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1854 4842 d 8 h /branches/dongfang_FC_rewrite/ Sensor saturation digital debug added.  
1849 4856 d 3 h /branches/dongfang_FC_rewrite/  
1845 4858 d 14 h /branches/dongfang_FC_rewrite/  
1844 4858 d 15 h /branches/dongfang_FC_rewrite/  
1843 4858 d 15 h /branches/dongfang_FC_rewrite/  
1842 4858 d 15 h /branches/dongfang_FC_rewrite/  
1841 4858 d 15 h /branches/dongfang_FC_rewrite/  
1822 4892 d 13 h /branches/dongfang_FC_rewrite/  
1821 4892 d 13 h /branches/dongfang_FC_rewrite/ reformatted.  
1817 4907 d 22 h /branches/dongfang_FC_rewrite/  
1816 4907 d 22 h /branches/dongfang_FC_rewrite/  
1815 4907 d 22 h /branches/dongfang_FC_rewrite/  
1805 4922 d 11 h /branches/dongfang_FC_rewrite/  
1801 4934 d 3 h /branches/dongfang_FC_rewrite/ "backup" removed.
Compass debug added.		  
1796 4938 d 2 h /branches/dongfang_FC_rewrite/ ubx and mm3 removed.
Small changes to height calculation.		  
1776 4966 d 2 h /branches/dongfang_FC_rewrite/  
1775 4966 d 2 h /branches/dongfang_FC_rewrite/  
1646 5127 d 11 h /branches/dongfang_FC_rewrite/ Gyro and acc. offsetting rewritten. Now it is jolt-free. Offsets are unsigned.
New defaults for drift compensation.
Bug in acc. and gyro fusion fixed.
All gyro types tested (a standard FC1.3, a standard FC2.0 and a nonstandard InvenSense FC)		  
1645 5129 d 4 h /branches/dongfang_FC_rewrite/ Gyro measurement, gypo signal processing, attitude calculation and flight calculation were almost identical for pitch and roll. Therefore, arrays are now used for pitch and roll stuff + common code for both.
Gyro saturation prevention added.
Filtering and other processing of gyro signals modified.		  
1635 5135 d 4 h /branches/dongfang_FC_rewrite/ Bugfix: Yaw I factor shared userparam with throttle D factor. Notes updated.  

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