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1646 5215 d 10 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 5217 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.		  
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1635 5223 d 4 h /branches/dongfang_FC_rewrite/ Bugfix: Yaw I factor shared userparam with throttle D factor. Notes updated.  
1634 5225 d 18 h /branches/dongfang_FC_rewrite/ Bug in stick calibration fixed.