multiwii/baseflight — pull request #35 by bubi-007 (2014-01-18 10:10:01+00:00)
Title: Shit happens - simplifications are not always good.

The original idea described at: http://www.starlino.com/imu_guide.html
shows how the attidue is calculated correctly.
The current implementation/simplification is error prone for acc measurment spikes.