OK, maybe I didn't try hard enough on Freedom.

I recall now why this change wasn't _required_ for FlyingF3 actually although it still in principle should be a bit better.  That's because the attitude code looks at the time sample between the sensor updates so with the original code we essentially dropped ~1/3 of the gyro updates but since they are rates and the attitude code integrates them (accounting for the time step) it essentially does the correct thing.

What is the time constant of the LPF in the L3GD20?  If it is 200 Hz or lower this probably isn't an important change and we might want to drop it for this review.