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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.