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2189 4357 d 6 h /branches/dongfang_FC_rewrite/  
2160 4542 d 17 h /branches/dongfang_FC_rewrite/  
2052 4653 d 4 h /branches/dongfang_FC_rewrite/  
2051 4654 d 18 h /branches/dongfang_FC_rewrite/  
2049 4655 d 17 h /branches/dongfang_FC_rewrite/  
2048 4656 d 16 h /branches/dongfang_FC_rewrite/  
2041 4661 d 16 h /branches/dongfang_FC_rewrite/  
2035 4668 d 16 h /branches/dongfang_FC_rewrite/  
1980 4807 d 19 h /branches/dongfang_FC_rewrite/  
1874 4994 d 19 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 4996 d 3 h /branches/dongfang_FC_rewrite/ Performance problems fixed.  
1869 4998 d 9 h /branches/dongfang_FC_rewrite/  
1805 5102 d 3 h /branches/dongfang_FC_rewrite/  
1775 5145 d 18 h /branches/dongfang_FC_rewrite/  
1645 5308 d 20 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 5323 d 20 h dongfang /branches/dongfang_FC_rewrite/ Initial import.