= refactored pid routines to compute on a pid params record (pid_rate) to prepare for multiple pid engines (pid_pos).
= minor fix to rx_portb_sync for NANOWII. TODO: remove the hardcoded pin number usage.

= minor comment updates
= quite a few changes...

- mixer tracks rx readings to ensure servo limits don't exceed rx limits.
- replaced mix_mode and ail_mode with wing_mode.
- stick config support
- eeprom config support
> default parameters setup
- used ICP pin for CPPM in rx3s v1/v2
- attitude estimation by summing rate
- 2 pid computations: attitude and rate
> 2 separate pid parameter records
- eeprom config: removed pid parameters.
- stick configuration
- WDT method to reboot the device after stick config
- cppm handling. wait for first sync pulse before updating vars.
- fixed minor bug to call calibration_set_led when rx or imu calibration_updated called.
= cppm update
- cppm as a run time feature. can be selected with stick config.
- can be disabled during compile time (#define DISABLE_CPPM) to reduce firmware size
- support multiple channel orders. currently only one used (RETA1a2x)
- rearranged all the isr handlers. rx3s_v* uses TIMER1_CAPT_vect

= support mixer EPA modes
- mixer endpoints can be set in 3 ways: fixed [1000-2000], fixed [1100-1900] and tracking starting from [1250-1750]. can be selected with stick config.

= attitude
- once enabled, device will try to hold attitude when sticks are centered (+/-100 from neutral)
- rx3s v1 uses AIL_SW to enable attitude hold mode.
- rx3s v2 uses RUD_SW to enable attitude hold mode.
- nanowii or cppm (including rx3s_v*) uses aux2 > 1700 to enable attitude hold mode.

= stick config parameters so far:
// 1=wing_mode 2=roll_gain 3=pitch_gain 4=yaw_gain 5=mixer_epa_mode 6=cppm_mode 7=exit
// wing_mode: see enum WING_MODE
// [roll|pitch|yaw]_gain: see vr_notch_table[]
// mixer_epa_mode: see enum MIXER_EPA_MODE
// cppm_mode: see enum CPPM_MODE
- device will restart after exiting stick config

= enable eeprom write/read of stick config parameters
- now for all devices, not just nanowii
- rx3s_v* will ignore stick config settings on WING_MODE and <axis>_gains (use dip switches and pots)
- eeprom can be reset with boot_check (see next)

= boot check pin pairs
- on bootup, check if specific pin pairs are shorted.
- use case for erasing eeprom: rx3s_v* (AIL_OUT/ELE_OUT) and nanowii (D6/D5).

= whole bunch of optimization to reduce space.
- also, compiling on the ide results in taking more firmware space than from the commandline
= fixed DISABLE_CPPM define vs old CPPM_ENABLE
- added more #if !defined(DISABLE_CPPM) around cppm code.

= fixed boot_check in vs out pin
- avoid setting the thr_out pin as out for nanowii
- if boot check for eeprom_reset is true, then rapid flash led in 6sec bursts to indicate eeprom is reset.

= defined param min/max limits in stick config. initial values from eeprom
- set max value for cppm_mode in stick config = CPPM_NONE if DISABLED_CPPM
= cppm_none as default (instead of cppm_open9x)
- the cppm isr will track for the sync gap and set the sync flag after the last channel in the train/group (just before the pulse)

= ui clean up for dump_sensor()

= fixed bug with extra att_hold local var, which prevented att_hold mode from enabling with non cppm rx input. (att_hold || aux2_in2 > 1700) always always since local copy is always false.
= add hex files from source code at change https://github.com/noobee/FlightStab/commit/357c97f383428106d5b4f3d9061639453d39d5d0
= added flap channel output in cppm mode
= updated hex files
- removed 20130203_* and 20130306_*
- added 20130312_*
Update README.md
= renamed current hex files to BETA_*
= removed *_NOCPPM as there is still enough flash space