multiwii/baseflight — pull request #126 by treymarc (2014-06-13 11:33:28+00:00)
Title: headfree gyro

there is nothing that prevent the vector to pointing donward or upward.
we could apply a threshold to deltaGyroAngle before rotateV , we could use the calibration phase to found the threshold value OR we can just flatten the vector at small angle.