remove unnecessary var, inline accsum_reset, lrintf , rename smallAngle
update header
correct lpf for d term
renormalize vect (is that required or the real cause of the gyro
headfree?)
format
Merge pull request #86 from treymarc/patch_speed

Remove unnecessary var, inline accsum_reset, lrintf , rename smallAngle
Merge remote-tracking branch 'multiwii/master' into project-structure-alternative

Conflicts:
	src/mw.h