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2189 4178 d 15 h /branches/dongfang_FC_rewrite/  
2160 4364 d 1 h /branches/dongfang_FC_rewrite/  
2052 4474 d 12 h /branches/dongfang_FC_rewrite/  
2051 4476 d 2 h /branches/dongfang_FC_rewrite/  
2049 4477 d 1 h /branches/dongfang_FC_rewrite/  
2048 4478 d 1 h /branches/dongfang_FC_rewrite/  
2041 4483 d 0 h /branches/dongfang_FC_rewrite/  
2035 4490 d 1 h /branches/dongfang_FC_rewrite/  
1980 4629 d 3 h /branches/dongfang_FC_rewrite/  
1874 4816 d 3 h /branches/dongfang_FC_rewrite/ Gyro factor of 4 removed.
Sign extension experiment
Mixer matrix execution now solved: No overflows and only 1 32 bit division (implemented with right shifting w sign extension)
Axis coupling disabled by default (until it starts working well...)		  
1872 4817 d 11 h /branches/dongfang_FC_rewrite/ Performance problems fixed.  
1869 4819 d 17 h /branches/dongfang_FC_rewrite/  
1805 4923 d 11 h /branches/dongfang_FC_rewrite/  
1775 4967 d 2 h /branches/dongfang_FC_rewrite/  
1645 5130 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.		  
1612 5145 d 4 h dongfang /branches/dongfang_FC_rewrite/ Initial import.