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2189 4343 d 17 h /branches/dongfang_FC_rewrite/  
2160 4529 d 3 h /branches/dongfang_FC_rewrite/  
2052 4639 d 14 h /branches/dongfang_FC_rewrite/  
2051 4641 d 4 h /branches/dongfang_FC_rewrite/  
2049 4642 d 3 h /branches/dongfang_FC_rewrite/  
2048 4643 d 3 h /branches/dongfang_FC_rewrite/  
2041 4648 d 2 h /branches/dongfang_FC_rewrite/  
2035 4655 d 3 h /branches/dongfang_FC_rewrite/  
1980 4794 d 5 h /branches/dongfang_FC_rewrite/  
1874 4981 d 5 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 4982 d 13 h /branches/dongfang_FC_rewrite/ Performance problems fixed.  
1869 4984 d 19 h /branches/dongfang_FC_rewrite/  
1805 5088 d 13 h /branches/dongfang_FC_rewrite/  
1775 5132 d 4 h /branches/dongfang_FC_rewrite/  
1645 5295 d 6 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 5310 d 6 h dongfang /branches/dongfang_FC_rewrite/ Initial import.