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1821 5072 d 11 h /branches/dongfang_FC_rewrite/ reformatted.  
1645 5309 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 5324 d 1 h dongfang /branches/dongfang_FC_rewrite/ Initial import.