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2189 4339 d 11 h /branches/dongfang_FC_rewrite/  
2160 4524 d 21 h /branches/dongfang_FC_rewrite/  
2052 4635 d 8 h /branches/dongfang_FC_rewrite/  
2051 4636 d 22 h /branches/dongfang_FC_rewrite/  
2049 4637 d 22 h /branches/dongfang_FC_rewrite/  
2048 4638 d 21 h /branches/dongfang_FC_rewrite/  
2041 4643 d 20 h /branches/dongfang_FC_rewrite/  
2035 4650 d 21 h /branches/dongfang_FC_rewrite/  
1980 4790 d 0 h /branches/dongfang_FC_rewrite/  
1874 4977 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 4978 d 8 h /branches/dongfang_FC_rewrite/ Performance problems fixed.  
1869 4980 d 14 h /branches/dongfang_FC_rewrite/  
1805 5084 d 8 h /branches/dongfang_FC_rewrite/  
1775 5127 d 23 h /branches/dongfang_FC_rewrite/  
1645 5291 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 5306 d 0 h dongfang /branches/dongfang_FC_rewrite/ Initial import.