{"push_id":888132846,"size":1,"distinct_size":1,"ref":"refs/heads/quaternion-imu","head":"e7ba25490c965bee4c86734048a75a15c73b4de1","before":"069994bd92aa55e09ef2ea3f1599376ee95e8771","commits":[{"sha":"e7ba25490c965bee4c86734048a75a15c73b4de1","author":{"email":"abb441a4af0b67716522c69585bec98112388f43@gmail.com","name":"Konstantin Sharlaimov (DigitalEntity)"},"message":"    Quaternion-based Mahony's DCM IMU (implementation by S. Madgwick)\n    Mag declination correction. Some cleanups\n    DCM code changes from @MauroMombelli, allow gyro-only operation when neither ACC nor MAG can be used (i.e. no MAG and ACC is saturated.\n    Replaced 'inclination' and 'heading' with 'attitude', converted all angles to decidegrees\n    Prevent magnetometer readings from affecting roll/pitch angles. Compass now affects only yaw axis and magnetic interference won't mess up attitude calculations\n    Ability to lock heading to GPS cource for airplanes\n    Allow faster acquisition by initial attitude by using higher DCM kP gain on powerup\n    Optimize magnetometer correction per @ledvinap suggestion. Better speed and less memory usage\n    Prevent acceleration from affecting accSmooth if acceleration magnitude is too high\n    Fixed incorrect GPS heading lock","distinct":true,"url":"https://api.github.com/repos/digitalentity/cleanflight/commits/e7ba25490c965bee4c86734048a75a15c73b4de1"}]}