1 Very Brief Flight Test - Seemed Ok
Further Cleaning - Not tested
Moved PID declares
changed indentation style to tabs. USE TABS ONLY FROM NOW ON
Fixed massive bug in gyro calibration
removed redundant normilization in AHRS
Changed illogical startup unstable gain
changed some stuff to a more clear notation
Split into multiple files. Should be same functionality as previous commit
stick check code should only run when sticks have been read
Test flown, Parameters adjusted slightly.

Changed some of the tunable variables, test flown in basic mode. All
working fine. I'm Impressed Oskar!
TODO: Diagnose loss of control experienced at full throttle
I ascended at full throttle while probably applying some pitch and roll
demands and suddenly the craft just seemed to loose stability.
It rolled/ pitched upside down a few times, luckily it recovered and I
was able to bring it  back safely.
However, have heard that a backer had a similar problem.
Possible causes are Yuan's Max throttle stuff, my roll angle
prioritisation (less likely as wasn't in the backers code), ROLL/ PITCH
SPL (spin limit). Or other!
Added some detail to the general TODO list

Hope this mirrors the prioritisation you believe is best Oskar.
Added Accelerometer FIFO: added option to config.h and library, added its use to ReadAccelSensors() to allow for oversampling
Set Acc Back - Added Line to stop flipping

Left Yuan's code in, but set accelerometer rate back to what they were
before.
Did a flight test, discovered that the craft flips and enters a
deathspin at high thottle and attitude demand. Have added a line that
will hopefully prevent this, need to test it.
added GPSFLY message, cleaned up removed FIFO stuff
GPS baro filter loop added
renamed AHRS.h to filter.h
Merge branch 'Altitude' of https://github.com/madcowswe/Mavrx-firmware into Altitude
set up gain in parameter
henrys barosensors