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2189 4361 d 18 h /branches/dongfang_FC_rewrite/  
2160 4547 d 4 h /branches/dongfang_FC_rewrite/  
2052 4657 d 15 h /branches/dongfang_FC_rewrite/  
2051 4659 d 5 h /branches/dongfang_FC_rewrite/  
2049 4660 d 4 h /branches/dongfang_FC_rewrite/  
2048 4661 d 4 h /branches/dongfang_FC_rewrite/  
2041 4666 d 3 h /branches/dongfang_FC_rewrite/  
2035 4673 d 4 h /branches/dongfang_FC_rewrite/  
1980 4812 d 6 h /branches/dongfang_FC_rewrite/  
1874 4999 d 6 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 5000 d 14 h /branches/dongfang_FC_rewrite/ Performance problems fixed.  
1869 5002 d 20 h /branches/dongfang_FC_rewrite/  
1805 5106 d 14 h /branches/dongfang_FC_rewrite/  
1775 5150 d 5 h /branches/dongfang_FC_rewrite/  
1645 5313 d 7 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 5328 d 7 h dongfang /branches/dongfang_FC_rewrite/ Initial import.