Store the configuration on the SD card

motor.c

@@ -6,12 +6,14 @@
 #include "uart.h"
 #include "status.h"
 #include "log.h"
+#include "config.h"
 
 float integral[3] = {0.0f, 0.0f, 0.0f};
 float last[3];
 
 float throttle = 0.0f;
 
+#if 0
 #define Kp 0.2
 #define Ki 0.04
 #define Kd 0.08
@@ -22,6 +24,19 @@ float throttle = 0.0f;
 #define Kd_y 0.00
 #define Ka_y 0.0
 
+#else
+
+#define Kp config.pid.rollpitch.p
+#define Ki config.pid.rollpitch.i
+#define Kd config.pid.rollpitch.d
+#define Ka config.pid.rollpitch.a
+
+#define Kp_y config.pid.yaw.p
+#define Ki_y config.pid.yaw.i
+#define Kd_y config.pid.yaw.d
+#define Ka_y config.pid.yaw.a
+#endif
+
 
 /*
  * Perform a PID loop iteration.