[psy_wombats]

There really isn't a 2008 default code, so I suppose 'default' would be 2007's default code. The real difference is that it's only compatible with the 2.4 version, thus the topic title of the sticky. (Sorry, I'm not the most knowledgeable about the compiler...)

That looks right for Kevin's sensorless code, there are version available with the gyro and stuff, if you want it.