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2189 4344 d 11 h /branches/dongfang_FC_rewrite/  
2160 4529 d 21 h /branches/dongfang_FC_rewrite/  
2052 4640 d 8 h /branches/dongfang_FC_rewrite/  
2051 4641 d 22 h /branches/dongfang_FC_rewrite/  
2049 4642 d 21 h /branches/dongfang_FC_rewrite/  
2048 4643 d 20 h /branches/dongfang_FC_rewrite/  
2041 4648 d 20 h /branches/dongfang_FC_rewrite/  
2035 4655 d 20 h /branches/dongfang_FC_rewrite/  
1980 4794 d 23 h /branches/dongfang_FC_rewrite/  
1874 4981 d 23 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 4983 d 7 h /branches/dongfang_FC_rewrite/ Performance problems fixed.  
1869 4985 d 13 h /branches/dongfang_FC_rewrite/  
1805 5089 d 7 h /branches/dongfang_FC_rewrite/  
1775 5132 d 22 h /branches/dongfang_FC_rewrite/  
1645 5296 d 0 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 5311 d 0 h dongfang /branches/dongfang_FC_rewrite/ Initial import.