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1821 4874 d 20 h /branches/dongfang_FC_rewrite/ reformatted.  
1775 4948 d 9 h /branches/dongfang_FC_rewrite/  
1646 5109 d 17 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)		  
1612 5126 d 11 h dongfang /branches/dongfang_FC_rewrite/ Initial import.