Adding trigger at 4kHz AHRS
Merge branch 'new_control_board' of https://github.com/moon-bear/firmware into another_new_brach_for_ming_to_test

Conflicts:
	program/test/estimator/attitude_estimator.c
	program/test/interrupt.c
	program/test/mcu_periph/tim.c
Filter is fully functional
Merge branch 'new_control_board' of https://github.com/moon-bear/firmware into another_new_brach_for_ming_to_test

Conflicts:
	program/test/estimator/attitude_estimator.c
	program/test/interrupt.c
	program/test/mcu_periph/test_periph.c
	program/test/mcu_periph/usart.c
ADC Barometer is now function/ created files for vertical filter
Merge branch 'new_control_board' of https://github.com/moon-bear/firmware into another_new_brach_for_ming_to_test

Conflicts:
	program/test/Makefile
	program/test/mcu_periph/test_periph.c
	program/test/mcu_periph/tim.h
	program/test/mcu_periph/usart.c
Fix wrong header files type
Fix some warnings, but still have one implicity declaration
I do not have this device now
Merge branch 'another_new_brach_for_ming_to_test' of https://github.com/ming6842/firmware into new_control_board

Conflicts:
	program/test/mcu_periph/test_periph.c
Move files