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2189 4271 d 11 h /branches/dongfang_FC_rewrite/  
2160 4456 d 22 h /branches/dongfang_FC_rewrite/  
2052 4567 d 8 h /branches/dongfang_FC_rewrite/  
2051 4568 d 23 h /branches/dongfang_FC_rewrite/  
2049 4569 d 22 h /branches/dongfang_FC_rewrite/  
2048 4570 d 21 h /branches/dongfang_FC_rewrite/  
2041 4575 d 21 h /branches/dongfang_FC_rewrite/  
2035 4582 d 21 h /branches/dongfang_FC_rewrite/  
1980 4722 d 0 h /branches/dongfang_FC_rewrite/  
1874 4909 d 0 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 4910 d 8 h /branches/dongfang_FC_rewrite/ Performance problems fixed.  
1869 4912 d 14 h /branches/dongfang_FC_rewrite/  
1805 5016 d 8 h /branches/dongfang_FC_rewrite/  
1775 5059 d 23 h /branches/dongfang_FC_rewrite/  
1645 5223 d 1 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 5238 d 1 h dongfang /branches/dongfang_FC_rewrite/ Initial import.