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Applied patch from trunet for running at 64MHz off HSI for broken Chi…
…nese kcopter clones status in cli now prints cpu MHz, 72 when running off crystal, 64 when running off intrc. corrected WHO_AM_I check for mpu6050 when it's used on alternate address (AD0 high). corrected PWM driver to consider CPU clock for timer prescalers - now things properly work below 72MHz added a neat hack for pitch angle calculation so that it's not affected when roll reaches 90deg added proper math for vector rotation instead of small-angle approximation git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@225 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
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