"Hi
I read the matrixpilot code, But I can't figure out what GGAIN is?
  #define GGAIN SCALEGYRO*6*(RMAX*0.025)
and why multiplying it in 1 in 2.14 format RMAX

Thanks."

"Thanks pete
I am building QuadRotor, and i designed my own control algorithm so all i needed from the code is the DCM algorithm to get the roll, pitch, Yaw angles. I am reading this code…"

"Hello
i don't understand the purpose of the filtering statement
         xaccel.value = xaccel.value + (( (xaccel.input>>1) - (xaccel.value>>1) )>> FILTERSHIFT ) ;        xrate.value = xrate.value + (( (xrate.input>>1) - (xrate.value>>1) )>>…"