paparazzi/paparazzi — pull request #209 by flixr (2012-06-04 22:26:36+00:00)
Title: adding INS modules/subsystems to fixedwing firmware

\cc @dewagter
I tried to clean some fixedwing ins stuff up a little. Especially for the ins xsens subsystem.

* removed the AhrsEvent
* removed all imu and ahrs things from ins_xsens
* added an InsEvent for fixedwings
* removed some gps stuff from ins_xsens and used the normal gps callbacks instead
* made baud rate for xsens configurable

Please take a look and test if that works as I don't have a xsens to test....
Also feel free to clean this up further...

I should (tm) work with something like
```xml

```