paparazzi/paparazzi — pull request #125 by flixr (2012-02-02 11:06:37+00:00)
Title: temporary fix for ins_chimu modules

@dewagter

While probably all the ins_x modules need cleanup, here is a temporary (ugly) fix to at least make ins_chimu usable again.
Not 100% sure if it is ok to do the centripedal correction only on a gps update, maybe better to do it periodically in ins_periodic_task again. But before it would have still used an old gps_speed even if there wasn't a gps fix anymore, which is clearly not good....