPS_PITCH_ADR 60
+#define GPS_MAX_ANGLE_ADR 64
+#define KP_ALTITUDE_ADR 68
+#define KD_ALTITUDE_ADR 72
+#define KI_ALTITUDE_ADR 76
+#define acc_offset_x_ADR 80
+#define acc_offset_y_ADR 84
+#define acc_offset_z_ADR 88
+#define gyro_offset_roll_ADR 92
+#define gyro_offset_pitch_ADR 96
+#define gyro_offset_yaw_ADR 100
+#define Kp_ROLLPITCH_ADR 104
+#define Ki_ROLLPITCH_ADR 108
+#define Kp_YAW_ADR 112
+#define Ki_YAW_ADR 116
+#define GEOG_CORRECTION_FACTOR_ADR 120
+#define MAGNETOMETER_ADR 124
+#define XMITFACTOR_ADR 128
+#define KP_RATEROLL_ADR 132
+#define KI_RATEROLL_ADR 136
+#define KD_RATEROLL_ADR 140
+#define KP_RATEPITCH_ADR 144
+#define KI_RATEPITCH_ADR 148
+#define KD_RATEPITCH_ADR 152
+#define KP_RATEYAW_ADR 156
+#define KI_RATEYAW_ADR 160
+#define KD_RATEYAW_ADR 164
+#define CHROLL_MID 168
+#define CHPITCH_MID 172
+#define CHYAW_MID 176
+#define ch_roll_slope_ADR 180
+#define ch_pitch_slope_ADR 184
+#define ch_throttle_slope_ADR 188
+#define ch_yaw_slope_ADR 192
+#define ch_aux_slope_ADR 196
+#define ch_aux2_slope_ADR 200
+#define ch_roll_offset_ADR 204
+#define ch_pitch_offset_ADR 208
+#define ch_throttle_offset_ADR 212
+#define ch_yaw_offset_ADR 216
+#define ch_aux_offset_ADR 220
+#define ch_aux2_offset_ADR 224
+
+// Utilities for writing and reading from the EEPROM
+float readEEPROM(int address) {
+  union floatStore {
+    byte floatByte[4];
+    float floatVal;
+  } floatOut;
+  
+  for (int i = 0; i < 4; i++) 
+    floatOut.floatByte[i] = EEPROM.read(address + i);
+  return floatOut.floatVal;
+}
+
+void writeEEPROM(float value, int address) {
+  union floatStore {
+    byte floatByte[4];
+    float floatVal;
+  } floatIn;
+  
+  floatIn.floatVal = value;
+  for (int i = 0; i < 4; i++) 
+    EEPROM.write(address + i, floatIn.floatByte[i]);
+}
+
+void readUserConfig() {
+  KP_QUAD_ROLL = readEEPROM(KP_QUAD_ROLL_ADR);
+  KD_QUAD_ROLL = readEEPROM(KD_QUAD_ROLL_ADR);
+  KI_QUAD_ROLL = readEEPROM(KI_QUAD_ROLL_ADR);
+  KP_QUAD_PITCH = readEEPROM(KP_QUAD_PITCH_ADR);
+  KD_QUAD_PITCH = readEEPROM(KD_QUAD_PITCH_ADR);
+  KI_QUAD_PITCH = readEEPROM(KI_QUAD_PITCH_ADR);
+  KP_QUAD_YAW = readEEPROM(KP_QUAD_YAW_ADR);
+  KD_QUAD_YAW = readEEPROM(KD_QUAD_YAW_ADR);
+  KI_QUAD_YAW = readEEPROM(KI_QUAD_YAW_ADR);
+  STABLE_MODE_KP_RATE = readEEPROM(STABLE_MODE_KP_RATE_ADR);
+  KP_GPS_ROLL = readEEPROM(KP_GPS_ROLL_ADR);
+  KD_GPS_ROLL = readEEPROM(KD_GPS_ROLL_ADR);
+  KI_GPS_ROLL = readEEPROM(KI_GPS_ROLL_ADR);
+  KP_GPS_PITCH = readEEPROM(KP_GPS_PITCH_ADR);
+  KD_GPS_PITCH = readEEPROM(KD_GPS_PITCH_ADR);
+  KI_GPS_PITCH = readEEPROM(KI_GPS_PITCH_ADR);
+  GPS_MAX_ANGLE = readEEPROM(GPS_MAX_ANGLE_ADR);
+  KP_ALTITUDE = readEEPROM(KP_ALTITUDE_ADR);
+  KD_ALTITUDE = readEEPROM(KD_ALTITUDE_ADR);
+  KI_ALTITUDE = readEEPROM(KI_ALTITUDE_ADR);
+  acc_offset_x = readEEPROM(acc_offset_x_ADR);
+  acc_offset_y = readEEPROM(acc_offset_y_ADR);
+  acc_offset_z = readEEPROM(acc_offset_z_ADR);
+  gyro_offset_roll = readEEPROM(gyro_offset_roll_ADR);
+  gyro_offset_pitch = readEEPROM(gyro_offset_pitch_ADR);
+  gyro_offset_yaw = readEEPROM(gyro_offset_yaw_ADR);
+  Kp_ROLLPITCH = readEEPROM(Kp_ROLLPITCH_ADR);
+  Ki_ROLLPITCH = readEEPROM(Ki_ROLLPITCH_ADR);
+  Kp_YAW = readEEPROM(Kp_YAW_ADR);
+  Ki_YAW = readEEPROM(Ki_YAW_ADR);
+  GEOG_CORRECTION_FACTOR = readEEPROM(GEOG_CORRECTION_FACTOR_ADR);
+  MAGNETOMETER = readEEPROM(MAGNETOMETER_ADR);
+  Kp_RateRoll = readEEPROM(KP_RATEROLL_ADR);
+  Ki_RateRoll = readEEPROM(KI_RATEROLL_ADR);
+  Kd_RateRoll = readEEPROM(KD_RATEROLL_ADR);
+  Kp_RatePitch = readEEPROM(KP_RATEPITCH_ADR);
+  Ki_RatePitch = readEEPROM(KI_RATEPITCH_ADR);
+  Kd_RatePitch = readEEPROM(KD_RATEPITCH_ADR);
+  Kp_RateYaw = readEEPROM(KP_RATEYAW_ADR);
+  Ki_RateYaw = readEEPROM(KI_RATEYAW_ADR);
+  Kd_RateYaw = readEEPROM(KD_RATEYAW_ADR);
+  xmitFactor = readEEPROM(XMITFACTOR_ADR);
+  roll_mid = readEEPROM(CHROLL_MID);
+  pitch_mid = readEEPROM(CHPITCH_MID);
+  yaw_mid = readEEPROM(CHYAW_MID);
+  /* uncommented for now until flight tested
+  ch_roll_slope = readEEPROM(ch_roll_slope_ADR);
+  ch_pitch_slope = readEEPROM(ch_pitch_slope_ADR);
+  ch_throttle_slope readEEPROM(ch_throttle_slope_ADR);
+  ch_yaw_slope = readEEPROM(ch_yaw_slope_ADR);
+  ch_aux_slope = readEEPROM(ch_aux_slope_ADR);
+  ch_aux2_slope = readEEPROM(ch_aux2_slope_ADR);
+  ch_roll_offset = readEEPROM(ch_roll_offset_ADR);
+  ch_pitch_offset = readEEPROM(ch_pitch_offset_ADR);
+  ch_throttle_offset = readEEPROM(ch_throttle_offset_ADR);
+  ch_yaw_offset = readEEPROM(ch_yaw_offset_ADR);
+  ch_aux_offset = readEEPROM(ch_aux_offset_ADR);
+  ch_aux2_offset = readEEPROM(ch_aux2_offset_ADR); */
+}
+