 void writeParams(uint8_t b) {
   conf.checkNewConf = EEPROM_CONF_VERSION; // make sure we write the current version into eeprom
   eeprom_write_block((const void*)&conf, (void*)0, sizeof(conf));
-  readEEPROM();
+  //readEEPROM();
   //if (b == 1) blinkLED(15,20,1);
-}
-
-void readEEPROM() {
-  uint8_t i;
-
-  eeprom_read_block((void*)&conf, (void*)0, sizeof(conf));
-  for(i=0;i<6;i++) {
-    lookupPitchRollRC[i] = (2500+conf.rcExpo8*(i*i-25))*i*(int32_t)conf.rcRate8/2500;
-  }
-  for(i=0;i<11;i++) {
-    int16_t tmp = 10*i-conf.thrMid8;
-    uint8_t y = 1;
-    if (tmp>0) y = 100-conf.thrMid8;
-    if (tmp<0) y = conf.thrMid8;
-    lookupThrottleRC[i] = 10*conf.thrMid8 + tmp*( 100-conf.thrExpo8+(int32_t)conf.thrExpo8*(tmp*tmp)/(y*y) )/10; // [0;1000]
-    lookupThrottleRC[i] = MINTHROTTLE + (int32_t)(MAXTHROTTLE-MINTHROTTLE)* lookupThrottleRC[i]/1000;            // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
-  }
 }
 // ************************************************************************************************************
 

/*#include <avr/eeprom.h>
// to define in main program setup
static uint16_t calibratingG;
static int16_t  gyroADC[3],accADC[3],accSmooth[3],magADC[3];
static int16_t gyroZero[3] = {0,0,0};
static uint16_t acc_1G;             // this is the 1G measured acceleration
static uint16_t calibratingA = 0;  // the calibration is done in the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
static int16_t lookupPitchRollRC[6];// lookup table for expo & RC rate PITCH+ROLL
static int16_t lookupThrottleRC[11];// lookup table for expo & mid THROTTLE
static int16_t  acc_25deg;
*/
#define MINTHROTTLE 1150
#define MAXTHROTTLE 1850
#define GYRO 1
#define ACC 1

#define ROLL       0
#define PITCH      1
#define YAW        2
#define PIDITEMS 10

static struct {
  uint8_t checkNewConf;
  uint8_t P8[PIDITEMS], I8[PIDITEMS], D8[PIDITEMS];
  uint8_t rcRate8;
  uint8_t rcExpo8;
  uint8_t rollPitchRate;
  uint8_t yawRate;
  uint8_t dynThrPID;
  uint8_t thrMid8;
  uint8_t thrExpo8;
  int16_t accZero[3];
  int16_t magZero[3];
  int16_t angleTrim[2];
  uint8_t powerTrigger1;
  #if defined(GYRO_SMOOTHING)
    uint8_t Smoothing[3];
  #endif

}

// ************************************************************************************************************
void initSensors() {
  delay(200);
  delay(100);
