From b616c339030644c8dcc77eea14d83d62c766b239 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 30 Dec 2012 12:01:41 +0200 Subject: [PATCH 01/36] [OP-775] Add create library template --- make/firmware-defs.mk | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk index e77e71d2a..1b7d40370 100644 --- a/make/firmware-defs.mk +++ b/make/firmware-defs.mk @@ -40,6 +40,7 @@ MSG_BIN_OBJ = ${quote} BINO $(MSG_EXTRA) ${quote} MSG_STRIP_FILE = ${quote} STRIP $(MSG_EXTRA) ${quote} MSG_EXTENDED_LISTING = ${quote} LIS $(MSG_EXTRA) ${quote} MSG_SYMBOL_TABLE = ${quote} NM $(MSG_EXTRA) ${quote} +MSG_ARCHIVING = ${quote} AR $(MSG_EXTRA) ${quote} MSG_LINKING = ${quote} LD $(MSG_EXTRA) ${quote} MSG_COMPILING = ${quote} CC ${MSG_EXTRA} ${quote} MSG_COMPILING_ARM = ${quote} CC-ARM $(MSG_EXTRA) ${quote} @@ -183,6 +184,29 @@ $(OUTDIR)/$(notdir $(basename $(1))).o : $(1) $(V1) $(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ endef +# Archive: create ar library file from object files. +# $1 = library file to produce +# $2 = list of object files that make up the library file +# $3 = optional object files directory +define ARCHIVE_TEMPLATE +.SECONDARY : $(1) +.PRECIOUS : $(2) +$(1): $(2) + @echo $(MSG_ARCHIVING) $$(call toprel, $$@) +ifeq ($(3),) + $(V1) $(AR) rcs $$@ $(2) +else +# This is a workaround for Windows CreateProcess() line length +# limitation. It is assumed that if the object files directory +# is given, all object files are in that directory. + $(V1) ( \ + pushd $(3) >/dev/null && \ + $(AR) rcs $$@ $(notdir $(2)) && \ + popd >/dev/null \ + ) +endif +endef + # Link: create ELF output file from object files. # $1 = elf file to produce # $2 = list of object files that make up the elf file From 2328469e71f837cf55106628a6329c7650733008 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 30 Dec 2012 21:14:10 +0200 Subject: [PATCH 02/36] [OP-775] Update link template and makefiles to include optional $(ALLLIB) depenencies --- flight/CopterControl/Makefile | 2 +- flight/OSD/Makefile | 2 +- flight/PipXtreme/Makefile | 2 +- flight/RevoMini/Makefile | 2 +- flight/Revolution/Makefile | 2 +- flight/SimPosix/Makefile | 2 +- make/firmware-defs.mk | 7 ++++--- 7 files changed, 10 insertions(+), 9 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 790a7e666..584210077 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -611,7 +611,7 @@ endif # @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py # Link: create ELF output file from object files. -$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) +$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB))) # Assemble: create object files from assembler source files. $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) diff --git a/flight/OSD/Makefile b/flight/OSD/Makefile index 93b7d2861..bac6235c6 100644 --- a/flight/OSD/Makefile +++ b/flight/OSD/Makefile @@ -452,7 +452,7 @@ endif endif # Link: create ELF output file from object files. -$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) +$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB))) # Assemble: create object files from assembler source files. $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile index 07954d3b2..e7d53b06c 100644 --- a/flight/PipXtreme/Makefile +++ b/flight/PipXtreme/Makefile @@ -495,7 +495,7 @@ endif endif # Link: create ELF output file from object files. -$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) +$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB))) # Assemble: create object files from assembler source files. $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) diff --git a/flight/RevoMini/Makefile b/flight/RevoMini/Makefile index f3960411e..bd2fec0a9 100644 --- a/flight/RevoMini/Makefile +++ b/flight/RevoMini/Makefile @@ -421,7 +421,7 @@ endif # Link: create ELF output file from object files. -$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) +$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB))) # Assemble: create object files from assembler source files. $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile index 452de3053..12c8394ef 100644 --- a/flight/Revolution/Makefile +++ b/flight/Revolution/Makefile @@ -439,7 +439,7 @@ endif # Link: create ELF output file from object files. -$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) +$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB))) # Assemble: create object files from assembler source files. $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) diff --git a/flight/SimPosix/Makefile b/flight/SimPosix/Makefile index 3d0e8d710..984dfa3a4 100644 --- a/flight/SimPosix/Makefile +++ b/flight/SimPosix/Makefile @@ -400,7 +400,7 @@ endif # Link: create ELF output file from object files. -$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ))) +$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB))) # Assemble: create object files from assembler source files. $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk index 1b7d40370..ecfd48c08 100644 --- a/make/firmware-defs.mk +++ b/make/firmware-defs.mk @@ -210,12 +210,13 @@ endef # Link: create ELF output file from object files. # $1 = elf file to produce # $2 = list of object files that make up the elf file +# $3 = optional list of libraries to build and link define LINK_TEMPLATE .SECONDARY : $(1) -.PRECIOUS : $(2) -$(1): $(2) +.PRECIOUS : $(2) $(3) +$(1): $(2) $(3) @echo $(MSG_LINKING) $$(call toprel, $$@) - $(V1) $(CC) $(THUMB) $$(CFLAGS) $(2) --output $$@ $$(LDFLAGS) + $(V1) $(CC) $(THUMB) $$(CFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS) endef # Compile: create assembler files from C source files. ARM/Thumb From aee2613384c3bf598c7929721520a58dfa11fc56 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 30 Dec 2012 12:25:17 +0200 Subject: [PATCH 03/36] [OP-775] Import CMSIS2 ARM DSP_Lib sources (imported by Alessio) --- .../CMSIS END USER LICENCE AGREEMENT.pdf | Bin 0 -> 51511 bytes .../Source/BasicMathFunctions/arm_abs_f32.c | 122 + .../Source/BasicMathFunctions/arm_abs_q15.c | 170 + .../Source/BasicMathFunctions/arm_abs_q31.c | 120 + .../Source/BasicMathFunctions/arm_abs_q7.c | 143 + .../Source/BasicMathFunctions/arm_add_f32.c | 121 + .../Source/BasicMathFunctions/arm_add_q15.c | 127 + .../Source/BasicMathFunctions/arm_add_q31.c | 129 + .../Source/BasicMathFunctions/arm_add_q7.c | 126 + .../BasicMathFunctions/arm_dot_prod_f32.c | 122 + .../BasicMathFunctions/arm_dot_prod_q15.c | 132 + .../BasicMathFunctions/arm_dot_prod_q31.c | 124 + .../BasicMathFunctions/arm_dot_prod_q7.c | 163 + .../Source/BasicMathFunctions/arm_mult_f32.c | 126 + .../Source/BasicMathFunctions/arm_mult_q15.c | 119 + .../Source/BasicMathFunctions/arm_mult_q31.c | 121 + .../Source/BasicMathFunctions/arm_mult_q7.c | 125 + .../BasicMathFunctions/arm_negate_f32.c | 117 + .../BasicMathFunctions/arm_negate_q15.c | 140 + .../BasicMathFunctions/arm_negate_q31.c | 119 + .../Source/BasicMathFunctions/arm_negate_q7.c | 122 + .../BasicMathFunctions/arm_offset_f32.c | 122 + .../BasicMathFunctions/arm_offset_q15.c | 128 + .../BasicMathFunctions/arm_offset_q31.c | 126 + .../Source/BasicMathFunctions/arm_offset_q7.c | 127 + .../Source/BasicMathFunctions/arm_scale_f32.c | 133 + .../Source/BasicMathFunctions/arm_scale_q15.c | 162 + .../Source/BasicMathFunctions/arm_scale_q31.c | 117 + .../Source/BasicMathFunctions/arm_scale_q7.c | 141 + .../Source/BasicMathFunctions/arm_shift_q15.c | 239 + .../Source/BasicMathFunctions/arm_shift_q31.c | 141 + .../Source/BasicMathFunctions/arm_shift_q7.c | 202 + .../Source/BasicMathFunctions/arm_sub_f32.c | 122 + 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.../ControllerFunctions/arm_pid_init_f32.c | 76 + .../ControllerFunctions/arm_pid_init_q15.c | 111 + .../ControllerFunctions/arm_pid_init_q31.c | 96 + .../ControllerFunctions/arm_pid_reset_f32.c | 54 + .../ControllerFunctions/arm_pid_reset_q15.c | 53 + .../ControllerFunctions/arm_pid_reset_q31.c | 54 + .../ControllerFunctions/arm_sin_cos_f32.c | 408 ++ .../ControllerFunctions/arm_sin_cos_q31.c | 311 ++ .../Source/FastMathFunctions/arm_cos_f32.c | 254 + .../Source/FastMathFunctions/arm_cos_q15.c | 189 + .../Source/FastMathFunctions/arm_cos_q31.c | 225 + .../Source/FastMathFunctions/arm_sin_f32.c | 257 + .../Source/FastMathFunctions/arm_sin_q15.c | 192 + .../Source/FastMathFunctions/arm_sin_q31.c | 227 + .../Source/FastMathFunctions/arm_sqrt_q15.c | 178 + .../Source/FastMathFunctions/arm_sqrt_q31.c | 199 + .../arm_biquad_cascade_df1_32x64_init_q31.c | 102 + .../arm_biquad_cascade_df1_32x64_q31.c | 476 ++ .../arm_biquad_cascade_df1_f32.c | 418 ++ .../arm_biquad_cascade_df1_fast_q15.c | 283 ++ .../arm_biquad_cascade_df1_fast_q31.c | 271 ++ .../arm_biquad_cascade_df1_init_f32.c | 104 + .../arm_biquad_cascade_df1_init_q15.c | 106 + .../arm_biquad_cascade_df1_init_q31.c | 106 + .../arm_biquad_cascade_df1_q15.c | 380 ++ .../arm_biquad_cascade_df1_q31.c | 362 ++ .../arm_biquad_cascade_df2T_f32.c | 359 ++ .../arm_biquad_cascade_df2T_init_f32.c | 94 + .../Source/FilteringFunctions/arm_conv_f32.c | 623 +++ .../FilteringFunctions/arm_conv_fast_q15.c | 677 +++ .../FilteringFunctions/arm_conv_fast_q31.c | 567 +++ .../FilteringFunctions/arm_conv_partial_f32.c | 641 +++ .../arm_conv_partial_fast_q15.c | 705 +++ .../arm_conv_partial_fast_q31.c | 593 +++ .../FilteringFunctions/arm_conv_partial_q15.c | 765 +++ .../FilteringFunctions/arm_conv_partial_q31.c | 616 +++ .../FilteringFunctions/arm_conv_partial_q7.c | 723 +++ .../Source/FilteringFunctions/arm_conv_q15.c | 727 +++ .../Source/FilteringFunctions/arm_conv_q31.c | 583 +++ .../Source/FilteringFunctions/arm_conv_q7.c | 680 +++ 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  • x#e1h{baLP@AcAEbh($8fkN8HUQ;0!C|bj-I? zC3xCvDY2pY6K-#iix|4&WDlAW_cl$v;i`yLk&4OBOGEeDv-(0OzCASLaHO54{V;o^ zthF@f|61vhBCD5N6O1S4sl6{^dh7Az=!_-oQ(|;y&b??e*(!a1$Pwp99_Le^g-+9c zym8ag)duUk+MoVelHG9NjqTzWQ$M|47x4Z)*Ov9@~|3kA2U z#Yg|$S0(-X?cF@lYKD*R;^rQGxTval)0%USpDWI7o2#mH-fLQihgCr%yNTJt{o>!O zH!S?gmvbQe%|$WWr#;K>%$K*hHf{UcQvbixS>{dbWEU%c>~K-udu@TVtd6bpqvQ8K zZe3R=*AOk6yDoq6gsX+WU#7lUm(Qj(`PGW}iN_g2N(_4WKb%VX;LWuE^q~sbkoC#l z_ZhaZGW_57tc_oHnN_a+^3G4C!E?)M`8VF=y1DaB-r{3lZrk|BFSg~o9RBk_#uocs z7k6A+S0VFCy;A4yndGILjx)Uf9I?`%GH2~9n`;J7_8s3+bpGI%uIVQ)#siCyJmKHf zLg`n#-~QZYbu$0YtGn~-Ie$)G(sfwhZFBj*{mRcTV!PkN$O3VbM{s6Us)CUvwi`Xb zl|n>NYMQ=hUP@|3v;k0EtbTa3p@NZuVJxg>ur${X%FizWiWw*b0ad2uD;PqUF3~p0 zMyAQ8rpbn;X~}6xiK(du1}TXarY5Gz2IgsLsmVrmHl~*5i6+U(KygchB(o#~qtrA5 z!?e^?qZC5}6Z14vyIACEN3>@zuLFaG%l)6rCrwbuYGu_?+_qtktjeNIje;g#+&}g` zdU`Lmkb%*5(U&Px7CtQF@43)nvM1wSO}D9h#@ai=%2%xx)qa}isGE^8FFXFt&aL+( re}uiLx$yNPvx6y58kUYuaS5JcjE;B$L(NY literal 0 HcmV?d00001 diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c new file mode 100644 index 000000000..958fe541c --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_f32.c @@ -0,0 +1,122 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_abs_f32.c +* +* Description: Vector absolute value. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* ---------------------------------------------------------------------------- */ + +#include "arm_math.h" +#include + +/** + * @ingroup groupMath + */ + +/** + * @defgroup BasicAbs Vector Absolute Value + * + * Computes the absolute value of a vector on an element-by-element basis. + * + * 
       
+ *     pDst[n] = abs(pSrcA[n]),   0 <= n < blockSize.   
+ *
    + * + * The operation can be done in-place by setting the input and output pointers to the same buffer. + * There are separate functions for floating-point, Q7, Q15, and Q31 data types. + */ + +/** + * @addtogroup BasicAbs + * @{ + */ + +/** + * @brief Floating-point vector absolute value. + * @param[in] *pSrc points to the input buffer + * @param[out] *pDst points to the output buffer + * @param[in] blockSize number of samples in each vector + * @return none. + */ + +void arm_abs_f32( + float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + + /* Run the below code for Cortex-M4 and Cortex-M3 */ + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = |A| */ + /* Calculate absolute and then store the results in the destination buffer. */ + *pDst++ = fabsf(*pSrc++); + *pDst++ = fabsf(*pSrc++); + *pDst++ = fabsf(*pSrc++); + *pDst++ = fabsf(*pSrc++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = |A| */ + /* Calculate absolute and then store the results in the destination buffer. */ + *pDst++ = fabsf(*pSrc++); + + /* Decrement the loop counter */ + blkCnt--; + } + +} + +/** + * @} end of BasicAbs group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c new file mode 100644 index 000000000..5d346fff3 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q15.c @@ -0,0 +1,170 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_abs_q15.c +* +* Description: Q15 vector absolute value. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicAbs + * @{ + */ + +/** + * @brief Q15 vector absolute value. + * @param[in] *pSrc points to the input buffer + * @param[out] *pDst points to the output buffer + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF. + */ + +void arm_abs_q15( + q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + q15_t in1; /* Input value1 */ + q15_t in2; /* Input value2 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = |A| */ + /* Read two inputs */ + in1 = *pSrc++; + in2 = *pSrc++; + + + /* Store the Absolute result in the destination buffer by packing the two values, in a single cycle */ + +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = + __PKHBT(((in1 > 0) ? in1 : __SSAT(-in1, 16)), + ((in2 > 0) ? in2 : __SSAT(-in2, 16)), 16); + +#else + + + *__SIMD32(pDst)++ = + __PKHBT(((in2 > 0) ? in2 : __SSAT(-in2, 16)), + ((in1 > 0) ? in1 : __SSAT(-in1, 16)), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + in1 = *pSrc++; + in2 = *pSrc++; + + +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = + __PKHBT(((in1 > 0) ? in1 : __SSAT(-in1, 16)), + ((in2 > 0) ? in2 : __SSAT(-in2, 16)), 16); + + +#else + + *__SIMD32(pDst)++ = + __PKHBT(((in2 > 0) ? in2 : __SSAT(-in2, 16)), + ((in1 > 0) ? in1 : __SSAT(-in1, 16)), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = |A| */ + /* Read the input */ + in1 = *pSrc++; + + /* Calculate absolute value of input and then store the result in the destination buffer. */ + *pDst++ = (in1 > 0) ? in1 : __SSAT(-in1, 16); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + q15_t in; /* Temporary input variable */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = |A| */ + /* Read the input */ + in = *pSrc++; + + /* Calculate absolute value of input and then store the result in the destination buffer. */ + *pDst++ = (in > 0) ? in : __SSAT(-in, 16); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of BasicAbs group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c new file mode 100644 index 000000000..86a0b55b9 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q31.c @@ -0,0 +1,120 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_abs_q31.c +* +* Description: Q31 vector absolute value. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicAbs + * @{ + */ + + +/** + * @brief Q31 vector absolute value. + * @param[in] *pSrc points to the input buffer + * @param[out] *pDst points to the output buffer + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF. + */ + +void arm_abs_q31( + q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + q31_t in; /* Input value */ + +#ifndef ARM_MATH_CM0 + + /* Run the below code for Cortex-M4 and Cortex-M3 */ + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = |A| */ + /* Calculate absolute of input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */ + in = *pSrc++; + *pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in); + in = *pSrc++; + *pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in); + in = *pSrc++; + *pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in); + in = *pSrc++; + *pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = |A| */ + /* Calculate absolute value of the input (if -1 then saturated to 0x7fffffff) and then store the results in the destination buffer. */ + in = *pSrc++; + *pDst++ = (in > 0) ? in : ((in == 0x80000000) ? 0x7fffffff : -in); + + /* Decrement the loop counter */ + blkCnt--; + } + +} + +/** + * @} end of BasicAbs group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c new file mode 100644 index 000000000..f1dd27b34 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_abs_q7.c @@ -0,0 +1,143 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_abs_q7.c +* +* Description: Q7 vector absolute value. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicAbs + * @{ + */ + +/** + * @brief Q7 vector absolute value. + * @param[in] *pSrc points to the input buffer + * @param[out] *pDst points to the output buffer + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F. + */ + +void arm_abs_q7( + q7_t * pSrc, + q7_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + + /* Run the below code for Cortex-M4 and Cortex-M3 */ + q7_t in1; /* Input value1 */ + q7_t in2; /* Input value2 */ + q7_t in3; /* Input value3 */ + q7_t in4; /* Input value4 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = |A| */ + /* Read 4 inputs */ + in1 = *pSrc++; + in2 = *pSrc++; + in3 = *pSrc++; + in4 = *pSrc++; + + /* Store the Absolute result in the destination buffer by packing the 4 values in single cycle */ + *__SIMD32(pDst)++ = + __PACKq7(((in1 > 0) ? in1 : __SSAT(-in1, 8)), + ((in2 > 0) ? in2 : __SSAT(-in2, 8)), + ((in3 > 0) ? in3 : __SSAT(-in3, 8)), + ((in4 > 0) ? in4 : __SSAT(-in4, 8))); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = |A| */ + /* Read the input */ + in1 = *pSrc++; + + /* Store the Absolute result in the destination buffer */ + *pDst++ = (in1 > 0) ? in1 : __SSAT(-in1, 8); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + q7_t in; /* Temporary input varible */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = |A| */ + /* Read the input */ + in = *pSrc++; + + /* Store the Absolute result in the destination buffer */ + *pDst++ = (in > 0) ? in : __SSAT(-in, 8); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of BasicAbs group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c new file mode 100644 index 000000000..1d7c6ad52 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_f32.c @@ -0,0 +1,121 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_add_f32.c +* +* Description: Floating-point vector addition. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* ---------------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @defgroup BasicAdd Vector Addition + * + * Element-by-element addition of two vectors. + * + * 
       
+ *     pDst[n] = pSrcA[n] + pSrcB[n],   0 <= n < blockSize.   
+ *
    + * + * There are separate functions for floating-point, Q7, Q15, and Q31 data types. + */ + +/** + * @addtogroup BasicAdd + * @{ + */ + +/** + * @brief Floating-point vector addition. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + */ + +void arm_add_f32( + float32_t * pSrcA, + float32_t * pSrcB, + float32_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = (*pSrcA++) + (*pSrcB++); + *pDst++ = (*pSrcA++) + (*pSrcB++); + *pDst++ = (*pSrcA++) + (*pSrcB++); + *pDst++ = (*pSrcA++) + (*pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = (*pSrcA++) + (*pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } +} + +/** + * @} end of BasicAdd group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c new file mode 100644 index 000000000..e3a281200 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q15.c @@ -0,0 +1,127 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_add_q15.c +* +* Description: Q15 vector addition +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicAdd + * @{ + */ + +/** + * @brief Q15 vector addition. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. + */ + +void arm_add_q15( + q15_t * pSrcA, + q15_t * pSrcB, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++); + *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = (q15_t) __QADD16(*pSrcA++, *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ + *pSrcB++), 16); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + + +} + +/** + * @} end of BasicAdd group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c new file mode 100644 index 000000000..58f99d9a2 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q31.c @@ -0,0 +1,129 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_add_q31.c +* +* Description: Q31 vector addition. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicAdd + * @{ + */ + + +/** + * @brief Q31 vector addition. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated. + */ + +void arm_add_q31( + q31_t * pSrcA, + q31_t * pSrcB, + q31_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = __QADD(*pSrcA++, *pSrcB++); + *pDst++ = __QADD(*pSrcA++, *pSrcB++); + *pDst++ = __QADD(*pSrcA++, *pSrcB++); + *pDst++ = __QADD(*pSrcA++, *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = __QADD(*pSrcA++, *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ + *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of BasicAdd group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c new file mode 100644 index 000000000..c6f4f92fb --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_add_q7.c @@ -0,0 +1,126 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_add_q7.c +* +* Description: Q7 vector addition. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicAdd + * @{ + */ + +/** + * @brief Q7 vector addition. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. + */ + +void arm_add_q7( + q7_t * pSrcA, + q7_t * pSrcB, + q7_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = (q7_t) __SSAT(*pSrcA++ + *pSrcB++, 8); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A + B */ + /* Add and then store the results in the destination buffer. */ + *pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ + *pSrcB++, 8); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + + +} + +/** + * @} end of BasicAdd group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c new file mode 100644 index 000000000..ea82aa375 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_f32.c @@ -0,0 +1,122 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_dot_prod_f32.c +* +* Description: Floating-point dot product. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* ---------------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @defgroup dot_prod Vector Dot Product + * + * Computes the dot product of two vectors. + * The vectors are multiplied element-by-element and then summed. + * There are separate functions for floating-point, Q7, Q15, and Q31 data types. + */ + +/** + * @addtogroup dot_prod + * @{ + */ + +/** + * @brief Dot product of floating-point vectors. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[out] *result output result returned here + * @return none. + */ + + +void arm_dot_prod_f32( + float32_t * pSrcA, + float32_t * pSrcB, + uint32_t blockSize, + float32_t * result) +{ + float32_t sum = 0.0f; /* Temporary result storage */ + uint32_t blkCnt; /* loop counter */ + + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Calculate dot product and then store the result in a temporary buffer */ + sum += (*pSrcA++) * (*pSrcB++); + sum += (*pSrcA++) * (*pSrcB++); + sum += (*pSrcA++) * (*pSrcB++); + sum += (*pSrcA++) * (*pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Calculate dot product and then store the result in a temporary buffer. */ + sum += (*pSrcA++) * (*pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + /* Store the result back in the destination buffer */ + *result = sum; +} + +/** + * @} end of dot_prod group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c new file mode 100644 index 000000000..32bfdbc1a --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q15.c @@ -0,0 +1,132 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_dot_prod_q15.c +* +* Description: Q15 dot product. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup dot_prod + * @{ + */ + +/** + * @brief Dot product of Q15 vectors. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[out] *result output result returned here + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The intermediate multiplications are in 1.15 x 1.15 = 2.30 format and these + * results are added to a 64-bit accumulator in 34.30 format. + * Nonsaturating additions are used and given that there are 33 guard bits in the accumulator + * there is no risk of overflow. + * The return result is in 34.30 format. + */ + +void arm_dot_prod_q15( + q15_t * pSrcA, + q15_t * pSrcB, + uint32_t blockSize, + q63_t * result) +{ + q63_t sum = 0; /* Temporary result storage */ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Calculate dot product and then store the result in a temporary buffer. */ + sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum); + sum = __SMLALD(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++, sum); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Calculate dot product and then store the results in a temporary buffer. */ + sum = __SMLALD(*pSrcA++, *pSrcB++, sum); + + /* Decrement the loop counter */ + blkCnt--; + } + + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Calculate dot product and then store the results in a temporary buffer. */ + sum += (q63_t) ((q31_t) * pSrcA++ * *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + + /* Store the result in the destination buffer in 34.30 format */ + *result = sum; + +} + +/** + * @} end of dot_prod group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c new file mode 100644 index 000000000..eb674c359 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q31.c @@ -0,0 +1,124 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_dot_prod_q31.c +* +* Description: Q31 dot product. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup dot_prod + * @{ + */ + +/** + * @brief Dot product of Q31 vectors. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[out] *result output result returned here + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The intermediate multiplications are in 1.31 x 1.31 = 2.62 format and these + * are truncated to 2.48 format by discarding the lower 14 bits. + * The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format. + * There are 15 guard bits in the accumulator and there is no risk of overflow as long as + * the length of the vectors is less than 2^16 elements. + * The return result is in 16.48 format. + */ + +void arm_dot_prod_q31( + q31_t * pSrcA, + q31_t * pSrcB, + uint32_t blockSize, + q63_t * result) +{ + q63_t sum = 0; /* Temporary result storage */ + uint32_t blkCnt; /* loop counter */ + + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Calculate dot product and then store the result in a temporary buffer. */ + sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u; + sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u; + sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u; + sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u; + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Calculate dot product and then store the result in a temporary buffer. */ + sum += ((q63_t) * pSrcA++ * *pSrcB++) >> 14u; + + /* Decrement the loop counter */ + blkCnt--; + } + + /* Store the result in the destination buffer in 16.48 format */ + *result = sum; +} + +/** + * @} end of dot_prod group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c new file mode 100644 index 000000000..089273218 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_dot_prod_q7.c @@ -0,0 +1,163 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_dot_prod_q7.c +* +* Description: Q7 dot product. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup dot_prod + * @{ + */ + +/** + * @brief Dot product of Q7 vectors. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[in] blockSize number of samples in each vector + * @param[out] *result output result returned here + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The intermediate multiplications are in 1.7 x 1.7 = 2.14 format and these + * results are added to an accumulator in 18.14 format. + * Nonsaturating additions are used and there is no danger of wrap around as long as + * the vectors are less than 2^18 elements long. + * The return result is in 18.14 format. + */ + +void arm_dot_prod_q7( + q7_t * pSrcA, + q7_t * pSrcB, + uint32_t blockSize, + q31_t * result) +{ + uint32_t blkCnt; /* loop counter */ + + q31_t sum = 0; /* Temporary variables to store output */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + q31_t input1, input2; /* Temporary variables to store input */ + q15_t in1, in2; /* Temporary variables to store input */ + + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* Reading two inputs of SrcA buffer and packing */ + in1 = (q15_t) * pSrcA++; + in2 = (q15_t) * pSrcA++; + input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16); + + /* Reading two inputs of SrcB buffer and packing */ + in1 = (q15_t) * pSrcB++; + in2 = (q15_t) * pSrcB++; + input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16); + + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Perform Dot product of 2 packed inputs using SMLALD and store the result in a temporary variable. */ + sum = __SMLAD(input1, input2, sum); + + /* Reading two inputs of SrcA buffer and packing */ + in1 = (q15_t) * pSrcA++; + in2 = (q15_t) * pSrcA++; + input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16); + + /* Reading two inputs of SrcB buffer and packing */ + in1 = (q15_t) * pSrcB++; + in2 = (q15_t) * pSrcB++; + input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16); + + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Perform Dot product of 2 packed inputs using SMLALD and store the result in a temporary variable. */ + sum = __SMLAD(input1, input2, sum); + + + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Dot product and then store the results in a temporary buffer. */ + sum = __SMLAD(*pSrcA++, *pSrcB++, sum); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A[0]* B[0] + A[1]* B[1] + A[2]* B[2] + .....+ A[blockSize-1]* B[blockSize-1] */ + /* Dot product and then store the results in a temporary buffer. */ + sum += (q31_t) ((q15_t) * pSrcA++ * *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + + + /* Store the result in the destination buffer in 18.14 format */ + *result = sum; +} + +/** + * @} end of dot_prod group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c new file mode 100644 index 000000000..7b555638b --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_f32.c @@ -0,0 +1,126 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_mult_f32.c +* +* Description: Floating-point vector multiplication. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.5 2010/04/26 +* incorporated review comments and updated with latest CMSIS layer +* +* Version 0.0.3 2010/03/10 +* Initial version +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @defgroup BasicMult Vector Multiplication + * + * Element-by-element multiplication of two vectors. + * + * 
       
+ *     pDst[n] = pSrcA[n] * pSrcB[n],   0 <= n < blockSize.   
+ *
    + * + * There are separate functions for floating-point, Q7, Q15, and Q31 data types. + */ + +/** + * @addtogroup BasicMult + * @{ + */ + +/** + * @brief Floating-point vector multiplication. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + */ + +void arm_mult_f32( + float32_t * pSrcA, + float32_t * pSrcB, + float32_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counters */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + /* loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A * B */ + /* Multiply the inputs and store the results in output buffer */ + *pDst++ = (*pSrcA++) * (*pSrcB++); + *pDst++ = (*pSrcA++) * (*pSrcB++); + *pDst++ = (*pSrcA++) * (*pSrcB++); + *pDst++ = (*pSrcA++) * (*pSrcB++); + + /* Decrement the blockSize loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + + while(blkCnt > 0u) + { + /* C = A * B */ + /* Multiply the inputs and store the results in output buffer */ + *pDst++ = (*pSrcA++) * (*pSrcB++); + + /* Decrement the blockSize loop counter */ + blkCnt--; + } + +} + +/** + * @} end of BasicMult group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c new file mode 100644 index 000000000..e9728f847 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q15.c @@ -0,0 +1,119 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_mult_q15.c +* +* Description: Q15 vector multiplication. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.5 2010/04/26 +* incorporated review comments and updated with latest CMSIS layer +* +* Version 0.0.3 2010/03/10 +* Initial version +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicMult + * @{ + */ + + +/** + * @brief Q15 vector multiplication + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. + */ + +void arm_mult_q15( + q15_t * pSrcA, + q15_t * pSrcB, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counters */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + /* loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A * B */ + /* Multiply the inputs and store the result in the destination buffer */ + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + + /* Decrement the blockSize loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + + while(blkCnt > 0u) + { + /* C = A * B */ + /* Multiply the inputs and store the result in the destination buffer */ + *pDst++ = (q15_t) __SSAT((((q31_t) (*pSrcA++) * (*pSrcB++)) >> 15), 16); + + /* Decrement the blockSize loop counter */ + blkCnt--; + } +} + +/** + * @} end of BasicMult group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c new file mode 100644 index 000000000..8259a129d --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q31.c @@ -0,0 +1,121 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_mult_q31.c +* +* Description: Q31 vector multiplication. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.5 2010/04/26 +* incorporated review comments and updated with latest CMSIS layer +* +* Version 0.0.3 2010/03/10 +* Initial version +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicMult + * @{ + */ + +/** + * @brief Q31 vector multiplication. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated. + */ + +void arm_mult_q31( + q31_t * pSrcA, + q31_t * pSrcB, + q31_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counters */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + /* loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A * B */ + /* Multiply the inputs and then store the results in the destination buffer. */ + *pDst++ = + (q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31); + *pDst++ = + (q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31); + *pDst++ = + (q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31); + *pDst++ = + (q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31); + + /* Decrement the blockSize loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = A * B */ + /* Multiply the inputs and then store the results in the destination buffer. */ + *pDst++ = + (q31_t) clip_q63_to_q31(((q63_t) (*pSrcA++) * (*pSrcB++)) >> 31); + + /* Decrement the blockSize loop counter */ + blkCnt--; + } +} + +/** + * @} end of BasicMult group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c new file mode 100644 index 000000000..75f075a1f --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_mult_q7.c @@ -0,0 +1,125 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_mult_q7.c +* +* Description: Q7 vector multiplication. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* +* Version 0.0.5 2010/04/26 +* incorporated review comments and updated with latest CMSIS layer +* +* Version 0.0.3 2010/03/10 DP +* Initial version +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicMult + * @{ + */ + +/** + * @brief Q7 vector multiplication + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. + */ + +void arm_mult_q7( + q7_t * pSrcA, + q7_t * pSrcB, + q7_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counters */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + q7_t out1, out2, out3, out4; /* Temporary variables to store the product */ + + /* loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A * B */ + /* Multiply the inputs and store the results in temporary variables */ + out1 = (q7_t) (((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7); + out2 = (q7_t) (((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7); + out3 = (q7_t) (((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7); + out4 = (q7_t) (((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7); + + /* Store the results of 4 inputs in the destination buffer in single cycle by packing */ + *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4); + + /* Decrement the blockSize loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + + while(blkCnt > 0u) + { + /* C = A * B */ + /* Multiply the inputs and store the result in the destination buffer */ + *pDst++ = (q7_t) (((q15_t) (*pSrcA++) * (*pSrcB++)) >> 7); + + /* Decrement the blockSize loop counter */ + blkCnt--; + } +} + +/** + * @} end of BasicMult group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c new file mode 100644 index 000000000..265f50ffd --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_f32.c @@ -0,0 +1,117 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_negate_f32.c +* +* Description: Negates floating-point vectors. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* ---------------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @defgroup negate Vector Negate + * + * Negates the elements of a vector. + * + * 
       
+ *     pDst[n] = -pSrc[n],   0 <= n < blockSize.   
+ *
    + */ + +/** + * @addtogroup negate + * @{ + */ + +/** + * @brief Negates the elements of a floating-point vector. + * @param[in] *pSrc points to the input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + */ + +void arm_negate_f32( + float32_t * pSrc, + float32_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = -A */ + /* Negate and then store the results in the destination buffer. */ + *pDst++ = -*pSrc++; + *pDst++ = -*pSrc++; + *pDst++ = -*pSrc++; + *pDst++ = -*pSrc++; + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = -A */ + /* Negate and then store the results in the destination buffer. */ + *pDst++ = -*pSrc++; + + /* Decrement the loop counter */ + blkCnt--; + } +} + +/** + * @} end of negate group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c new file mode 100644 index 000000000..21122488e --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q15.c @@ -0,0 +1,140 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_negate_q15.c +* +* Description: Negates Q15 vectors. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup negate + * @{ + */ + +/** + * @brief Negates the elements of a Q15 vector. + * @param[in] *pSrc points to the input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF. + */ + +void arm_negate_q15( + q15_t * pSrc, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + q15_t in1, in2; /* Temporary variables */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = -A */ + /* Read two inputs */ + in1 = *pSrc++; + in2 = *pSrc++; + /* Negate and then store the results in the destination buffer by packing. */ + +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = __PKHBT(__SSAT(-in1, 16), __SSAT(-in2, 16), 16); + +#else + + *__SIMD32(pDst)++ = __PKHBT(__SSAT(-in2, 16), __SSAT(-in1, 16), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + in1 = *pSrc++; + in2 = *pSrc++; + +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = __PKHBT(__SSAT(-in1, 16), __SSAT(-in2, 16), 16); + +#else + + + *__SIMD32(pDst)++ = __PKHBT(__SSAT(-in2, 16), __SSAT(-in1, 16), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = -A */ + /* Negate and then store the result in the destination buffer. */ + *pDst++ = __SSAT(-*pSrc++, 16); + + /* Decrement the loop counter */ + blkCnt--; + } + +} + +/** + * @} end of negate group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c new file mode 100644 index 000000000..f7de456e5 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q31.c @@ -0,0 +1,119 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_negate_q31.c +* +* Description: Negates Q31 vectors. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup negate + * @{ + */ + +/** + * @brief Negates the elements of a Q31 vector. + * @param[in] *pSrc points to the input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF. + */ + +void arm_negate_q31( + q31_t * pSrc, + q31_t * pDst, + uint32_t blockSize) +{ + q31_t in; /* Temporary variable */ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = -A */ + /* Negate and then store the results in the destination buffer. */ + in = *pSrc++; + *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in; + in = *pSrc++; + *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in; + in = *pSrc++; + *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in; + in = *pSrc++; + *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in; + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + + while(blkCnt > 0u) + { + /* C = -A */ + /* Negate and then store the result in the destination buffer. */ + in = *pSrc++; + *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in; + + /* Decrement the loop counter */ + blkCnt--; + } +} + +/** + * @} end of negate group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c new file mode 100644 index 000000000..795b047ff --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_negate_q7.c @@ -0,0 +1,122 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_negate_q7.c +* +* Description: Negates Q7 vectors. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup negate + * @{ + */ + +/** + * @brief Negates the elements of a Q7 vector. + * @param[in] *pSrc points to the input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F. + */ + +void arm_negate_q7( + q7_t * pSrc, + q7_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + q7_t in1; /* Input value1 */ + q7_t in2; /* Input value2 */ + q7_t in3; /* Input value3 */ + q7_t in4; /* Input value4 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = -A */ + /* Read four inputs */ + in1 = *pSrc++; + in2 = *pSrc++; + in3 = *pSrc++; + in4 = *pSrc++; + + /* Store the Negated results in the destination buffer in a single cycle by packing the results */ + *__SIMD32(pDst)++ = + __PACKq7(__SSAT(-in1, 8), __SSAT(-in2, 8), __SSAT(-in3, 8), + __SSAT(-in4, 8)); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = -A */ + /* Negate and then store the results in the destination buffer. */ + *pDst++ = __SSAT(-*pSrc++, 8); + + /* Decrement the loop counter */ + blkCnt--; + } +} + +/** + * @} end of negate group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c new file mode 100644 index 000000000..04ec1fac7 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_f32.c @@ -0,0 +1,122 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_offset_f32.c +* +* Description: Floating-point vector offset. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* ---------------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @defgroup offset Vector Offset + * + * Adds a constant offset to each element of a vector. + * + * 
       
+ *     pDst[n] = pSrc[n] + offset,   0 <= n < blockSize.   
+ *
    + * + * There are separate functions for floating-point, Q7, Q15, and Q31 data types. + */ + +/** + * @addtogroup offset + * @{ + */ + +/** + * @brief Adds a constant offset to a floating-point vector. + * @param[in] *pSrc points to the input vector + * @param[in] offset is the offset to be added + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + */ + + +void arm_offset_f32( + float32_t * pSrc, + float32_t offset, + float32_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the results in the destination buffer. */ + *pDst++ = (*pSrc++) + offset; + *pDst++ = (*pSrc++) + offset; + *pDst++ = (*pSrc++) + offset; + *pDst++ = (*pSrc++) + offset; + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the result in the destination buffer. */ + *pDst++ = (*pSrc++) + offset; + + /* Decrement the loop counter */ + blkCnt--; + } +} + +/** + * @} end of offset group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c new file mode 100644 index 000000000..e9106f322 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q15.c @@ -0,0 +1,128 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_offset_q15.c +* +* Description: Q15 vector offset. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup offset + * @{ + */ + +/** + * @brief Adds a constant offset to a Q15 vector. + * @param[in] *pSrc points to the input vector + * @param[in] offset is the offset to be added + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated. + */ + +void arm_offset_q15( + q15_t * pSrc, + q15_t offset, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + q31_t offset_packed; /* Offset packed to 32 bit */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* Offset is packed to 32 bit in order to use SIMD32 for addition */ + offset_packed = __PKHBT(offset, offset, 16); + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the results in the destination buffer, 2 samples at a time. */ + *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed); + *__SIMD32(pDst)++ = __QADD16(*__SIMD32(pSrc)++, offset_packed); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the results in the destination buffer. */ + *pDst++ = (q15_t) __QADD16(*pSrc++, offset); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the results in the destination buffer. */ + *pDst++ = (q15_t) __SSAT(((q31_t) * pSrc++ + offset), 16); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of offset group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c new file mode 100644 index 000000000..ff0f6f786 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q31.c @@ -0,0 +1,126 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_offset_q31.c +* +* Description: Q31 vector offset. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup offset + * @{ + */ + +/** + * @brief Adds a constant offset to a Q31 vector. + * @param[in] *pSrc points to the input vector + * @param[in] offset is the offset to be added + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated. + */ + +void arm_offset_q31( + q31_t * pSrc, + q31_t offset, + q31_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the results in the destination buffer. */ + *pDst++ = __QADD(*pSrc++, offset); + *pDst++ = __QADD(*pSrc++, offset); + *pDst++ = __QADD(*pSrc++, offset); + *pDst++ = __QADD(*pSrc++, offset); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the result in the destination buffer. */ + *pDst++ = __QADD(*pSrc++, offset); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the result in the destination buffer. */ + *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrc++ + offset); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of offset group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c new file mode 100644 index 000000000..7526648a2 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_offset_q7.c @@ -0,0 +1,127 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_offset_q7.c +* +* Description: Q7 vector offset. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup offset + * @{ + */ + +/** + * @brief Adds a constant offset to a Q7 vector. + * @param[in] *pSrc points to the input vector + * @param[in] offset is the offset to be added + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q7 range [0x80 0x7F] are saturated. + */ + +void arm_offset_q7( + q7_t * pSrc, + q7_t offset, + q7_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + q31_t offset_packed; /* Offset packed to 32 bit */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* Offset is packed to 32 bit in order to use SIMD32 for addition */ + offset_packed = __PACKq7(offset, offset, offset, offset); + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the results in the destination bufferfor 4 samples at a time. */ + *__SIMD32(pDst)++ = __QADD8(*__SIMD32(pSrc)++, offset_packed); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the result in the destination buffer. */ + *pDst++ = (q7_t) __SSAT(*pSrc++ + offset, 8); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A + offset */ + /* Add offset and then store the result in the destination buffer. */ + *pDst++ = (q7_t) __SSAT((q15_t) * pSrc++ + offset, 8); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of offset group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c new file mode 100644 index 000000000..cf516ad7c --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_f32.c @@ -0,0 +1,133 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_scale_f32.c +* +* Description: Multiplies a floating-point vector by a scalar. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* ---------------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @defgroup scale Vector Scale + * + * Multiply a vector by a scalar value. For floating-point data, the algorithm used is: + * + * 
       
+ *     pDst[n] = pSrc[n] * scale,   0 <= n < blockSize.   
+ *
    + * + * In the fixed-point Q7, Q15, and Q31 functions, scale is represented by + * a fractional multiplication scaleFract and an arithmetic shift shift. + * The shift allows the gain of the scaling operation to exceed 1.0. + * The algorithm used with fixed-point data is: + * + * 
       
+ *     pDst[n] = (pSrc[n] * scaleFract) << shift,   0 <= n < blockSize.   
+ *
    + * + * The overall scale factor applied to the fixed-point data is + * 
       
+ *     scale = scaleFract * 2^shift.   
+ *
    + */ + +/** + * @addtogroup scale + * @{ + */ + +/** + * @brief Multiplies a floating-point vector by a scalar. + * @param[in] *pSrc points to the input vector + * @param[in] scale scale factor to be applied + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + */ + + +void arm_scale_f32( + float32_t * pSrc, + float32_t scale, + float32_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A * scale */ + /* Scale the input and then store the results in the destination buffer. */ + *pDst++ = (*pSrc++) * scale; + *pDst++ = (*pSrc++) * scale; + *pDst++ = (*pSrc++) * scale; + *pDst++ = (*pSrc++) * scale; + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = A * scale */ + /* Scale the input and then store the result in the destination buffer. */ + *pDst++ = (*pSrc++) * scale; + + /* Decrement the loop counter */ + blkCnt--; + } +} + +/** + * @} end of scale group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c new file mode 100644 index 000000000..ac3f5bb8f --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q15.c @@ -0,0 +1,162 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_scale_q15.c +* +* Description: Multiplies a Q15 vector by a scalar. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup scale + * @{ + */ + +/** + * @brief Multiplies a Q15 vector by a scalar. + * @param[in] *pSrc points to the input vector + * @param[in] scaleFract fractional portion of the scale value + * @param[in] shift number of bits to shift the result by + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The input data *pSrc and scaleFract are in 1.15 format. + * These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format. + */ + + +void arm_scale_q15( + q15_t * pSrc, + q15_t scaleFract, + int8_t shift, + q15_t * pDst, + uint32_t blockSize) +{ + int8_t kShift = 15 - shift; /* shift to apply after scaling */ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + q15_t in1, in2; /* Temporary variables */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* Reading 2 inputs from memory */ + in1 = *pSrc++; + in2 = *pSrc++; + /* C = A * scale */ + /* Scale the inputs and then store the 2 results in the destination buffer + * in single cycle by packing the outputs */ +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = + __PKHBT(__SSAT((in1 * scaleFract) >> kShift, 16), + __SSAT((in2 * scaleFract) >> kShift, 16), 16); + +#else + + *__SIMD32(pDst)++ = + __PKHBT(__SSAT((in2 * scaleFract) >> kShift, 16), + __SSAT((in1 * scaleFract) >> kShift, 16), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + in1 = *pSrc++; + in2 = *pSrc++; + +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = + __PKHBT(__SSAT((in1 * scaleFract) >> kShift, 16), + __SSAT((in2 * scaleFract) >> kShift, 16), 16); + +#else + + *__SIMD32(pDst)++ = + __PKHBT(__SSAT((in2 * scaleFract) >> kShift, 16), + __SSAT((in1 * scaleFract) >> kShift, 16), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A * scale */ + /* Scale the input and then store the result in the destination buffer. */ + *pDst++ = (q15_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 16)); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A * scale */ + /* Scale the input and then store the result in the destination buffer. */ + *pDst++ = (q15_t) (__SSAT(((q31_t) * pSrc++ * scaleFract) >> kShift, 16)); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of scale group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c new file mode 100644 index 000000000..c265eedd7 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q31.c @@ -0,0 +1,117 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_scale_q31.c +* +* Description: Multiplies a Q31 vector by a scalar. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup scale + * @{ + */ + +/** + * @brief Multiplies a Q31 vector by a scalar. + * @param[in] *pSrc points to the input vector + * @param[in] scaleFract fractional portion of the scale value + * @param[in] shift number of bits to shift the result by + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The input data *pSrc and scaleFract are in 1.31 format. + * These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format. + */ + +void arm_scale_q31( + q31_t * pSrc, + q31_t scaleFract, + int8_t shift, + q31_t * pDst, + uint32_t blockSize) +{ + int8_t kShift = 31 - shift; /* Shift to apply after scaling */ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A * scale */ + /* Scale the input and then store the results in the destination buffer. */ + *pDst++ = clip_q63_to_q31(((q63_t) * pSrc++ * scaleFract) >> kShift); + *pDst++ = clip_q63_to_q31(((q63_t) * pSrc++ * scaleFract) >> kShift); + *pDst++ = clip_q63_to_q31(((q63_t) * pSrc++ * scaleFract) >> kShift); + *pDst++ = clip_q63_to_q31(((q63_t) * pSrc++ * scaleFract) >> kShift); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + while(blkCnt > 0u) + { + /* C = A * scale */ + /* Scale the input and then store the result in the destination buffer. */ + *pDst++ = clip_q63_to_q31(((q63_t) * pSrc++ * scaleFract) >> kShift); + + /* Decrement the loop counter */ + blkCnt--; + } +} + +/** + * @} end of scale group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c new file mode 100644 index 000000000..743d20507 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_scale_q7.c @@ -0,0 +1,141 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_scale_q7.c +* +* Description: Multiplies a Q7 vector by a scalar. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup scale + * @{ + */ + +/** + * @brief Multiplies a Q7 vector by a scalar. + * @param[in] *pSrc points to the input vector + * @param[in] scaleFract fractional portion of the scale value + * @param[in] shift number of bits to shift the result by + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The input data *pSrc and scaleFract are in 1.7 format. + * These are multiplied to yield a 2.14 intermediate result and this is shifted with saturation to 1.7 format. + */ + +void arm_scale_q7( + q7_t * pSrc, + q7_t scaleFract, + int8_t shift, + q7_t * pDst, + uint32_t blockSize) +{ + int8_t kShift = 7 - shift; /* shift to apply after scaling */ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + q7_t in1, in2, in3, in4, out1, out2, out3, out4; /* Temporary variables to store input & output */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* Reading 4 inputs from memory */ + in1 = *pSrc++; + in2 = *pSrc++; + in3 = *pSrc++; + in4 = *pSrc++; + + /* C = A * scale */ + /* Scale the inputs and then store the results in the temporary variables. */ + out1 = (q7_t) (__SSAT(((in1) * scaleFract) >> kShift, 8)); + out2 = (q7_t) (__SSAT(((in2) * scaleFract) >> kShift, 8)); + out3 = (q7_t) (__SSAT(((in3) * scaleFract) >> kShift, 8)); + out4 = (q7_t) (__SSAT(((in4) * scaleFract) >> kShift, 8)); + + /* Packing the individual outputs into 32bit and storing in + * destination buffer in single write */ + *__SIMD32(pDst)++ = __PACKq7(out1, out2, out3, out4); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A * scale */ + /* Scale the input and then store the result in the destination buffer. */ + *pDst++ = (q7_t) (__SSAT(((*pSrc++) * scaleFract) >> kShift, 8)); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A * scale */ + /* Scale the input and then store the result in the destination buffer. */ + *pDst++ = (q7_t) (__SSAT((((q15_t) * pSrc++ * scaleFract) >> kShift), 8)); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of scale group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c new file mode 100644 index 000000000..3dc6ac534 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q15.c @@ -0,0 +1,239 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_shift_q15.c +* +* Description: Shifts the elements of a Q15 vector by a specified number of bits. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup shift + * @{ + */ + +/** + * @brief Shifts the elements of a Q15 vector a specified number of bits. + * @param[in] *pSrc points to the input vector + * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. + */ + +void arm_shift_q15( + q15_t * pSrc, + int8_t shiftBits, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + uint8_t sign; /* Sign of shiftBits */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + q15_t in1, in2; /* Temporary variables */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* Getting the sign of shiftBits */ + sign = (shiftBits & 0x80); + + /* If the shift value is positive then do right shift else left shift */ + if(sign == 0u) + { + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* Read 2 inputs */ + in1 = *pSrc++; + in2 = *pSrc++; + /* C = A << shiftBits */ + /* Shift the inputs and then store the results in the destination buffer. */ +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16), + __SSAT((in2 << shiftBits), 16), 16); + +#else + + *__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16), + __SSAT((in1 << shiftBits), 16), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + in1 = *pSrc++; + in2 = *pSrc++; + +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = __PKHBT(__SSAT((in1 << shiftBits), 16), + __SSAT((in2 << shiftBits), 16), 16); + +#else + + *__SIMD32(pDst)++ = __PKHBT(__SSAT((in2 << shiftBits), 16), + __SSAT((in1 << shiftBits), 16), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A << shiftBits */ + /* Shift and then store the results in the destination buffer. */ + *pDst++ = __SSAT((*pSrc++ << shiftBits), 16); + + /* Decrement the loop counter */ + blkCnt--; + } + } + else + { + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* Read 2 inputs */ + in1 = *pSrc++; + in2 = *pSrc++; + /* C = A >> shiftBits */ + /* Shift the inputs and then store the results in the destination buffer. */ +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits), + (in2 >> -shiftBits), 16); + +#else + + *__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits), + (in1 >> -shiftBits), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + in1 = *pSrc++; + in2 = *pSrc++; + +#ifndef ARM_MATH_BIG_ENDIAN + + *__SIMD32(pDst)++ = __PKHBT((in1 >> -shiftBits), + (in2 >> -shiftBits), 16); + +#else + + *__SIMD32(pDst)++ = __PKHBT((in2 >> -shiftBits), + (in1 >> -shiftBits), 16); + +#endif /* #ifndef ARM_MATH_BIG_ENDIAN */ + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A >> shiftBits */ + /* Shift the inputs and then store the results in the destination buffer. */ + *pDst++ = (*pSrc++ >> -shiftBits); + + /* Decrement the loop counter */ + blkCnt--; + } + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Getting the sign of shiftBits */ + sign = (shiftBits & 0x80); + + /* If the shift value is positive then do right shift else left shift */ + if(sign == 0u) + { + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A << shiftBits */ + /* Shift and then store the results in the destination buffer. */ + *pDst++ = __SSAT(((q31_t) * pSrc++ << shiftBits), 16); + + /* Decrement the loop counter */ + blkCnt--; + } + } + else + { + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A >> shiftBits */ + /* Shift the inputs and then store the results in the destination buffer. */ + *pDst++ = (*pSrc++ >> -shiftBits); + + /* Decrement the loop counter */ + blkCnt--; + } + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of shift group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c new file mode 100644 index 000000000..8fb989c78 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q31.c @@ -0,0 +1,141 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_shift_q31.c +* +* Description: Shifts the elements of a Q31 vector by a specified number of bits. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ +/** + * @defgroup shift Vector Shift + * + * Shifts the elements of a fixed-point vector by a specified number of bits. + * There are separate functions for Q7, Q15, and Q31 data types. + * The underlying algorithm used is: + * + * 
       
+ *     pDst[n] = pSrc[n] << shift,   0 <= n < blockSize.   
+ *
    + * + * If shift is positive then the elements of the vector are shifted to the left. + * If shift is negative then the elements of the vector are shifted to the right. + */ + +/** + * @addtogroup shift + * @{ + */ + +/** + * @brief Shifts the elements of a Q31 vector a specified number of bits. + * @param[in] *pSrc points to the input vector + * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated. + */ + +void arm_shift_q31( + q31_t * pSrc, + int8_t shiftBits, + q31_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + uint8_t sign; /* Sign of shiftBits */ + /* Getting the sign of shiftBits */ + sign = (shiftBits & 0x80); + + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A (>> or <<) shiftBits */ + /* Shift the input and then store the results in the destination buffer. */ + *pDst++ = (sign == 0u) ? clip_q63_to_q31((q63_t) * pSrc++ << shiftBits) : + (*pSrc++ >> -shiftBits); + *pDst++ = (sign == 0u) ? clip_q63_to_q31((q63_t) * pSrc++ << shiftBits) : + (*pSrc++ >> -shiftBits); + *pDst++ = (sign == 0u) ? clip_q63_to_q31((q63_t) * pSrc++ << shiftBits) : + (*pSrc++ >> -shiftBits); + *pDst++ = (sign == 0u) ? clip_q63_to_q31((q63_t) * pSrc++ << shiftBits) : + (*pSrc++ >> -shiftBits); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + + while(blkCnt > 0u) + { + /* C = A (>> or <<) shiftBits */ + /* Shift the input and then store the result in the destination buffer. */ + *pDst++ = (sign == 0u) ? clip_q63_to_q31((q63_t) * pSrc++ << shiftBits) : + (*pSrc++ >> -shiftBits); + + /* Decrement the loop counter */ + blkCnt--; + } + +} + +/** + * @} end of shift group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c new file mode 100644 index 000000000..f65e244cf --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_shift_q7.c @@ -0,0 +1,202 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_shift_q7.c +* +* Description: Processing function for the Q7 Shifting +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup shift + * @{ + */ + + +/** + * @brief Shifts the elements of a Q7 vector a specified number of bits. + * @param[in] *pSrc points to the input vector + * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in the vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q7 range [0x8 0x7F] will be saturated. + */ + +void arm_shift_q7( + q7_t * pSrc, + int8_t shiftBits, + q7_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + uint8_t sign; /* Sign of shiftBits */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + q7_t in1; /* Input value1 */ + q7_t in2; /* Input value2 */ + q7_t in3; /* Input value3 */ + q7_t in4; /* Input value4 */ + + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* Getting the sign of shiftBits */ + sign = (shiftBits & 0x80); + + /* If the shift value is positive then do right shift else left shift */ + if(sign == 0u) + { + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A << shiftBits */ + /* Read 4 inputs */ + in1 = *pSrc++; + in2 = *pSrc++; + in3 = *pSrc++; + in4 = *pSrc++; + + /* Store the Shifted result in the destination buffer in single cycle by packing the outputs */ + *__SIMD32(pDst)++ = __PACKq7(__SSAT((in1 << shiftBits), 8), + __SSAT((in2 << shiftBits), 8), + __SSAT((in3 << shiftBits), 8), + __SSAT((in4 << shiftBits), 8)); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A << shiftBits */ + /* Shift the input and then store the result in the destination buffer. */ + *pDst++ = (q7_t) __SSAT((*pSrc++ << shiftBits), 8); + + /* Decrement the loop counter */ + blkCnt--; + } + } + else + { + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A >> shiftBits */ + /* Read 4 inputs */ + in1 = *pSrc++; + in2 = *pSrc++; + in3 = *pSrc++; + in4 = *pSrc++; + + /* Store the Shifted result in the destination buffer in single cycle by packing the outputs */ + *__SIMD32(pDst)++ = __PACKq7((in1 >> -shiftBits), (in2 >> -shiftBits), + (in3 >> -shiftBits), (in4 >> -shiftBits)); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A >> shiftBits */ + /* Shift the input and then store the result in the destination buffer. */ + *pDst++ = (*pSrc++ >> -shiftBits); + + /* Decrement the loop counter */ + blkCnt--; + } + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Getting the sign of shiftBits */ + sign = (shiftBits & 0x80); + + /* If the shift value is positive then do right shift else left shift */ + if(sign == 0u) + { + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A << shiftBits */ + /* Shift the input and then store the result in the destination buffer. */ + *pDst++ = (q7_t) __SSAT(((q15_t) * pSrc++ << shiftBits), 8); + + /* Decrement the loop counter */ + blkCnt--; + } + } + else + { + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A >> shiftBits */ + /* Shift the input and then store the result in the destination buffer. */ + *pDst++ = (*pSrc++ >> -shiftBits); + + /* Decrement the loop counter */ + blkCnt--; + } + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of shift group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c new file mode 100644 index 000000000..b09e7d440 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_f32.c @@ -0,0 +1,122 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_sub_f32.c +* +* Description: Floating-point vector subtraction. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* ---------------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @defgroup BasicSub Vector Subtraction + * + * Element-by-element subtraction of two vectors. + * + * 
       
+ *     pDst[n] = pSrcA[n] - pSrcB[n],   0 <= n < blockSize.   
+ *
    + * + * There are separate functions for floating-point, Q7, Q15, and Q31 data types. + */ + +/** + * @addtogroup BasicSub + * @{ + */ + + +/** + * @brief Floating-point vector subtraction. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + */ + +void arm_sub_f32( + float32_t * pSrcA, + float32_t * pSrcB, + float32_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the results in the destination buffer. */ + *pDst++ = (*pSrcA++) - (*pSrcB++); + *pDst++ = (*pSrcA++) - (*pSrcB++); + *pDst++ = (*pSrcA++) - (*pSrcB++); + *pDst++ = (*pSrcA++) - (*pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + +#endif /* #ifndef ARM_MATH_CM0 */ + + + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the results in the destination buffer. */ + *pDst++ = (*pSrcA++) - (*pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } +} + +/** + * @} end of BasicSub group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c new file mode 100644 index 000000000..2844951b4 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q15.c @@ -0,0 +1,124 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_sub_q15.c +* +* Description: Q15 vector subtraction. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicSub + * @{ + */ + +/** + * @brief Q15 vector subtraction. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. + */ + +void arm_sub_q15( + q15_t * pSrcA, + q15_t * pSrcB, + q15_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the results in the destination buffer two samples at a time. */ + *__SIMD32(pDst)++ = __QSUB16(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++); + *__SIMD32(pDst)++ = __QSUB16(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the result in the destination buffer. */ + *pDst++ = (q15_t) __QSUB16(*pSrcA++, *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the result in the destination buffer. */ + *pDst++ = (q15_t) __SSAT(((q31_t) * pSrcA++ - *pSrcB++), 16); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + + +} + +/** + * @} end of BasicSub group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c new file mode 100644 index 000000000..5ce8a106f --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q31.c @@ -0,0 +1,125 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_sub_q31.c +* +* Description: Q31 vector subtraction. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicSub + * @{ + */ + +/** + * @brief Q31 vector subtraction. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated. + */ + +void arm_sub_q31( + q31_t * pSrcA, + q31_t * pSrcB, + q31_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the results in the destination buffer. */ + *pDst++ = __QSUB(*pSrcA++, *pSrcB++); + *pDst++ = __QSUB(*pSrcA++, *pSrcB++); + *pDst++ = __QSUB(*pSrcA++, *pSrcB++); + *pDst++ = __QSUB(*pSrcA++, *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the result in the destination buffer. */ + *pDst++ = __QSUB(*pSrcA++, *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the result in the destination buffer. */ + *pDst++ = (q31_t) clip_q63_to_q31((q63_t) * pSrcA++ - *pSrcB++); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + +} + +/** + * @} end of BasicSub group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c new file mode 100644 index 000000000..5497c5a30 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/BasicMathFunctions/arm_sub_q7.c @@ -0,0 +1,123 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_sub_q7.c +* +* Description: Q7 vector subtraction. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* +* Version 0.0.7 2010/06/10 +* Misra-C changes done +* -------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupMath + */ + +/** + * @addtogroup BasicSub + * @{ + */ + +/** + * @brief Q7 vector subtraction. + * @param[in] *pSrcA points to the first input vector + * @param[in] *pSrcB points to the second input vector + * @param[out] *pDst points to the output vector + * @param[in] blockSize number of samples in each vector + * @return none. + * + * Scaling and Overflow Behavior: + * \par + * The function uses saturating arithmetic. + * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. + */ + +void arm_sub_q7( + q7_t * pSrcA, + q7_t * pSrcB, + q7_t * pDst, + uint32_t blockSize) +{ + uint32_t blkCnt; /* loop counter */ + +#ifndef ARM_MATH_CM0 + +/* Run the below code for Cortex-M4 and Cortex-M3 */ + + /*loop Unrolling */ + blkCnt = blockSize >> 2u; + + /* First part of the processing with loop unrolling. Compute 4 outputs at a time. + ** a second loop below computes the remaining 1 to 3 samples. */ + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the results in the destination buffer 4 samples at a time. */ + *__SIMD32(pDst)++ = __QSUB8(*__SIMD32(pSrcA)++, *__SIMD32(pSrcB)++); + + /* Decrement the loop counter */ + blkCnt--; + } + + /* If the blockSize is not a multiple of 4, compute any remaining output samples here. + ** No loop unrolling is used. */ + blkCnt = blockSize % 0x4u; + + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the result in the destination buffer. */ + *pDst++ = __SSAT(*pSrcA++ - *pSrcB++, 8); + + /* Decrement the loop counter */ + blkCnt--; + } + +#else + + /* Run the below code for Cortex-M0 */ + + /* Initialize blkCnt with number of samples */ + blkCnt = blockSize; + + while(blkCnt > 0u) + { + /* C = A - B */ + /* Subtract and then store the result in the destination buffer. */ + *pDst++ = (q7_t) __SSAT((q15_t) * pSrcA++ - *pSrcB++, 8); + + /* Decrement the loop counter */ + blkCnt--; + } + +#endif /* #ifndef ARM_MATH_CM0 */ + + +} + +/** + * @} end of BasicSub group + */ diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c new file mode 100644 index 000000000..c1f1491f2 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/CommonTables/arm_common_tables.c @@ -0,0 +1,144 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_common_tables.c +* +* Description: This file has common tables like Bitreverse, reciprocal etc which are used across different functions +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* -------------------------------------------------------------------- */ + + +#include "arm_math.h" + +/** + * @ingroup groupTransforms + */ + +/** + * @addtogroup CFFT_CIFFT + * @{ + */ + +/** +* \par +* Pseudo code for Generation of Bit reversal Table is +* \par +* 
    for(l=1;l <= N/4;l++)   
+* {   
+*   for(i=0;i> 1;   
+*  }
    +* \par +* where N = 1024 logN2 = 10 +* \par +* N is the maximum FFT Size supported +*/ + +/* +* @brief Table for bit reversal process +*/ +const uint16_t armBitRevTable[256] = { + 0x100, 0x80, 0x180, 0x40, 0x140, 0xc0, 0x1c0, + 0x20, 0x120, 0xa0, 0x1a0, 0x60, 0x160, 0xe0, + 0x1e0, 0x10, 0x110, 0x90, 0x190, 0x50, 0x150, + 0xd0, 0x1d0, 0x30, 0x130, 0xb0, 0x1b0, 0x70, + 0x170, 0xf0, 0x1f0, 0x8, 0x108, 0x88, 0x188, + 0x48, 0x148, 0xc8, 0x1c8, 0x28, 0x128, 0xa8, + 0x1a8, 0x68, 0x168, 0xe8, 0x1e8, 0x18, 0x118, + 0x98, 0x198, 0x58, 0x158, 0xd8, 0x1d8, 0x38, + 0x138, 0xb8, 0x1b8, 0x78, 0x178, 0xf8, 0x1f8, + 0x4, 0x104, 0x84, 0x184, 0x44, 0x144, 0xc4, + 0x1c4, 0x24, 0x124, 0xa4, 0x1a4, 0x64, 0x164, + 0xe4, 0x1e4, 0x14, 0x114, 0x94, 0x194, 0x54, + 0x154, 0xd4, 0x1d4, 0x34, 0x134, 0xb4, 0x1b4, + 0x74, 0x174, 0xf4, 0x1f4, 0xc, 0x10c, 0x8c, + 0x18c, 0x4c, 0x14c, 0xcc, 0x1cc, 0x2c, 0x12c, + 0xac, 0x1ac, 0x6c, 0x16c, 0xec, 0x1ec, 0x1c, + 0x11c, 0x9c, 0x19c, 0x5c, 0x15c, 0xdc, 0x1dc, + 0x3c, 0x13c, 0xbc, 0x1bc, 0x7c, 0x17c, 0xfc, + 0x1fc, 0x2, 0x102, 0x82, 0x182, 0x42, 0x142, + 0xc2, 0x1c2, 0x22, 0x122, 0xa2, 0x1a2, 0x62, + 0x162, 0xe2, 0x1e2, 0x12, 0x112, 0x92, 0x192, + 0x52, 0x152, 0xd2, 0x1d2, 0x32, 0x132, 0xb2, + 0x1b2, 0x72, 0x172, 0xf2, 0x1f2, 0xa, 0x10a, + 0x8a, 0x18a, 0x4a, 0x14a, 0xca, 0x1ca, 0x2a, + 0x12a, 0xaa, 0x1aa, 0x6a, 0x16a, 0xea, 0x1ea, + 0x1a, 0x11a, 0x9a, 0x19a, 0x5a, 0x15a, 0xda, + 0x1da, 0x3a, 0x13a, 0xba, 0x1ba, 0x7a, 0x17a, + 0xfa, 0x1fa, 0x6, 0x106, 0x86, 0x186, 0x46, + 0x146, 0xc6, 0x1c6, 0x26, 0x126, 0xa6, 0x1a6, + 0x66, 0x166, 0xe6, 0x1e6, 0x16, 0x116, 0x96, + 0x196, 0x56, 0x156, 0xd6, 0x1d6, 0x36, 0x136, + 0xb6, 0x1b6, 0x76, 0x176, 0xf6, 0x1f6, 0xe, + 0x10e, 0x8e, 0x18e, 0x4e, 0x14e, 0xce, 0x1ce, + 0x2e, 0x12e, 0xae, 0x1ae, 0x6e, 0x16e, 0xee, + 0x1ee, 0x1e, 0x11e, 0x9e, 0x19e, 0x5e, 0x15e, + 0xde, 0x1de, 0x3e, 0x13e, 0xbe, 0x1be, 0x7e, + 0x17e, 0xfe, 0x1fe, 0x1 +}; + +/** + * @} end of CFFT_CIFFT group + */ + +/* +* @brief Q15 table for reciprocal +*/ +const q15_t armRecipTableQ15[64] = { + 0x7F03, 0x7D13, 0x7B31, 0x795E, 0x7798, 0x75E0, + 0x7434, 0x7294, 0x70FF, 0x6F76, 0x6DF6, 0x6C82, + 0x6B16, 0x69B5, 0x685C, 0x670C, 0x65C4, 0x6484, + 0x634C, 0x621C, 0x60F3, 0x5FD0, 0x5EB5, 0x5DA0, + 0x5C91, 0x5B88, 0x5A85, 0x5988, 0x5890, 0x579E, + 0x56B0, 0x55C8, 0x54E4, 0x5405, 0x532B, 0x5255, + 0x5183, 0x50B6, 0x4FEC, 0x4F26, 0x4E64, 0x4DA6, + 0x4CEC, 0x4C34, 0x4B81, 0x4AD0, 0x4A23, 0x4978, + 0x48D1, 0x482D, 0x478C, 0x46ED, 0x4651, 0x45B8, + 0x4521, 0x448D, 0x43FC, 0x436C, 0x42DF, 0x4255, + 0x41CC, 0x4146, 0x40C2, 0x4040 +}; + +/* +* @brief Q31 table for reciprocal +*/ +const q31_t armRecipTableQ31[64] = { + 0x7F03F03F, 0x7D137420, 0x7B31E739, 0x795E9F94, 0x7798FD29, 0x75E06928, + 0x7434554D, 0x72943B4B, 0x70FF9C40, 0x6F760031, 0x6DF6F593, 0x6C8210E3, + 0x6B16EC3A, 0x69B526F6, 0x685C655F, 0x670C505D, 0x65C4952D, 0x6484E519, + 0x634CF53E, 0x621C7E4F, 0x60F33C61, 0x5FD0EEB3, 0x5EB55785, 0x5DA03BEB, + 0x5C9163A1, 0x5B8898E6, 0x5A85A85A, 0x598860DF, 0x58909373, 0x579E1318, + 0x56B0B4B8, 0x55C84F0B, 0x54E4BA80, 0x5405D124, 0x532B6E8F, 0x52556FD0, + 0x5183B35A, 0x50B618F3, 0x4FEC81A2, 0x4F26CFA2, 0x4E64E64E, 0x4DA6AA1D, + 0x4CEC008B, 0x4C34D010, 0x4B810016, 0x4AD078EF, 0x4A2323C4, 0x4978EA96, + 0x48D1B827, 0x482D77FE, 0x478C1657, 0x46ED801D, 0x4651A2E5, 0x45B86CE2, + 0x4521CCE1, 0x448DB244, 0x43FC0CFA, 0x436CCD78, 0x42DFE4B4, 0x42554426, + 0x41CCDDB6, 0x4146A3C6, 0x40C28923, 0x40408102 +}; diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c new file mode 100644 index 000000000..71cbc45f2 --- /dev/null +++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_f32.c @@ -0,0 +1,141 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010 ARM Limited. All rights reserved. +* +* $Date: 15. July 2011 +* $Revision: V1.0.10 +* +* Project: CMSIS DSP Library +* Title: arm_cmplx_conj_f32.c +* +* Description: Floating-point complex conjugate. +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Version 1.0.10 2011/7/15 +* Big Endian support added and Merged M0 and M3/M4 Source code. +* +* Version 1.0.3 2010/11/29 +* Re-organized the CMSIS folders and updated documentation. +* +* Version 1.0.2 2010/11/11 +* Documentation updated. +* +* Version 1.0.1 2010/10/05 +* Production release and review comments incorporated. +* +* Version 1.0.0 2010/09/20 +* Production release and review comments incorporated. +* ---------------------------------------------------------------------------- */ + +#include "arm_math.h" + +/** + * @ingroup groupCmplxMath + */ + +/** + * @defgroup cmplx_conj Complex Conjugate + * + * Conjugates the elements of a complex data vector. + * + * The pSrc points to the source data and + * pDst points to the where the result should be written. + * numSamples specifies the number of complex samples + * and the data in each array is stored in an interleaved fashion + * (real, imag, real, imag, ...). + * Each array has a total of 2*numSamples values. + * The underlying algorithm is used: + * + * 
       
+ * for(n=0; n   
+ *   
+ * There are separate functions for floating-point, Q15, and Q31 data types.   
+ */
+
+/**   
+ * @addtogroup cmplx_conj   
+ * @{   
+ */
+
+/**   
+ * @brief  Floating-point complex conjugate.   
+ * @param  *pSrc points to the input vector   
+ * @param  *pDst points to the output vector   
+ * @param  numSamples number of complex samples in each vector   
+ * @return none.   
+ */
+
+void arm_cmplx_conj_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut + j (imagOut) = realIn + j (-1) imagIn */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_conj group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
new file mode 100644
index 000000000..0a1897f75
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q15.c
@@ -0,0 +1,123 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_conj_q15.c   
+*   
+* Description:	Q15 complex conjugate.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup cmplx_conj   
+ * @{   
+ */
+
+/**   
+ * @brief  Q15 complex conjugate.   
+ * @param  *pSrc points to the input vector   
+ * @param  *pDst points to the output vector   
+ * @param  numSamples number of complex samples in each vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF.   
+ */
+
+void arm_cmplx_conj_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = __SSAT(-*pSrc++, 16);
+    *pDst++ = *pSrc++;
+    *pDst++ = __SSAT(-*pSrc++, 16);
+    *pDst++ = *pSrc++;
+    *pDst++ = __SSAT(-*pSrc++, 16);
+    *pDst++ = *pSrc++;
+    *pDst++ = __SSAT(-*pSrc++, 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = __SSAT(-*pSrc++, 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut + j (imagOut) = realIn+ j (-1) imagIn */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_conj group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
new file mode 100644
index 000000000..3eaa44e0c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_conj_q31.c
@@ -0,0 +1,131 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_conj_q31.c   
+*   
+* Description:	Q31 complex conjugate.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup cmplx_conj   
+ * @{   
+ */
+
+/**   
+ * @brief  Q31 complex conjugate.   
+ * @param  *pSrc points to the input vector   
+ * @param  *pDst points to the output vector   
+ * @param  numSamples number of complex samples in each vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF.   
+ */
+
+void arm_cmplx_conj_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+  q31_t in;                                      /* Input value */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    /* Saturated to 0x7fffffff if the input is -1(0x80000000) */
+    *pDst++ = *pSrc++;
+    in = *pSrc++;
+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
+    *pDst++ = *pSrc++;
+    in = *pSrc++;
+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
+    *pDst++ = *pSrc++;
+    in = *pSrc++;
+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
+    *pDst++ = *pSrc++;
+    in = *pSrc++;
+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0]+jC[1] = A[0]+ j (-1) A[1] */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    /* Saturated to 0x7fffffff if the input is -1(0x80000000) */
+    *pDst++ = *pSrc++;
+    in = *pSrc++;
+    *pDst++ = (in == 0x80000000) ? 0x7fffffff : -in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut + j (imagOut) = realIn+ j (-1) imagIn */
+    /* Calculate Complex Conjugate and then store the results in the destination buffer. */
+    *pDst++ = *pSrc++;
+    *pDst++ = -*pSrc++;
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_conj group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
new file mode 100644
index 000000000..15ab18b17
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_f32.c
@@ -0,0 +1,157 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_dot_prod_f32.c   
+*   
+* Description:	Floating-point complex dot product   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @defgroup cmplx_dot_prod Complex Dot Product   
+ *   
+ * Computes the dot product of two complex vectors.   
+ * The vectors are multiplied element-by-element and then summed.   
+ *  
+ * The pSrcA points to the first complex input vector and   
+ * pSrcB points to the second complex input vector.   
+ * numSamples specifies the number of complex samples   
+ * and the data in each array is stored in an interleaved fashion   
+ * (real, imag, real, imag, ...).   
+ * Each array has a total of 2*numSamples values.   
+ *   
+ * The underlying algorithm is used:   
+ * 
       
+ * realResult=0;   
+ * imagResult=0;   
+ * for(n=0; n   
+ *   
+ * There are separate functions for floating-point, Q15, and Q31 data types.   
+ */
+
+/**   
+ * @addtogroup cmplx_dot_prod   
+ * @{   
+ */
+
+/**   
+ * @brief  Floating-point complex dot product   
+ * @param  *pSrcA points to the first input vector   
+ * @param  *pSrcB points to the second input vector   
+ * @param  numSamples number of complex samples in each vector   
+ * @param  *realResult real part of the result returned here   
+ * @param  *imagResult imaginary part of the result returned here   
+ * @return none.   
+ */
+
+void arm_cmplx_dot_prod_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  uint32_t numSamples,
+  float32_t * realResult,
+  float32_t * imagResult)
+{
+  float32_t real_sum = 0.0f, imag_sum = 0.0f;    /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += (*pSrcA++) * (*pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += (*pSrcA++) * (*pSrcB++);
+
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the real and imaginary results in the destination buffers */
+  *realResult = real_sum;
+  *imagResult = imag_sum;
+}
+
+/**   
+ * @} end of cmplx_dot_prod group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
new file mode 100644
index 000000000..4194ed6f0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q15.c
@@ -0,0 +1,141 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_dot_prod_q15.c   
+*   
+* Description:	Processing function for the Q15 Complex Dot product   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup cmplx_dot_prod   
+ * @{   
+ */
+
+/**   
+ * @brief  Q15 complex dot product   
+ * @param  *pSrcA points to the first input vector   
+ * @param  *pSrcB points to the second input vector   
+ * @param  numSamples number of complex samples in each vector   
+ * @param  *realResult real part of the result returned here   
+ * @param  *imagResult imaginary part of the result returned here   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The intermediate 1.15 by 1.15 multiplications are performed with full precision and yield a 2.30 result.   
+ * These are accumulated in a 64-bit accumulator with 34.30 precision.   
+ * As a final step, the accumulators are converted to 8.24 format.   
+ * The return results realResult and imagResult are in 8.24 format.   
+ */
+
+void arm_cmplx_dot_prod_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  uint32_t numSamples,
+  q31_t * realResult,
+  q31_t * imagResult)
+{
+  q63_t real_sum = 0, imag_sum = 0;              /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += ((q31_t) * pSrcA++ * *pSrcB++);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the real and imaginary results in 8.24 format  */
+  /* Convert real data in 34.30 to 8.24 by 6 right shifts */
+  *realResult = (q31_t) (real_sum) >> 6;
+  /* Convert imaginary data in 34.30 to 8.24 by 6 right shifts */
+  *imagResult = (q31_t) (imag_sum) >> 6;
+}
+
+/**   
+ * @} end of cmplx_dot_prod group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
new file mode 100644
index 000000000..f6ad992cf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_dot_prod_q31.c
@@ -0,0 +1,142 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_dot_prod_q31.c   
+*   
+* Description:	Q31 complex dot product   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup cmplx_dot_prod   
+ * @{   
+ */
+
+/**   
+ * @brief  Q31 complex dot product   
+ * @param  *pSrcA points to the first input vector   
+ * @param  *pSrcB points to the second input vector   
+ * @param  numSamples number of complex samples in each vector   
+ * @param  *realResult real part of the result returned here   
+ * @param  *imagResult imaginary part of the result returned here   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The intermediate 1.31 by 1.31 multiplications are performed with 64-bit precision and then shifted to 16.48 format.   
+ * The internal real and imaginary accumulators are in 16.48 format and provide 15 guard bits.   
+ * Additions are nonsaturating and no overflow will occur as long as numSamples is less than 32768.   
+ * The return results realResult and imagResult are in 16.48 format.   
+ * Input down scaling is not required.   
+ */
+
+void arm_cmplx_dot_prod_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  uint32_t numSamples,
+  q63_t * realResult,
+  q63_t * imagResult)
+{
+  q63_t real_sum = 0, imag_sum = 0;              /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    /* Convert real data in 2.62 to 16.48 by 14 right shifts */
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    /* Convert imag data in 2.62 to 16.48 by 14 right shifts */
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples  is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* CReal = A[0]* B[0] + A[2]* B[2] + A[4]* B[4] + .....+ A[numSamples-2]* B[numSamples-2] */
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    /* CImag = A[1]* B[1] + A[3]* B[3] + A[5]* B[5] + .....+ A[numSamples-1]* B[numSamples-1] */
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* outReal = realA[0]* realB[0] + realA[2]* realB[2] + realA[4]* realB[4] + .....+ realA[numSamples-2]* realB[numSamples-2] */
+    real_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+    /* outImag = imagA[1]* imagB[1] + imagA[3]* imagB[3] + imagA[5]* imagB[5] + .....+ imagA[numSamples-1]* imagB[numSamples-1] */
+    imag_sum += (q63_t) * pSrcA++ * (*pSrcB++) >> 14;
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the real and imaginary results in 16.48 format  */
+  *realResult = real_sum;
+  *imagResult = imag_sum;
+}
+
+/**   
+ * @} end of cmplx_dot_prod group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
new file mode 100644
index 000000000..309ad6f09
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_f32.c
@@ -0,0 +1,154 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_mag_f32.c   
+*   
+* Description:	Floating-point complex magnitude.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @defgroup cmplx_mag Complex Magnitude   
+ *   
+ * Computes the magnitude of the elements of a complex data vector.   
+ *  
+ * The pSrc points to the source data and   
+ * pDst points to the where the result should be written.   
+ * numSamples specifies the number of complex samples   
+ * in the input array and the data is stored in an interleaved fashion   
+ * (real, imag, real, imag, ...).   
+ * The input array has a total of 2*numSamples values;   
+ * the output array has a total of numSamples values.   
+ * The underlying algorithm is used:   
+ *   
+ * 
       
+ * for(n=0; n   
+ *   
+ * There are separate functions for floating-point, Q15, and Q31 data types.   
+ */
+
+/**   
+ * @addtogroup cmplx_mag   
+ * @{   
+ */
+/**   
+ * @brief Floating-point complex magnitude.   
+ * @param[in]       *pSrc points to complex input buffer   
+ * @param[out]      *pDst points to real output buffer   
+ * @param[in]       numSamples number of complex samples in the input vector   
+ * @return none.   
+ *   
+ */
+
+
+void arm_cmplx_mag_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples)
+{
+  float32_t realIn, imagIn;                      /* Temporary variables to hold input values */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    /* store the result in the destination buffer. */
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    /* store the result in the destination buffer. */
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* out = sqrt((real * real) + (imag * imag)) */
+    realIn = *pSrc++;
+    imagIn = *pSrc++;
+    /* store the result in the destination buffer. */
+    arm_sqrt_f32((realIn * realIn) + (imagIn * imagIn), pDst++);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_mag group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
new file mode 100644
index 000000000..ef5a455d3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q15.c
@@ -0,0 +1,153 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_mag_q15.c   
+*   
+* Description:	Q15 complex magnitude.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup cmplx_mag   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Q15 complex magnitude   
+ * @param  *pSrc points to the complex input vector   
+ * @param  *pDst points to the real output vector   
+ * @param  numSamples number of complex samples in the input vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 2.14 format.   
+ */
+
+void arm_cmplx_mag_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples)
+{
+  q15_t real, imag;                              /* Temporary variables to hold input values */
+  q31_t acc0, acc1;                              /* Accumulators */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* out = sqrt(real * real + imag * imag) */
+    real = *pSrc++;
+    imag = *pSrc++;
+
+    acc0 = (real * real);
+    acc1 = (imag * imag);
+
+    /* store the result in 2.14 format in the destination buffer. */
+    arm_sqrt_q15((q15_t) (((q63_t) acc0 + acc1) >> 17), pDst++);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_mag group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
new file mode 100644
index 000000000..ab56304b1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_q31.c
@@ -0,0 +1,151 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_mag_q31.c   
+*   
+* Description:	Q31 complex magnitude   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup cmplx_mag   
+ * @{   
+ */
+
+/**   
+ * @brief  Q31 complex magnitude   
+ * @param  *pSrc points to the complex input vector   
+ * @param  *pDst points to the real output vector   
+ * @param  numSamples number of complex samples in the input vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 2.30 format.   
+ * Input down scaling is not required.   
+ */
+
+void arm_cmplx_mag_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples)
+{
+  q31_t real, imag;                              /* Temporary variables to hold input values */
+  q31_t acc0, acc1;                              /* Accumulators */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 2.30 format in the destination buffer. */
+    arm_sqrt_q31(acc0 + acc1, pDst++);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 2.30 format in the destination buffer. */
+    arm_sqrt_q31(acc0 + acc1, pDst++);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 2.30 format in the destination buffer. */
+    arm_sqrt_q31(acc0 + acc1, pDst++);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 2.30 format in the destination buffer. */
+    arm_sqrt_q31(acc0 + acc1, pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = sqrt(A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 2.30 format in the destination buffer. */
+    arm_sqrt_q31(acc0 + acc1, pDst++);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* out = sqrt((real * real) + (imag * imag)) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 2.30 format in the destination buffer. */
+    arm_sqrt_q31(acc0 + acc1, pDst++);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_mag group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
new file mode 100644
index 000000000..eb6c1baf8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_f32.c
@@ -0,0 +1,155 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_mag_squared_f32.c   
+*   
+* Description:	Floating-point complex magnitude squared.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @defgroup cmplx_mag_squared Complex Magnitude Squared   
+ *   
+ * Computes the magnitude squared of the elements of a complex data vector.   
+ *  
+ * The pSrc points to the source data and   
+ * pDst points to the where the result should be written.   
+ * numSamples specifies the number of complex samples   
+ * in the input array and the data is stored in an interleaved fashion   
+ * (real, imag, real, imag, ...).   
+ * The input array has a total of 2*numSamples values;   
+ * the output array has a total of numSamples values.   
+ *   
+ * The underlying algorithm is used:   
+ *   
+ * 
       
+ * for(n=0; n   
+ *   
+ * There are separate functions for floating-point, Q15, and Q31 data types.   
+ */
+
+/**   
+ * @addtogroup cmplx_mag_squared   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Floating-point complex magnitude squared   
+ * @param[in]  *pSrc points to the complex input vector   
+ * @param[out]  *pDst points to the real output vector   
+ * @param[in]  numSamples number of complex samples in the input vector   
+ * @return none.   
+ */
+
+void arm_cmplx_mag_squared_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t numSamples)
+{
+  float32_t real, imag;                          /* Temporary variables to store real and imaginary values */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    /* store the result in the destination buffer. */
+    *pDst++ = (real * real) + (imag * imag);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    *pDst++ = (real * real) + (imag * imag);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    *pDst++ = (real * real) + (imag * imag);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    *pDst++ = (real * real) + (imag * imag);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    /* store the result in the destination buffer. */
+    *pDst++ = (real * real) + (imag * imag);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* reading real and imaginary values */
+    real = *pSrc++;
+    imag = *pSrc++;
+
+    /* out = (real * real) + (imag * imag) */
+    /* store the result in the destination buffer. */
+    *pDst++ = (real * real) + (imag * imag);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_mag_squared group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
new file mode 100644
index 000000000..236199ee5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q15.c
@@ -0,0 +1,148 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_mag_squared_q15.c   
+*   
+* Description:	Q15 complex magnitude squared.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup cmplx_mag_squared   
+ * @{   
+ */
+
+/**   
+ * @brief  Q15 complex magnitude squared   
+ * @param  *pSrc points to the complex input vector   
+ * @param  *pDst points to the real output vector   
+ * @param  numSamples number of complex samples in the input vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format.   
+ */
+
+void arm_cmplx_mag_squared_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t numSamples)
+{
+  q15_t real, imag;                              /* Temporary variables to store real and imaginary values */
+  q31_t acc0, acc1;                              /* Accumulators */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /*loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = __SMUAD(real, real);
+    acc1 = __SMUAD(imag, imag);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* out = ((real * real) + (imag * imag)) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (real * real);
+    acc1 = (imag * imag);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ = (q15_t) (((q63_t) acc0 + acc1) >> 17);
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_mag_squared group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
new file mode 100644
index 000000000..2ebb98c1f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mag_squared_q31.c
@@ -0,0 +1,150 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cmplx_mag_squared_q31.c   
+*   
+* Description:	Q31 complex magnitude squared.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup cmplx_mag_squared   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Q31 complex magnitude squared   
+ * @param  *pSrc points to the complex input vector   
+ * @param  *pDst points to the real output vector   
+ * @param  numSamples number of complex samples in the input vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format.   
+ * Input down scaling is not required.   
+ */
+
+void arm_cmplx_mag_squared_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t numSamples)
+{
+  q31_t real, imag;                              /* Temporary variables to store real and imaginary values */
+  q31_t acc0, acc1;                              /* Accumulators */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[0] = (A[0] * A[0] + A[1] * A[1]) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* out = ((real * real) + (imag * imag)) */
+    real = *pSrc++;
+    imag = *pSrc++;
+    acc0 = (q31_t) (((q63_t) real * real) >> 33);
+    acc1 = (q31_t) (((q63_t) imag * imag) >> 33);
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = acc0 + acc1;
+
+    /* Decrement the loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of cmplx_mag_squared group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
new file mode 100644
index 000000000..24b56f69c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_f32.c
@@ -0,0 +1,180 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cmplx_mult_cmplx_f32.c   
+*   
+* Description:	Floating-point complex-by-complex multiplication   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @defgroup CmplxByCmplxMult Complex-by-Complex Multiplication   
+ *   
+ * Multiplies a complex vector by another complex vector and generates a complex result.   
+ * The data in the complex arrays is stored in an interleaved fashion   
+ * (real, imag, real, imag, ...).   
+ * The parameter numSamples represents the number of complex   
+ * samples processed.  The complex arrays have a total of 2*numSamples   
+ * real values.   
+ *   
+ * The underlying algorithm is used:   
+ *   
+ * 
       
+ * for(n=0; n   
+ *   
+ * There are separate functions for floating-point, Q15, and Q31 data types.   
+ */
+
+/**   
+ * @addtogroup CmplxByCmplxMult   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Floating-point complex-by-complex multiplication   
+ * @param[in]  *pSrcA points to the first input vector   
+ * @param[in]  *pSrcB points to the second input vector   
+ * @param[out]  *pDst  points to the output vector   
+ * @param[in]  numSamples number of complex samples in each vector   
+ * @return none.   
+ */
+
+void arm_cmplx_mult_cmplx_f32(
+  float32_t * pSrcA,
+  float32_t * pSrcB,
+  float32_t * pDst,
+  uint32_t numSamples)
+{
+  float32_t a, b, c, d;                          /* Temporary variables to store real and imaginary values */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counters */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in the destination buffer. */
+    *pDst++ = (a * c) - (b * d);
+    *pDst++ = (a * d) + (b * c);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    *pDst++ = (a * c) - (b * d);
+    *pDst++ = (a * d) + (b * c);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    *pDst++ = (a * c) - (b * d);
+    *pDst++ = (a * d) + (b * c);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    *pDst++ = (a * c) - (b * d);
+    *pDst++ = (a * d) + (b * c);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in the destination buffer. */
+    *pDst++ = (a * c) - (b * d);
+    *pDst++ = (a * d) + (b * c);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in the destination buffer. */
+    *pDst++ = (a * c) - (b * d);
+    *pDst++ = (a * d) + (b * c);
+
+    /* Decrement the numSamples loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of CmplxByCmplxMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
new file mode 100644
index 000000000..ff6606101
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q15.c
@@ -0,0 +1,182 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cmplx_mult_cmplx_q15.c   
+*   
+* Description:	Q15 complex-by-complex multiplication   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup CmplxByCmplxMult   
+ * @{   
+ */
+
+/**   
+ * @brief  Q15 complex-by-complex multiplication   
+ * @param[in]  *pSrcA points to the first input vector   
+ * @param[in]  *pSrcB points to the second input vector   
+ * @param[out]  *pDst  points to the output vector   
+ * @param[in]  numSamples number of complex samples in each vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format.   
+ */
+
+void arm_cmplx_mult_cmplx_q15(
+  q15_t * pSrcA,
+  q15_t * pSrcB,
+  q15_t * pDst,
+  uint32_t numSamples)
+{
+  q15_t a, b, c, d;                              /* Temporary variables to store real and imaginary values */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counters */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * c) >> 17) - (((q31_t) b * d) >> 17);
+    /* store the result in 3.13 format in the destination buffer. */
+    *pDst++ =
+      (q15_t) (q31_t) (((q31_t) a * d) >> 17) + (((q31_t) b * c) >> 17);
+
+    /* Decrement the blockSize loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of CmplxByCmplxMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
new file mode 100644
index 000000000..059ae50b1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_cmplx_q31.c
@@ -0,0 +1,209 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cmplx_mult_cmplx_q31.c   
+*   
+* Description:	Q31 complex-by-complex multiplication   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup CmplxByCmplxMult   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Q31 complex-by-complex multiplication   
+ * @param[in]  *pSrcA points to the first input vector   
+ * @param[in]  *pSrcB points to the second input vector   
+ * @param[out]  *pDst  points to the output vector   
+ * @param[in]  numSamples number of complex samples in each vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format.   
+ * Input down scaling is not required.   
+ */
+
+void arm_cmplx_mult_cmplx_q31(
+  q31_t * pSrcA,
+  q31_t * pSrcB,
+  q31_t * pDst,
+  uint32_t numSamples)
+{
+  q31_t a, b, c, d;                              /* Temporary variables to store real and imaginary values */
+  uint32_t blkCnt;                               /* loop counters */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * c) >> 33) - (((q63_t) b * d) >> 33));
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * d) >> 33) + (((q63_t) b * c) >> 33));
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * c) >> 33) - (((q63_t) b * d) >> 33));
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * d) >> 33) + (((q63_t) b * c) >> 33));
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * c) >> 33) - (((q63_t) b * d) >> 33));
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * d) >> 33) + (((q63_t) b * c) >> 33));
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * c) >> 33) - (((q63_t) b * d) >> 33));
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * d) >> 33) + (((q63_t) b * c) >> 33));
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * c) >> 33) - (((q63_t) b * d) >> 33));
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * d) >> 33) + (((q63_t) b * c) >> 33));
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 1u;
+
+  /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.    
+   ** a second loop below computes the remaining 1 sample. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the real result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * c) >> 33) - (((q63_t) b * d) >> 33));
+    /* store the imag result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * d) >> 33) + (((q63_t) b * c) >> 33));
+
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * c) >> 33) - (((q63_t) b * d) >> 33));
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * d) >> 33) + (((q63_t) b * c) >> 33));
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 2, compute any remaining output samples here.    
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x2u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[2 * i] - A[2 * i + 1] * B[2 * i + 1].  */
+    /* C[2 * i + 1] = A[2 * i] * B[2 * i + 1] + A[2 * i + 1] * B[2 * i].  */
+    a = *pSrcA++;
+    b = *pSrcA++;
+    c = *pSrcB++;
+    d = *pSrcB++;
+
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * c) >> 33) - (((q63_t) b * d) >> 33));
+    /* store the result in 3.29 format in the destination buffer. */
+    *pDst++ = (q31_t) ((((q63_t) a * d) >> 33) + (((q63_t) b * c) >> 33));
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of CmplxByCmplxMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
new file mode 100644
index 000000000..b09c34fdd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_f32.c
@@ -0,0 +1,157 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cmplx_mult_real_f32.c   
+*   
+* Description:	Floating-point complex by real multiplication   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @defgroup CmplxByRealMult Complex-by-Real Multiplication   
+ *   
+ * Multiplies a complex vector by a real vector and generates a complex result.   
+ * The data in the complex arrays is stored in an interleaved fashion   
+ * (real, imag, real, imag, ...).   
+ * The parameter numSamples represents the number of complex   
+ * samples processed.  The complex arrays have a total of 2*numSamples   
+ * real values while the real array has a total of numSamples   
+ * real values.   
+ *   
+ * The underlying algorithm is used:   
+ *   
+ * 
       
+ * for(n=0; n   
+ *   
+ * There are separate functions for floating-point, Q15, and Q31 data types.   
+ */
+
+/**   
+ * @addtogroup CmplxByRealMult   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Floating-point complex-by-real multiplication   
+ * @param[in]  *pSrcCmplx points to the complex input vector   
+ * @param[in]  *pSrcReal points to the real input vector   
+ * @param[out]  *pCmplxDst points to the complex output vector   
+ * @param[in]  numSamples number of samples in each vector   
+ * @return none.   
+ */
+
+void arm_cmplx_mult_real_f32(
+  float32_t * pSrcCmplx,
+  float32_t * pSrcReal,
+  float32_t * pCmplxDst,
+  uint32_t numSamples)
+{
+  float32_t in;                                  /* Temporary variable to store input value */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counters */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut = realA * realB.            */
+    /* imagOut = imagA * realB.                */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+    *pCmplxDst++ = (*pSrcCmplx++) * (in);
+
+    /* Decrement the numSamples loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of CmplxByRealMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
new file mode 100644
index 000000000..3f95021b0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q15.c
@@ -0,0 +1,151 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cmplx_mult_real_q15.c   
+*   
+* Description:	Q15 complex by real multiplication   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup CmplxByRealMult   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Q15 complex-by-real multiplication   
+ * @param[in]  *pSrcCmplx points to the complex input vector   
+ * @param[in]  *pSrcReal points to the real input vector   
+ * @param[out]  *pCmplxDst points to the complex output vector   
+ * @param[in]  numSamples number of samples in each vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.   
+ */
+
+void arm_cmplx_mult_real_q15(
+  q15_t * pSrcCmplx,
+  q15_t * pSrcReal,
+  q15_t * pCmplxDst,
+  uint32_t numSamples)
+{
+  q15_t in;                                      /* Temporary variable to store input value */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counters */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut = realA * realB.            */
+    /* imagOut = imagA * realB.                */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+    *pCmplxDst++ =
+      (q15_t) __SSAT((((q31_t) (*pSrcCmplx++) * (in)) >> 15), 16);
+
+    /* Decrement the numSamples loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of CmplxByRealMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
new file mode 100644
index 000000000..887222ce7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ComplexMathFunctions/arm_cmplx_mult_real_q31.c
@@ -0,0 +1,151 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cmplx_mult_real_q31.c   
+*   
+* Description:	Q31 complex by real multiplication   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupCmplxMath   
+ */
+
+/**   
+ * @addtogroup CmplxByRealMult   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Q31 complex-by-real multiplication   
+ * @param[in]  *pSrcCmplx points to the complex input vector   
+ * @param[in]  *pSrcReal points to the real input vector   
+ * @param[out]  *pCmplxDst points to the complex output vector   
+ * @param[in]  numSamples number of samples in each vector   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.   
+ */
+
+void arm_cmplx_mult_real_q31(
+  q31_t * pSrcCmplx,
+  q31_t * pSrcReal,
+  q31_t * pCmplxDst,
+  uint32_t numSamples)
+{
+  q31_t in;                                      /* Temporary variable to store input value */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+  uint32_t blkCnt;                               /* loop counters */
+
+  /* loop Unrolling */
+  blkCnt = numSamples >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+
+    in = *pSrcReal++;
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+  /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = numSamples % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C[2 * i] = A[2 * i] * B[i].            */
+    /* C[2 * i + 1] = A[2 * i + 1] * B[i].        */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+
+    /* Decrement the numSamples loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(numSamples > 0u)
+  {
+    /* realOut = realA * realB.            */
+    /* imagReal = imagA * realB.               */
+    in = *pSrcReal++;
+    /* store the result in the destination buffer. */
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+    *pCmplxDst++ =
+      (q31_t) clip_q63_to_q31(((q63_t) * pSrcCmplx++ * in) >> 31);
+
+    /* Decrement the numSamples loop counter */
+    numSamples--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of CmplxByRealMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
new file mode 100644
index 000000000..f8e1c2e05
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
@@ -0,0 +1,76 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_pid_init_f32.c   
+*   
+* Description:	Floating-point PID Control initialization function   
+*				  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**   
+ * @addtogroup PID   
+ * @{   
+ */
+
+/**   
+ * @brief  Initialization function for the floating-point PID Control.  
+ * @param[in,out] *S points to an instance of the PID structure.  
+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state & 1 = reset the state.  
+ * @return none.  
+ * \par Description:  
+ * \par   
+ * The resetStateFlag specifies whether to set state to zero or not. \n  
+ * The function computes the structure fields: A0, A1 A2   
+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)   
+ * also sets the state variables to all zeros.   
+ */
+
+void arm_pid_init_f32(
+  arm_pid_instance_f32 * S,
+  int32_t resetStateFlag)
+{
+
+  /* Derived coefficient A0 */
+  S->A0 = S->Kp + S->Ki + S->Kd;
+
+  /* Derived coefficient A1 */
+  S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
+
+  /* Derived coefficient A2 */
+  S->A2 = S->Kd;
+
+  /* Check whether state needs reset or not */
+  if(resetStateFlag)
+  {
+    /* Clear the state buffer.  The size will be always 3 samples */
+    memset(S->state, 0, 3u * sizeof(float32_t));
+  }
+
+}
+
+/**   
+ * @} end of PID group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
new file mode 100644
index 000000000..f7e1e7e6f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
@@ -0,0 +1,111 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_pid_init_q15.c   
+*   
+* Description:	Q15 PID Control initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**   
+ * @addtogroup PID   
+ * @{   
+ */
+
+/**   
+ * @details   
+ * @param[in,out] *S points to an instance of the Q15 PID structure.   
+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.   
+ * @return none.   
+ * \par Description:  
+ * \par   
+ * The resetStateFlag specifies whether to set state to zero or not. \n  
+ * The function computes the structure fields: A0, A1 A2   
+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)   
+ * also sets the state variables to all zeros.   
+ */
+
+void arm_pid_init_q15(
+  arm_pid_instance_q15 * S,
+  int32_t resetStateFlag)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Derived coefficient A0 */
+  S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
+
+  /* Derived coefficients and pack into A1 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+  S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
+
+#else
+
+  S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+  /* Check whether state needs reset or not */
+  if(resetStateFlag)
+  {
+    /* Clear the state buffer.  The size will be always 3 samples */
+    memset(S->state, 0, 3u * sizeof(q15_t));
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t temp;                                    /*to store the sum */
+
+  /* Derived coefficient A0 */
+  temp = S->Kp + S->Ki + S->Kd;
+  S->A0 = (q15_t) __SSAT(temp, 16);
+
+  /* Derived coefficients and pack into A1 */
+  temp = -(S->Kd + S->Kd + S->Kp);
+  S->A1 = (q15_t) __SSAT(temp, 16);
+  S->A2 = S->Kd;
+
+
+
+  /* Check whether state needs reset or not */
+  if(resetStateFlag)
+  {
+    /* Clear the state buffer.  The size will be always 3 samples */
+    memset(S->state, 0, 3u * sizeof(q15_t));
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of PID group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
new file mode 100644
index 000000000..22b05f228
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
@@ -0,0 +1,96 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_pid_init_q31.c   
+*   
+* Description:	Q31 PID Control initialization function    
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**   
+ * @addtogroup PID   
+ * @{   
+ */
+
+/**   
+ * @brief  Initialization function for the Q31 PID Control.  
+ * @param[in,out] *S points to an instance of the Q31 PID structure.  
+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.  
+ * @return none.   
+ * \par Description:  
+ * \par   
+ * The resetStateFlag specifies whether to set state to zero or not. \n  
+ * The function computes the structure fields: A0, A1 A2   
+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)   
+ * also sets the state variables to all zeros.   
+ */
+
+void arm_pid_init_q31(
+  arm_pid_instance_q31 * S,
+  int32_t resetStateFlag)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Derived coefficient A0 */
+  S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
+
+  /* Derived coefficient A1 */
+  S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t temp;
+
+  /* Derived coefficient A0 */
+  temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
+  S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
+
+  /* Derived coefficient A1 */
+  temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
+  S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Derived coefficient A2 */
+  S->A2 = S->Kd;
+
+  /* Check whether state needs reset or not */
+  if(resetStateFlag)
+  {
+    /* Clear the state buffer.  The size will be always 3 samples */
+    memset(S->state, 0, 3u * sizeof(q31_t));
+  }
+
+}
+
+/**   
+ * @} end of PID group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
new file mode 100644
index 000000000..51baa6fa4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
@@ -0,0 +1,54 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_pid_reset_f32.c   
+*   
+* Description:	Floating-point PID Control reset function  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**   
+ * @addtogroup PID   
+ * @{   
+ */
+
+/**   
+* @brief  Reset function for the floating-point PID Control.  
+* @param[in] *S	Instance pointer of PID control data structure.  
+* @return none.   
+* \par Description:  
+* The function resets the state buffer to zeros.   
+*/
+void arm_pid_reset_f32(
+  arm_pid_instance_f32 * S)
+{
+
+  /* Clear the state buffer.  The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(float32_t));
+}
+
+/**   
+ * @} end of PID group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
new file mode 100644
index 000000000..e71460c15
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
@@ -0,0 +1,53 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_pid_reset_q15.c   
+*   
+* Description:	Q15 PID Control reset function  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**   
+ * @addtogroup PID   
+ * @{   
+ */
+
+/**   
+* @brief  Reset function for the Q15 PID Control.  
+* @param[in] *S		Instance pointer of PID control data structure.  
+* @return none.   
+* \par Description:  
+* The function resets the state buffer to zeros.   
+*/
+void arm_pid_reset_q15(
+  arm_pid_instance_q15 * S)
+{
+  /* Reset state to zero, The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(q15_t));
+}
+
+/**   
+ * @} end of PID group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
new file mode 100644
index 000000000..9714fed62
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
@@ -0,0 +1,54 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_pid_reset_q31.c   
+*   
+* Description:	Q31 PID Control reset function  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**   
+ * @addtogroup PID   
+ * @{   
+ */
+
+/**   
+* @brief  Reset function for the Q31 PID Control.  
+* @param[in] *S	Instance pointer of PID control data structure.  
+* @return none.   
+* \par Description:  
+* The function resets the state buffer to zeros.   
+*/
+void arm_pid_reset_q31(
+  arm_pid_instance_q31 * S)
+{
+
+  /* Clear the state buffer.  The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(q31_t));
+}
+
+/**   
+ * @} end of PID group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
new file mode 100644
index 000000000..b7c10ec03
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
@@ -0,0 +1,408 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_sin_cos_f32.c   
+*   
+* Description:	Sine and Cosine calculation for floating-point values.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupController   
+ */
+
+/**   
+ * @defgroup SinCos Sine Cosine  
+ *   
+ * Computes the trigonometric sine and cosine values using a combination of table lookup  
+ * and linear interpolation.    
+ * There are separate functions for Q31 and floating-point data types.  
+ * The input to the floating-point version is in degrees while the  
+ * fixed-point Q31 have a scaled input with the range  
+ * [-1 1) mapping to [-180 180) degrees.  
+ *  
+ * The implementation is based on table lookup using 360 values together with linear interpolation.  
+ * The steps used are:  
+ *  -# Calculation of the nearest integer table index.  
+ *  -# Compute the fractional portion (fract) of the input.  
+ *  -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.     
+ *  -# Sine value is computed as  *psinVal = y0 + (fract * (y1 - y0)).   
+ *  -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.     
+ *  -# Cosine value is computed as  *pcosVal = y0 + (fract * (y1 - y0)).   
+ */
+
+ /**   
+ * @addtogroup SinCos   
+ * @{   
+ */
+
+
+/**   
+* \par   
+* Cosine Table is generated from following loop   
+* 
    for(i = 0; i < 360; i++)   
+* {   
+*    cosTable[i]= cos((i-180) * PI/180.0);   
+* } 
      
+*/
+
+static const float32_t cosTable[360] = {
+  -0.999847695156391270f, -0.999390827019095760f, -0.998629534754573830f,
+  -0.997564050259824200f, -0.996194698091745550f, -0.994521895368273290f,
+  -0.992546151641321980f, -0.990268068741570250f,
+  -0.987688340595137660f, -0.984807753012208020f, -0.981627183447663980f,
+  -0.978147600733805690f, -0.974370064785235250f, -0.970295726275996470f,
+  -0.965925826289068200f, -0.961261695938318670f,
+  -0.956304755963035440f, -0.951056516295153530f, -0.945518575599316740f,
+  -0.939692620785908320f, -0.933580426497201740f, -0.927183854566787310f,
+  -0.920504853452440150f, -0.913545457642600760f,
+  -0.906307787036649940f, -0.898794046299167040f, -0.891006524188367790f,
+  -0.882947592858926770f, -0.874619707139395740f, -0.866025403784438710f,
+  -0.857167300702112220f, -0.848048096156425960f,
+  -0.838670567945424160f, -0.829037572555041620f, -0.819152044288991580f,
+  -0.809016994374947340f, -0.798635510047292940f, -0.788010753606721900f,
+  -0.777145961456970680f, -0.766044443118977900f,
+  -0.754709580222772010f, -0.743144825477394130f, -0.731353701619170460f,
+  -0.719339800338651300f, -0.707106781186547460f, -0.694658370458997030f,
+  -0.681998360062498370f, -0.669130606358858240f,
+  -0.656059028990507500f, -0.642787609686539360f, -0.629320391049837280f,
+  -0.615661475325658290f, -0.601815023152048380f, -0.587785252292473030f,
+  -0.573576436351045830f, -0.559192903470746680f,
+  -0.544639035015027080f, -0.529919264233204790f, -0.515038074910054270f,
+  -0.499999999999999780f, -0.484809620246337000f, -0.469471562785890530f,
+  -0.453990499739546750f, -0.438371146789077510f,
+  -0.422618261740699330f, -0.406736643075800100f, -0.390731128489273600f,
+  -0.374606593415912070f, -0.358367949545300270f, -0.342020143325668710f,
+  -0.325568154457156420f, -0.309016994374947340f,
+  -0.292371704722736660f, -0.275637355816999050f, -0.258819045102520850f,
+  -0.241921895599667790f, -0.224951054343864810f, -0.207911690817759120f,
+  -0.190808995376544800f, -0.173648177666930300f,
+  -0.156434465040231040f, -0.139173100960065350f, -0.121869343405147370f,
+  -0.104528463267653330f, -0.087155742747658235f, -0.069756473744125330f,
+  -0.052335956242943620f, -0.034899496702500733f,
+  -0.017452406437283477f, 0.000000000000000061f, 0.017452406437283376f,
+  0.034899496702501080f, 0.052335956242943966f, 0.069756473744125455f,
+  0.087155742747658138f, 0.104528463267653460f,
+  0.121869343405147490f, 0.139173100960065690f, 0.156434465040230920f,
+  0.173648177666930410f, 0.190808995376544920f, 0.207911690817759450f,
+  0.224951054343864920f, 0.241921895599667900f,
+  0.258819045102520740f, 0.275637355816999160f, 0.292371704722736770f,
+  0.309016994374947450f, 0.325568154457156760f, 0.342020143325668820f,
+  0.358367949545300380f, 0.374606593415911960f,
+  0.390731128489273940f, 0.406736643075800210f, 0.422618261740699440f,
+  0.438371146789077460f, 0.453990499739546860f, 0.469471562785890860f,
+  0.484809620246337110f, 0.500000000000000110f,
+  0.515038074910054380f, 0.529919264233204900f, 0.544639035015027200f,
+  0.559192903470746790f, 0.573576436351046050f, 0.587785252292473140f,
+  0.601815023152048270f, 0.615661475325658290f,
+  0.629320391049837500f, 0.642787609686539360f, 0.656059028990507280f,
+  0.669130606358858240f, 0.681998360062498480f, 0.694658370458997370f,
+  0.707106781186547570f, 0.719339800338651190f,
+  0.731353701619170570f, 0.743144825477394240f, 0.754709580222772010f,
+  0.766044443118978010f, 0.777145961456970900f, 0.788010753606722010f,
+  0.798635510047292830f, 0.809016994374947450f,
+  0.819152044288991800f, 0.829037572555041620f, 0.838670567945424050f,
+  0.848048096156425960f, 0.857167300702112330f, 0.866025403784438710f,
+  0.874619707139395740f, 0.882947592858926990f,
+  0.891006524188367900f, 0.898794046299167040f, 0.906307787036649940f,
+  0.913545457642600870f, 0.920504853452440370f, 0.927183854566787420f,
+  0.933580426497201740f, 0.939692620785908430f,
+  0.945518575599316850f, 0.951056516295153530f, 0.956304755963035440f,
+  0.961261695938318890f, 0.965925826289068310f, 0.970295726275996470f,
+  0.974370064785235250f, 0.978147600733805690f,
+  0.981627183447663980f, 0.984807753012208020f, 0.987688340595137770f,
+  0.990268068741570360f, 0.992546151641321980f, 0.994521895368273290f,
+  0.996194698091745550f, 0.997564050259824200f,
+  0.998629534754573830f, 0.999390827019095760f, 0.999847695156391270f,
+  1.000000000000000000f, 0.999847695156391270f, 0.999390827019095760f,
+  0.998629534754573830f, 0.997564050259824200f,
+  0.996194698091745550f, 0.994521895368273290f, 0.992546151641321980f,
+  0.990268068741570360f, 0.987688340595137770f, 0.984807753012208020f,
+  0.981627183447663980f, 0.978147600733805690f,
+  0.974370064785235250f, 0.970295726275996470f, 0.965925826289068310f,
+  0.961261695938318890f, 0.956304755963035440f, 0.951056516295153530f,
+  0.945518575599316850f, 0.939692620785908430f,
+  0.933580426497201740f, 0.927183854566787420f, 0.920504853452440370f,
+  0.913545457642600870f, 0.906307787036649940f, 0.898794046299167040f,
+  0.891006524188367900f, 0.882947592858926990f,
+  0.874619707139395740f, 0.866025403784438710f, 0.857167300702112330f,
+  0.848048096156425960f, 0.838670567945424050f, 0.829037572555041620f,
+  0.819152044288991800f, 0.809016994374947450f,
+  0.798635510047292830f, 0.788010753606722010f, 0.777145961456970900f,
+  0.766044443118978010f, 0.754709580222772010f, 0.743144825477394240f,
+  0.731353701619170570f, 0.719339800338651190f,
+  0.707106781186547570f, 0.694658370458997370f, 0.681998360062498480f,
+  0.669130606358858240f, 0.656059028990507280f, 0.642787609686539360f,
+  0.629320391049837500f, 0.615661475325658290f,
+  0.601815023152048270f, 0.587785252292473140f, 0.573576436351046050f,
+  0.559192903470746790f, 0.544639035015027200f, 0.529919264233204900f,
+  0.515038074910054380f, 0.500000000000000110f,
+  0.484809620246337110f, 0.469471562785890860f, 0.453990499739546860f,
+  0.438371146789077460f, 0.422618261740699440f, 0.406736643075800210f,
+  0.390731128489273940f, 0.374606593415911960f,
+  0.358367949545300380f, 0.342020143325668820f, 0.325568154457156760f,
+  0.309016994374947450f, 0.292371704722736770f, 0.275637355816999160f,
+  0.258819045102520740f, 0.241921895599667900f,
+  0.224951054343864920f, 0.207911690817759450f, 0.190808995376544920f,
+  0.173648177666930410f, 0.156434465040230920f, 0.139173100960065690f,
+  0.121869343405147490f, 0.104528463267653460f,
+  0.087155742747658138f, 0.069756473744125455f, 0.052335956242943966f,
+  0.034899496702501080f, 0.017452406437283376f, 0.000000000000000061f,
+  -0.017452406437283477f, -0.034899496702500733f,
+  -0.052335956242943620f, -0.069756473744125330f, -0.087155742747658235f,
+  -0.104528463267653330f, -0.121869343405147370f, -0.139173100960065350f,
+  -0.156434465040231040f, -0.173648177666930300f,
+  -0.190808995376544800f, -0.207911690817759120f, -0.224951054343864810f,
+  -0.241921895599667790f, -0.258819045102520850f, -0.275637355816999050f,
+  -0.292371704722736660f, -0.309016994374947340f,
+  -0.325568154457156420f, -0.342020143325668710f, -0.358367949545300270f,
+  -0.374606593415912070f, -0.390731128489273600f, -0.406736643075800100f,
+  -0.422618261740699330f, -0.438371146789077510f,
+  -0.453990499739546750f, -0.469471562785890530f, -0.484809620246337000f,
+  -0.499999999999999780f, -0.515038074910054270f, -0.529919264233204790f,
+  -0.544639035015027080f, -0.559192903470746680f,
+  -0.573576436351045830f, -0.587785252292473030f, -0.601815023152048380f,
+  -0.615661475325658290f, -0.629320391049837280f, -0.642787609686539360f,
+  -0.656059028990507500f, -0.669130606358858240f,
+  -0.681998360062498370f, -0.694658370458997030f, -0.707106781186547460f,
+  -0.719339800338651300f, -0.731353701619170460f, -0.743144825477394130f,
+  -0.754709580222772010f, -0.766044443118977900f,
+  -0.777145961456970680f, -0.788010753606721900f, -0.798635510047292940f,
+  -0.809016994374947340f, -0.819152044288991580f, -0.829037572555041620f,
+  -0.838670567945424160f, -0.848048096156425960f,
+  -0.857167300702112220f, -0.866025403784438710f, -0.874619707139395740f,
+  -0.882947592858926770f, -0.891006524188367790f, -0.898794046299167040f,
+  -0.906307787036649940f, -0.913545457642600760f,
+  -0.920504853452440150f, -0.927183854566787310f, -0.933580426497201740f,
+  -0.939692620785908320f, -0.945518575599316740f, -0.951056516295153530f,
+  -0.956304755963035440f, -0.961261695938318670f,
+  -0.965925826289068200f, -0.970295726275996470f, -0.974370064785235250f,
+  -0.978147600733805690f, -0.981627183447663980f, -0.984807753012208020f,
+  -0.987688340595137660f, -0.990268068741570250f,
+  -0.992546151641321980f, -0.994521895368273290f, -0.996194698091745550f,
+  -0.997564050259824200f, -0.998629534754573830f, -0.999390827019095760f,
+  -0.999847695156391270f, -1.000000000000000000f
+};
+
+/**   
+* \par   
+* Sine Table is generated from following loop   
+* 
    for(i = 0; i < 360; i++)   
+* {   
+*    sinTable[i]= sin((i-180) * PI/180.0);   
+* } 
       
+*/
+
+
+static const float32_t sinTable[360] = {
+  -0.017452406437283439f, -0.034899496702500699f, -0.052335956242943807f,
+  -0.069756473744125524f, -0.087155742747658638f, -0.104528463267653730f,
+  -0.121869343405147550f, -0.139173100960065740f,
+  -0.156434465040230980f, -0.173648177666930280f, -0.190808995376544970f,
+  -0.207911690817759310f, -0.224951054343864780f, -0.241921895599667730f,
+  -0.258819045102521020f, -0.275637355816999660f,
+  -0.292371704722737050f, -0.309016994374947510f, -0.325568154457156980f,
+  -0.342020143325668880f, -0.358367949545300210f, -0.374606593415912240f,
+  -0.390731128489274160f, -0.406736643075800430f,
+  -0.422618261740699500f, -0.438371146789077290f, -0.453990499739546860f,
+  -0.469471562785891080f, -0.484809620246337170f, -0.499999999999999940f,
+  -0.515038074910054380f, -0.529919264233204900f,
+  -0.544639035015026860f, -0.559192903470746900f, -0.573576436351046380f,
+  -0.587785252292473250f, -0.601815023152048160f, -0.615661475325658400f,
+  -0.629320391049837720f, -0.642787609686539470f,
+  -0.656059028990507280f, -0.669130606358858350f, -0.681998360062498590f,
+  -0.694658370458997140f, -0.707106781186547570f, -0.719339800338651410f,
+  -0.731353701619170570f, -0.743144825477394240f,
+  -0.754709580222771790f, -0.766044443118978010f, -0.777145961456971010f,
+  -0.788010753606722010f, -0.798635510047292720f, -0.809016994374947450f,
+  -0.819152044288992020f, -0.829037572555041740f,
+  -0.838670567945424050f, -0.848048096156426070f, -0.857167300702112330f,
+  -0.866025403784438710f, -0.874619707139395850f, -0.882947592858927100f,
+  -0.891006524188367900f, -0.898794046299166930f,
+  -0.906307787036650050f, -0.913545457642600980f, -0.920504853452440370f,
+  -0.927183854566787420f, -0.933580426497201740f, -0.939692620785908430f,
+  -0.945518575599316850f, -0.951056516295153640f,
+  -0.956304755963035550f, -0.961261695938318890f, -0.965925826289068310f,
+  -0.970295726275996470f, -0.974370064785235250f, -0.978147600733805690f,
+  -0.981627183447663980f, -0.984807753012208020f,
+  -0.987688340595137660f, -0.990268068741570360f, -0.992546151641322090f,
+  -0.994521895368273400f, -0.996194698091745550f, -0.997564050259824200f,
+  -0.998629534754573830f, -0.999390827019095760f,
+  -0.999847695156391270f, -1.000000000000000000f, -0.999847695156391270f,
+  -0.999390827019095760f, -0.998629534754573830f, -0.997564050259824200f,
+  -0.996194698091745550f, -0.994521895368273290f,
+  -0.992546151641321980f, -0.990268068741570250f, -0.987688340595137770f,
+  -0.984807753012208020f, -0.981627183447663980f, -0.978147600733805580f,
+  -0.974370064785235250f, -0.970295726275996470f,
+  -0.965925826289068310f, -0.961261695938318890f, -0.956304755963035440f,
+  -0.951056516295153530f, -0.945518575599316740f, -0.939692620785908320f,
+  -0.933580426497201740f, -0.927183854566787420f,
+  -0.920504853452440260f, -0.913545457642600870f, -0.906307787036649940f,
+  -0.898794046299167040f, -0.891006524188367790f, -0.882947592858926880f,
+  -0.874619707139395740f, -0.866025403784438600f,
+  -0.857167300702112220f, -0.848048096156426070f, -0.838670567945423940f,
+  -0.829037572555041740f, -0.819152044288991800f, -0.809016994374947450f,
+  -0.798635510047292830f, -0.788010753606722010f,
+  -0.777145961456970790f, -0.766044443118978010f, -0.754709580222772010f,
+  -0.743144825477394240f, -0.731353701619170460f, -0.719339800338651080f,
+  -0.707106781186547460f, -0.694658370458997250f,
+  -0.681998360062498480f, -0.669130606358858240f, -0.656059028990507160f,
+  -0.642787609686539250f, -0.629320391049837390f, -0.615661475325658180f,
+  -0.601815023152048270f, -0.587785252292473140f,
+  -0.573576436351046050f, -0.559192903470746900f, -0.544639035015027080f,
+  -0.529919264233204900f, -0.515038074910054160f, -0.499999999999999940f,
+  -0.484809620246337060f, -0.469471562785890810f,
+  -0.453990499739546750f, -0.438371146789077400f, -0.422618261740699440f,
+  -0.406736643075800150f, -0.390731128489273720f, -0.374606593415912010f,
+  -0.358367949545300270f, -0.342020143325668710f,
+  -0.325568154457156640f, -0.309016994374947400f, -0.292371704722736770f,
+  -0.275637355816999160f, -0.258819045102520740f, -0.241921895599667730f,
+  -0.224951054343865000f, -0.207911690817759310f,
+  -0.190808995376544800f, -0.173648177666930330f, -0.156434465040230870f,
+  -0.139173100960065440f, -0.121869343405147480f, -0.104528463267653460f,
+  -0.087155742747658166f, -0.069756473744125302f,
+  -0.052335956242943828f, -0.034899496702500969f, -0.017452406437283512f,
+  0.000000000000000000f, 0.017452406437283512f, 0.034899496702500969f,
+  0.052335956242943828f, 0.069756473744125302f,
+  0.087155742747658166f, 0.104528463267653460f, 0.121869343405147480f,
+  0.139173100960065440f, 0.156434465040230870f, 0.173648177666930330f,
+  0.190808995376544800f, 0.207911690817759310f,
+  0.224951054343865000f, 0.241921895599667730f, 0.258819045102520740f,
+  0.275637355816999160f, 0.292371704722736770f, 0.309016994374947400f,
+  0.325568154457156640f, 0.342020143325668710f,
+  0.358367949545300270f, 0.374606593415912010f, 0.390731128489273720f,
+  0.406736643075800150f, 0.422618261740699440f, 0.438371146789077400f,
+  0.453990499739546750f, 0.469471562785890810f,
+  0.484809620246337060f, 0.499999999999999940f, 0.515038074910054160f,
+  0.529919264233204900f, 0.544639035015027080f, 0.559192903470746900f,
+  0.573576436351046050f, 0.587785252292473140f,
+  0.601815023152048270f, 0.615661475325658180f, 0.629320391049837390f,
+  0.642787609686539250f, 0.656059028990507160f, 0.669130606358858240f,
+  0.681998360062498480f, 0.694658370458997250f,
+  0.707106781186547460f, 0.719339800338651080f, 0.731353701619170460f,
+  0.743144825477394240f, 0.754709580222772010f, 0.766044443118978010f,
+  0.777145961456970790f, 0.788010753606722010f,
+  0.798635510047292830f, 0.809016994374947450f, 0.819152044288991800f,
+  0.829037572555041740f, 0.838670567945423940f, 0.848048096156426070f,
+  0.857167300702112220f, 0.866025403784438600f,
+  0.874619707139395740f, 0.882947592858926880f, 0.891006524188367790f,
+  0.898794046299167040f, 0.906307787036649940f, 0.913545457642600870f,
+  0.920504853452440260f, 0.927183854566787420f,
+  0.933580426497201740f, 0.939692620785908320f, 0.945518575599316740f,
+  0.951056516295153530f, 0.956304755963035440f, 0.961261695938318890f,
+  0.965925826289068310f, 0.970295726275996470f,
+  0.974370064785235250f, 0.978147600733805580f, 0.981627183447663980f,
+  0.984807753012208020f, 0.987688340595137770f, 0.990268068741570250f,
+  0.992546151641321980f, 0.994521895368273290f,
+  0.996194698091745550f, 0.997564050259824200f, 0.998629534754573830f,
+  0.999390827019095760f, 0.999847695156391270f, 1.000000000000000000f,
+  0.999847695156391270f, 0.999390827019095760f,
+  0.998629534754573830f, 0.997564050259824200f, 0.996194698091745550f,
+  0.994521895368273400f, 0.992546151641322090f, 0.990268068741570360f,
+  0.987688340595137660f, 0.984807753012208020f,
+  0.981627183447663980f, 0.978147600733805690f, 0.974370064785235250f,
+  0.970295726275996470f, 0.965925826289068310f, 0.961261695938318890f,
+  0.956304755963035550f, 0.951056516295153640f,
+  0.945518575599316850f, 0.939692620785908430f, 0.933580426497201740f,
+  0.927183854566787420f, 0.920504853452440370f, 0.913545457642600980f,
+  0.906307787036650050f, 0.898794046299166930f,
+  0.891006524188367900f, 0.882947592858927100f, 0.874619707139395850f,
+  0.866025403784438710f, 0.857167300702112330f, 0.848048096156426070f,
+  0.838670567945424050f, 0.829037572555041740f,
+  0.819152044288992020f, 0.809016994374947450f, 0.798635510047292720f,
+  0.788010753606722010f, 0.777145961456971010f, 0.766044443118978010f,
+  0.754709580222771790f, 0.743144825477394240f,
+  0.731353701619170570f, 0.719339800338651410f, 0.707106781186547570f,
+  0.694658370458997140f, 0.681998360062498590f, 0.669130606358858350f,
+  0.656059028990507280f, 0.642787609686539470f,
+  0.629320391049837720f, 0.615661475325658400f, 0.601815023152048160f,
+  0.587785252292473250f, 0.573576436351046380f, 0.559192903470746900f,
+  0.544639035015026860f, 0.529919264233204900f,
+  0.515038074910054380f, 0.499999999999999940f, 0.484809620246337170f,
+  0.469471562785891080f, 0.453990499739546860f, 0.438371146789077290f,
+  0.422618261740699500f, 0.406736643075800430f,
+  0.390731128489274160f, 0.374606593415912240f, 0.358367949545300210f,
+  0.342020143325668880f, 0.325568154457156980f, 0.309016994374947510f,
+  0.292371704722737050f, 0.275637355816999660f,
+  0.258819045102521020f, 0.241921895599667730f, 0.224951054343864780f,
+  0.207911690817759310f, 0.190808995376544970f, 0.173648177666930280f,
+  0.156434465040230980f, 0.139173100960065740f,
+  0.121869343405147550f, 0.104528463267653730f, 0.087155742747658638f,
+  0.069756473744125524f, 0.052335956242943807f, 0.034899496702500699f,
+  0.017452406437283439f, 0.000000000000000122f
+};
+
+
+/**   
+ * @brief  Floating-point sin_cos function.  
+ * @param[in]  theta    input value in degrees   
+ * @param[out] *pSinVal points to the processed sine output.   
+ * @param[out] *pCosVal points to the processed cos output.   
+ * @return none.  
+ */
+
+
+void arm_sin_cos_f32(
+  float32_t theta,
+  float32_t * pSinVal,
+  float32_t * pCosVal)
+{
+  uint32_t i;                                    /* Index for reading nearwst output values */
+  float32_t x1 = -179.0f;                        /* Initial input value */
+  float32_t y0, y1;                              /* nearest output values */
+  float32_t fract;                               /* fractional part of input */
+
+  /* Calculation of fractional part */
+  if(theta > 0.0f)
+  {
+    fract = theta - (float32_t) ((int32_t) theta);
+  }
+  else
+  {
+    fract = (theta - (float32_t) ((int32_t) theta)) + 1.0f;
+  }
+
+  /* index calculation for reading nearest output values */
+  i = (uint32_t) (theta - x1);
+
+  /* reading nearest sine output values */
+  y0 = sinTable[i];
+  y1 = sinTable[i + 1u];
+
+  /* Calculation of sine value */
+  *pSinVal = y0 + (fract * (y1 - y0));
+
+  /* reading nearest cosine output values */
+  y0 = cosTable[i];
+  y1 = cosTable[i + 1u];
+
+  /* Calculation of cosine value */
+  *pCosVal = y0 + (fract * (y1 - y0));
+
+}
+
+/**   
+ * @} end of SinCos group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
new file mode 100644
index 000000000..0ad8bb95b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
@@ -0,0 +1,311 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_sin_cos_q31.c   
+*   
+* Description:	Cosine & Sine calculation for Q31 values.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupController   
+ */
+
+ /**   
+ * @addtogroup SinCos   
+ * @{   
+ */
+
+/**   
+* \par   
+* Sine Table is generated from following loop   
+* 
    for(i = 0; i < 360; i++)   
+* {   
+*    sinTable[i]= sin((i-180) * PI/180.0);   
+* } 
      
+* Convert above coefficients to fixed point 1.31 format.   
+*/
+
+static const int32_t sinTableQ31[360] = {
+
+  0x0, 0xfdc41e9b, 0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2,
+  0xf06695da,
+  0xee2f9369, 0xebf9f498, 0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9,
+  0xe108b40d, 0xdedf047d,
+  0xdcb7ea46, 0xda939061, 0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0,
+  0xd00ce422, 0xcdfc85bb,
+  0xcbf00dbe, 0xc9e7a512, 0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224,
+  0xc0000000, 0xbe133b7c,
+  0xbc2b9b05, 0xba4944a2, 0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af,
+  0xb1320139, 0xaf726def,
+  0xadb922b7, 0xac0641fb, 0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666,
+  0xa3ecac65, 0xa263007d,
+  0xa0e0a15f, 0x9f65ad2d, 0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5,
+  0x98722192, 0x9726069c,
+  0x95e218c9, 0x94a6715d, 0x937328f5, 0x92485786, 0x9126145f, 0x900c7621,
+  0x8efb92c2, 0x8df37f8b,
+  0x8cf45113, 0x8bfe1b3f, 0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4,
+  0x87b826f7, 0x86f93f50,
+  0x8643c7b3, 0x8597ce46, 0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b,
+  0x82cc0f36, 0x825a0a5b,
+  0x81f1d1ce, 0x81936daf, 0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130,
+  0x804fd23a, 0x802ce84c,
+  0x8013f61d, 0x8004fda0, 0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c,
+  0x804fd23a, 0x807cb130,
+  0x80b381ac, 0x80f43f69, 0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b,
+  0x82cc0f36, 0x8347d77b,
+  0x83cd5982, 0x845c8ae3, 0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50,
+  0x87b826f7, 0x88806fc4,
+  0x89520a1a, 0x8a2ce59f, 0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b,
+  0x8efb92c2, 0x900c7621,
+  0x9126145f, 0x92485786, 0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c,
+  0x98722192, 0x99c64fc5,
+  0x9b2276b0, 0x9c867b2c, 0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d,
+  0xa3ecac65, 0xa57d8666,
+  0xa7156f3c, 0xa8b4471a, 0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def,
+  0xb1320139, 0xb2f7b9af,
+  0xb4c373ee, 0xb6950c1e, 0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c,
+  0xc0000000, 0xc1f1c224,
+  0xc3e85b18, 0xc5e3a3a9, 0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb,
+  0xd00ce422, 0xd220ffc0,
+  0xd438af17, 0xd653c860, 0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d,
+  0xe108b40d, 0xe334cdc9,
+  0xe5632654, 0xe7939223, 0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da,
+  0xf29ecfb2, 0xf4d814a4,
+  0xf7123849, 0xf94d0e2e, 0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632,
+  0x6b2f1d2,
+  0x8edc7b7, 0xb27eb5c, 0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68,
+  0x163a1a7e, 0x186c6ddd,
+  0x1a9cd9ac, 0x1ccb3237, 0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f,
+  0x278dde6e, 0x29ac37a0,
+  0x2bc750e9, 0x2ddf0040, 0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee,
+  0x381c8bb5, 0x3a1c5c57,
+  0x3c17a4e8, 0x3e0e3ddc, 0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e,
+  0x4793a210, 0x496af3e2,
+  0x4b3c8c12, 0x4d084651, 0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05,
+  0x55a6125c, 0x574bb8e6,
+  0x58ea90c4, 0x5a82799a, 0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3,
+  0x620dbe8b, 0x637984d4,
+  0x64dd8950, 0x6639b03b, 0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3,
+  0x6c8cd70b, 0x6db7a87a,
+  0x6ed9eba1, 0x6ff389df, 0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1,
+  0x74ef0ebc, 0x75d31a61,
+  0x76adf5e6, 0x777f903c, 0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba,
+  0x7b0a9f8d, 0x7ba3751d,
+  0x7c32a67e, 0x7cb82885, 0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251,
+  0x7ec11aa5, 0x7f0bc097,
+  0x7f4c7e54, 0x7f834ed0, 0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260,
+  0x7fffffff, 0x7ffb0260,
+  0x7fec09e3, 0x7fd317b4, 0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097,
+  0x7ec11aa5, 0x7e6c9251,
+  0x7e0e2e32, 0x7da5f5a5, 0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d,
+  0x7b0a9f8d, 0x7a6831ba,
+  0x79bc384d, 0x7906c0b0, 0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61,
+  0x74ef0ebc, 0x7401e4c1,
+  0x730baeed, 0x720c8075, 0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a,
+  0x6c8cd70b, 0x6b598ea3,
+  0x6a1de737, 0x68d9f964, 0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4,
+  0x620dbe8b, 0x609a52d3,
+  0x5f1f5ea1, 0x5d9cff83, 0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6,
+  0x55a6125c, 0x53f9be05,
+  0x5246dd49, 0x508d9211, 0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2,
+  0x4793a210, 0x45b6bb5e,
+  0x43d464fb, 0x41ecc484, 0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57,
+  0x381c8bb5, 0x36185aee,
+  0x340ff242, 0x32037a45, 0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0,
+  0x278dde6e, 0x256c6f9f,
+  0x234815ba, 0x2120fb83, 0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd,
+  0x163a1a7e, 0x14060b68,
+  0x11d06c97, 0xf996a26, 0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2,
+  0x4779632, 0x23be165,
+
+
+};
+
+/**   
+* \par   
+* Cosine Table is generated from following loop   
+* 
    for(i = 0; i < 360; i++)   
+* {   
+*    cosTable[i]= cos((i-180) * PI/180.0);   
+* } 
      
+* \par   
+* Convert above coefficients to fixed point 1.31 format.   
+*/
+static const int32_t cosTableQ31[360] = {
+  0x80000000, 0x8004fda0, 0x8013f61d, 0x802ce84c, 0x804fd23a, 0x807cb130,
+  0x80b381ac, 0x80f43f69,
+  0x813ee55b, 0x81936daf, 0x81f1d1ce, 0x825a0a5b, 0x82cc0f36, 0x8347d77b,
+  0x83cd5982, 0x845c8ae3,
+  0x84f56073, 0x8597ce46, 0x8643c7b3, 0x86f93f50, 0x87b826f7, 0x88806fc4,
+  0x89520a1a, 0x8a2ce59f,
+  0x8b10f144, 0x8bfe1b3f, 0x8cf45113, 0x8df37f8b, 0x8efb92c2, 0x900c7621,
+  0x9126145f, 0x92485786,
+  0x937328f5, 0x94a6715d, 0x95e218c9, 0x9726069c, 0x98722192, 0x99c64fc5,
+  0x9b2276b0, 0x9c867b2c,
+  0x9df24175, 0x9f65ad2d, 0xa0e0a15f, 0xa263007d, 0xa3ecac65, 0xa57d8666,
+  0xa7156f3c, 0xa8b4471a,
+  0xaa59eda4, 0xac0641fb, 0xadb922b7, 0xaf726def, 0xb1320139, 0xb2f7b9af,
+  0xb4c373ee, 0xb6950c1e,
+  0xb86c5df0, 0xba4944a2, 0xbc2b9b05, 0xbe133b7c, 0xc0000000, 0xc1f1c224,
+  0xc3e85b18, 0xc5e3a3a9,
+  0xc7e3744b, 0xc9e7a512, 0xcbf00dbe, 0xcdfc85bb, 0xd00ce422, 0xd220ffc0,
+  0xd438af17, 0xd653c860,
+  0xd8722192, 0xda939061, 0xdcb7ea46, 0xdedf047d, 0xe108b40d, 0xe334cdc9,
+  0xe5632654, 0xe7939223,
+  0xe9c5e582, 0xebf9f498, 0xee2f9369, 0xf06695da, 0xf29ecfb2, 0xf4d814a4,
+  0xf7123849, 0xf94d0e2e,
+  0xfb8869ce, 0xfdc41e9b, 0x0, 0x23be165, 0x4779632, 0x6b2f1d2, 0x8edc7b7,
+  0xb27eb5c,
+  0xd61304e, 0xf996a26, 0x11d06c97, 0x14060b68, 0x163a1a7e, 0x186c6ddd,
+  0x1a9cd9ac, 0x1ccb3237,
+  0x1ef74bf3, 0x2120fb83, 0x234815ba, 0x256c6f9f, 0x278dde6e, 0x29ac37a0,
+  0x2bc750e9, 0x2ddf0040,
+  0x2ff31bde, 0x32037a45, 0x340ff242, 0x36185aee, 0x381c8bb5, 0x3a1c5c57,
+  0x3c17a4e8, 0x3e0e3ddc,
+  0x40000000, 0x41ecc484, 0x43d464fb, 0x45b6bb5e, 0x4793a210, 0x496af3e2,
+  0x4b3c8c12, 0x4d084651,
+  0x4ecdfec7, 0x508d9211, 0x5246dd49, 0x53f9be05, 0x55a6125c, 0x574bb8e6,
+  0x58ea90c4, 0x5a82799a,
+  0x5c13539b, 0x5d9cff83, 0x5f1f5ea1, 0x609a52d3, 0x620dbe8b, 0x637984d4,
+  0x64dd8950, 0x6639b03b,
+  0x678dde6e, 0x68d9f964, 0x6a1de737, 0x6b598ea3, 0x6c8cd70b, 0x6db7a87a,
+  0x6ed9eba1, 0x6ff389df,
+  0x71046d3e, 0x720c8075, 0x730baeed, 0x7401e4c1, 0x74ef0ebc, 0x75d31a61,
+  0x76adf5e6, 0x777f903c,
+  0x7847d909, 0x7906c0b0, 0x79bc384d, 0x7a6831ba, 0x7b0a9f8d, 0x7ba3751d,
+  0x7c32a67e, 0x7cb82885,
+  0x7d33f0ca, 0x7da5f5a5, 0x7e0e2e32, 0x7e6c9251, 0x7ec11aa5, 0x7f0bc097,
+  0x7f4c7e54, 0x7f834ed0,
+  0x7fb02dc6, 0x7fd317b4, 0x7fec09e3, 0x7ffb0260, 0x7fffffff, 0x7ffb0260,
+  0x7fec09e3, 0x7fd317b4,
+  0x7fb02dc6, 0x7f834ed0, 0x7f4c7e54, 0x7f0bc097, 0x7ec11aa5, 0x7e6c9251,
+  0x7e0e2e32, 0x7da5f5a5,
+  0x7d33f0ca, 0x7cb82885, 0x7c32a67e, 0x7ba3751d, 0x7b0a9f8d, 0x7a6831ba,
+  0x79bc384d, 0x7906c0b0,
+  0x7847d909, 0x777f903c, 0x76adf5e6, 0x75d31a61, 0x74ef0ebc, 0x7401e4c1,
+  0x730baeed, 0x720c8075,
+  0x71046d3e, 0x6ff389df, 0x6ed9eba1, 0x6db7a87a, 0x6c8cd70b, 0x6b598ea3,
+  0x6a1de737, 0x68d9f964,
+  0x678dde6e, 0x6639b03b, 0x64dd8950, 0x637984d4, 0x620dbe8b, 0x609a52d3,
+  0x5f1f5ea1, 0x5d9cff83,
+  0x5c13539b, 0x5a82799a, 0x58ea90c4, 0x574bb8e6, 0x55a6125c, 0x53f9be05,
+  0x5246dd49, 0x508d9211,
+  0x4ecdfec7, 0x4d084651, 0x4b3c8c12, 0x496af3e2, 0x4793a210, 0x45b6bb5e,
+  0x43d464fb, 0x41ecc484,
+  0x40000000, 0x3e0e3ddc, 0x3c17a4e8, 0x3a1c5c57, 0x381c8bb5, 0x36185aee,
+  0x340ff242, 0x32037a45,
+  0x2ff31bde, 0x2ddf0040, 0x2bc750e9, 0x29ac37a0, 0x278dde6e, 0x256c6f9f,
+  0x234815ba, 0x2120fb83,
+  0x1ef74bf3, 0x1ccb3237, 0x1a9cd9ac, 0x186c6ddd, 0x163a1a7e, 0x14060b68,
+  0x11d06c97, 0xf996a26,
+  0xd61304e, 0xb27eb5c, 0x8edc7b7, 0x6b2f1d2, 0x4779632, 0x23be165, 0x0,
+  0xfdc41e9b,
+  0xfb8869ce, 0xf94d0e2e, 0xf7123849, 0xf4d814a4, 0xf29ecfb2, 0xf06695da,
+  0xee2f9369, 0xebf9f498,
+  0xe9c5e582, 0xe7939223, 0xe5632654, 0xe334cdc9, 0xe108b40d, 0xdedf047d,
+  0xdcb7ea46, 0xda939061,
+  0xd8722192, 0xd653c860, 0xd438af17, 0xd220ffc0, 0xd00ce422, 0xcdfc85bb,
+  0xcbf00dbe, 0xc9e7a512,
+  0xc7e3744b, 0xc5e3a3a9, 0xc3e85b18, 0xc1f1c224, 0xc0000000, 0xbe133b7c,
+  0xbc2b9b05, 0xba4944a2,
+  0xb86c5df0, 0xb6950c1e, 0xb4c373ee, 0xb2f7b9af, 0xb1320139, 0xaf726def,
+  0xadb922b7, 0xac0641fb,
+  0xaa59eda4, 0xa8b4471a, 0xa7156f3c, 0xa57d8666, 0xa3ecac65, 0xa263007d,
+  0xa0e0a15f, 0x9f65ad2d,
+  0x9df24175, 0x9c867b2c, 0x9b2276b0, 0x99c64fc5, 0x98722192, 0x9726069c,
+  0x95e218c9, 0x94a6715d,
+  0x937328f5, 0x92485786, 0x9126145f, 0x900c7621, 0x8efb92c2, 0x8df37f8b,
+  0x8cf45113, 0x8bfe1b3f,
+  0x8b10f144, 0x8a2ce59f, 0x89520a1a, 0x88806fc4, 0x87b826f7, 0x86f93f50,
+  0x8643c7b3, 0x8597ce46,
+  0x84f56073, 0x845c8ae3, 0x83cd5982, 0x8347d77b, 0x82cc0f36, 0x825a0a5b,
+  0x81f1d1ce, 0x81936daf,
+  0x813ee55b, 0x80f43f69, 0x80b381ac, 0x807cb130, 0x804fd23a, 0x802ce84c,
+  0x8013f61d, 0x8004fda0,
+
+};
+
+
+/**   
+ * @brief  Q31 sin_cos function.  
+ * @param[in]  theta    scaled input value in degrees   
+ * @param[out] *pSinVal points to the processed sine output.   
+ * @param[out] *pCosVal points to the processed cosine output.   
+ * @return none.  
+ *   
+ * The Q31 input value is in the range [-1 +1) and is mapped to a degree value in the range [-180 180).  
+ *   
+ */
+
+
+void arm_sin_cos_q31(
+  q31_t theta,
+  q31_t * pSinVal,
+  q31_t * pCosVal)
+{
+  q31_t x0;                                      /* Nearest input value */
+  q31_t y0, y1;                                  /* Nearest output values */
+  q31_t xSpacing = INPUT_SPACING;                /* Spaing between inputs */
+  uint32_t i;                                    /* Index */
+  q31_t oneByXSpacing;                           /* 1/ xSpacing value */
+  q31_t out;                                     /* temporary variable */
+  uint32_t sign_bits;                            /* No.of sign bits */
+  uint32_t firstX = 0x80000000;                  /* First X value */
+
+  /* Calculation of index */
+  i = ((uint32_t) theta - firstX) / (uint32_t) xSpacing;
+
+  /* Calculation of first nearest input value */
+  x0 = (q31_t) firstX + ((q31_t) i * xSpacing);
+
+  /* Reading nearest sine output values from table */
+  y0 = sinTableQ31[i];
+  y1 = sinTableQ31[i + 1u];
+
+  /* Calculation of 1/(x1-x0) */
+  /* (x1-x0) is xSpacing which is fixed value */
+  sign_bits = 8u;
+  oneByXSpacing = 0x5A000000;
+
+  /* Calculation of (theta - x0)/(x1-x0) */
+  out =
+    (((q31_t) (((q63_t) (theta - x0) * oneByXSpacing) >> 32)) << sign_bits);
+
+  /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */
+  *pSinVal = y0 + ((q31_t) (((q63_t) (y1 - y0) * out) >> 30));
+
+  /* Reading nearest cosine output values from table */
+  y0 = cosTableQ31[i];
+  y1 = cosTableQ31[i + 1u];
+
+  /* Calculation of y0 + (y1 - y0) * ((theta - x0)/(x1-x0)) */
+  *pCosVal = y0 + ((q31_t) (((q63_t) (y1 - y0) * out) >> 30));
+
+}
+
+/**   
+ * @} end of SinCos group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
new file mode 100644
index 000000000..c29469fa4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_f32.c
@@ -0,0 +1,254 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cos_f32.c   
+*   
+* Description:	Fast cosine calculation for floating-point values.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+/**   
+ * @ingroup groupFastMath   
+ */
+
+/**   
+ * @defgroup cos Cosine   
+ *   
+ * Computes the trigonometric cosine function using a combination of table lookup  
+ * and cubic interpolation.  There are separate functions for  
+ * Q15, Q31, and floating-point data types.  
+ * The input to the floating-point version is in radians while the  
+ * fixed-point Q15 and Q31 have a scaled input with the range  
+ * [0 1) mapping to [0 2*pi).  
+ *  
+ * The implementation is based on table lookup using 256 values together with cubic interpolation.  
+ * The steps used are:  
+ *  -# Calculation of the nearest integer table index  
+ *  -# Fetch the four table values a, b, c, and d    
+ *  -# Compute the fractional portion (fract) of the table index.  
+ *  -# Calculation of wa, wb, wc, wd   
+ *  -# The final result equals a*wa + b*wb + c*wc + d*wd  
+ *  
+ * where  
+ * 
       
+ *    a=Table[index-1];   
+ *    b=Table[index+0];   
+ *    c=Table[index+1];   
+ *    d=Table[index+2];   
+ * 
      
+ * and  
+ * 
       
+ *    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;   
+ *    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;   
+ *    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;   
+ *    wd=(1/6)*fract.^3 - (1/6)*fract;   
+ * 
       
+ */
+
+ /**   
+ * @addtogroup cos   
+ * @{   
+ */
+
+
+/**   
+* \par   
+* Example code for Generation of Cos Table:  
+* tableSize = 256;   
+* 
    for(n = -1; n < (tableSize + 1); n++)   
+* {   
+*	cosTable[n+1]= cos(2*pi*n/tableSize);   
+* } 
       
+* where pi value is  3.14159265358979   
+*/
+
+static const float32_t cosTable[259] = {
+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
+  0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
+  0.992479562759399410f, 0.989176511764526370f,
+  0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
+  0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
+  0.949528157711029050f, 0.941544055938720700f,
+  0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
+  0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
+  0.870086967945098880f, 0.857728600502014160f,
+  0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
+  0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
+  0.757208824157714840f, 0.740951120853424070f,
+  0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
+  0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
+  0.615231573581695560f, 0.595699310302734380f,
+  0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
+  0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
+  0.449611335992813110f, 0.427555084228515630f,
+  0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
+  0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
+  0.266712754964828490f, 0.242980182170867920f,
+  0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
+  0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
+  0.073564566671848297f, 0.049067676067352295f,
+  0.024541229009628296f, 0.000000000000000061f, -0.024541229009628296f,
+  -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
+  -0.122410677373409270f, -0.146730467677116390f,
+  -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
+  -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
+  -0.313681751489639280f, -0.336889863014221190f,
+  -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
+  -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
+  -0.492898195981979370f, -0.514102756977081300f,
+  -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
+  -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
+  -0.653172850608825680f, -0.671558976173400880f,
+  -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
+  -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
+  -0.788346409797668460f, -0.803207516670227050f,
+  -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
+  -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
+  -0.893224298954010010f, -0.903989315032958980f,
+  -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
+  -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
+  -0.963776051998138430f, -0.970031261444091800f,
+  -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
+  -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
+  -0.997290432453155520f, -0.998795449733734130f,
+  -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
+  -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
+  -0.992479562759399410f, -0.989176511764526370f,
+  -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
+  -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
+  -0.949528157711029050f, -0.941544055938720700f,
+  -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
+  -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
+  -0.870086967945098880f, -0.857728600502014160f,
+  -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
+  -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
+  -0.757208824157714840f, -0.740951120853424070f,
+  -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
+  -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
+  -0.615231573581695560f, -0.595699310302734380f,
+  -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
+  -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
+  -0.449611335992813110f, -0.427555084228515630f,
+  -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
+  -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
+  -0.266712754964828490f, -0.242980182170867920f,
+  -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
+  -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
+  -0.073564566671848297f, -0.049067676067352295f,
+  -0.024541229009628296f, -0.000000000000000184f, 0.024541229009628296f,
+  0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
+  0.122410677373409270f, 0.146730467677116390f,
+  0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
+  0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
+  0.313681751489639280f, 0.336889863014221190f,
+  0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
+  0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
+  0.492898195981979370f, 0.514102756977081300f,
+  0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
+  0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
+  0.653172850608825680f, 0.671558976173400880f,
+  0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
+  0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
+  0.788346409797668460f, 0.803207516670227050f,
+  0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
+  0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
+  0.893224298954010010f, 0.903989315032958980f,
+  0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
+  0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
+  0.963776051998138430f, 0.970031261444091800f,
+  0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
+  0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
+  0.997290432453155520f, 0.998795449733734130f,
+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f
+};
+
+/**  
+ * @brief  Fast approximation to the trigonometric cosine function for floating-point data.  
+ * @param[in] x input value in radians.  
+ * @return cos(x).  
+ */
+
+float32_t arm_cos_f32(
+  float32_t x)
+{
+  float32_t cosVal, fract, in;
+  uint32_t index;
+  uint32_t tableSize = (uint32_t) TABLE_SIZE;
+  float32_t wa, wb, wc, wd;
+  float32_t a, b, c, d;
+  float32_t *tablePtr;
+  int32_t n;
+
+  /* input x is in radians */
+  /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */
+  in = x * 0.159154943092f;
+
+  /* Calculation of floor value of input */
+  n = (int32_t) in;
+
+  /* Make negative values towards -infinity */
+  if(x < 0.0f)
+  {
+    n = n - 1;
+  }
+
+  /* Map input value to [0 1] */
+  in = in - (float32_t) n;
+
+  /* Calculation of index of the table */
+  index = (uint32_t) (tableSize * in);
+
+  /* fractional value calculation */
+  fract = ((float32_t) tableSize * in) - (float32_t) index;
+
+  /* Initialise table pointer */
+  tablePtr = (float32_t *) & cosTable[index];
+
+  /* Read four nearest values of input value from the cos table */
+  a = *tablePtr++;
+  b = *tablePtr++;
+  c = *tablePtr++;
+  d = *tablePtr++;
+
+  /* Cubic interpolation process */
+  wa = -(((0.166666667f) * fract) * (fract * fract)) +
+    (((0.5f) * (fract * fract)) - ((0.3333333333333f) * fract));
+  wb = ((((0.5f) * fract) * (fract * fract)) - (fract * fract)) +
+    (-((0.5f) * fract) + 1.0f);
+  wc = -(((0.5f) * fract) * (fract * fract)) +
+    (((0.5f) * (fract * fract)) + fract);
+  wd = (((0.166666667f) * fract) * (fract * fract)) -
+    ((0.166666667f) * fract);
+
+  /* Calculate cos value */
+  cosVal = ((a * wa) + (b * wb)) + ((c * wc) + (d * wd));
+
+  /* Return the output value */
+  return (cosVal);
+
+}
+
+/**   
+ * @} end of cos group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
new file mode 100644
index 000000000..50bfa105e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q15.c
@@ -0,0 +1,189 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cos_q15.c   
+*   
+* Description:	Fast cosine calculation for Q15 values.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFastMath   
+ */
+
+ /**   
+ * @addtogroup cos   
+ * @{   
+ */
+
+/**  
+* \par   
+* Table Values are in Q15(1.15 Fixed point format) and generation is done in three steps   
+* \par   
+* First Generate cos values in floating point:   
+* tableSize = 256;    
+* 
    for(n = -1; n < (tableSize + 1); n++)   
+* {   
+*	cosTable[n+1]= cos(2*pi*n/tableSize);   
+* }
      
+* where pi value is  3.14159265358979   
+* \par   
+* Secondly Convert Floating point to Q15(Fixed point):   
+*	(cosTable[i] * pow(2, 15))   
+* \par   
+* Finally Rounding to nearest integer is done   
+* 	cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5);   
+*/
+
+static const q15_t cosTableQ15[259] = {
+  0x7ff6, 0x7fff, 0x7ff6, 0x7fd9, 0x7fa7, 0x7f62, 0x7f0a, 0x7e9d,
+  0x7e1e, 0x7d8a, 0x7ce4, 0x7c2a, 0x7b5d, 0x7a7d, 0x798a, 0x7885,
+  0x776c, 0x7642, 0x7505, 0x73b6, 0x7255, 0x70e3, 0x6f5f, 0x6dca,
+  0x6c24, 0x6a6e, 0x68a7, 0x66d0, 0x64e9, 0x62f2, 0x60ec, 0x5ed7,
+  0x5cb4, 0x5a82, 0x5843, 0x55f6, 0x539b, 0x5134, 0x4ec0, 0x4c40,
+  0x49b4, 0x471d, 0x447b, 0x41ce, 0x3f17, 0x3c57, 0x398d, 0x36ba,
+  0x33df, 0x30fc, 0x2e11, 0x2b1f, 0x2827, 0x2528, 0x2224, 0x1f1a,
+  0x1c0c, 0x18f9, 0x15e2, 0x12c8, 0xfab, 0xc8c, 0x96b, 0x648,
+  0x324, 0x0, 0xfcdc, 0xf9b8, 0xf695, 0xf374, 0xf055, 0xed38,
+  0xea1e, 0xe707, 0xe3f4, 0xe0e6, 0xdddc, 0xdad8, 0xd7d9, 0xd4e1,
+  0xd1ef, 0xcf04, 0xcc21, 0xc946, 0xc673, 0xc3a9, 0xc0e9, 0xbe32,
+  0xbb85, 0xb8e3, 0xb64c, 0xb3c0, 0xb140, 0xaecc, 0xac65, 0xaa0a,
+  0xa7bd, 0xa57e, 0xa34c, 0xa129, 0x9f14, 0x9d0e, 0x9b17, 0x9930,
+  0x9759, 0x9592, 0x93dc, 0x9236, 0x90a1, 0x8f1d, 0x8dab, 0x8c4a,
+  0x8afb, 0x89be, 0x8894, 0x877b, 0x8676, 0x8583, 0x84a3, 0x83d6,
+  0x831c, 0x8276, 0x81e2, 0x8163, 0x80f6, 0x809e, 0x8059, 0x8027,
+  0x800a, 0x8000, 0x800a, 0x8027, 0x8059, 0x809e, 0x80f6, 0x8163,
+  0x81e2, 0x8276, 0x831c, 0x83d6, 0x84a3, 0x8583, 0x8676, 0x877b,
+  0x8894, 0x89be, 0x8afb, 0x8c4a, 0x8dab, 0x8f1d, 0x90a1, 0x9236,
+  0x93dc, 0x9592, 0x9759, 0x9930, 0x9b17, 0x9d0e, 0x9f14, 0xa129,
+  0xa34c, 0xa57e, 0xa7bd, 0xaa0a, 0xac65, 0xaecc, 0xb140, 0xb3c0,
+  0xb64c, 0xb8e3, 0xbb85, 0xbe32, 0xc0e9, 0xc3a9, 0xc673, 0xc946,
+  0xcc21, 0xcf04, 0xd1ef, 0xd4e1, 0xd7d9, 0xdad8, 0xdddc, 0xe0e6,
+  0xe3f4, 0xe707, 0xea1e, 0xed38, 0xf055, 0xf374, 0xf695, 0xf9b8,
+  0xfcdc, 0x0, 0x324, 0x648, 0x96b, 0xc8c, 0xfab, 0x12c8,
+  0x15e2, 0x18f9, 0x1c0c, 0x1f1a, 0x2224, 0x2528, 0x2827, 0x2b1f,
+  0x2e11, 0x30fc, 0x33df, 0x36ba, 0x398d, 0x3c57, 0x3f17, 0x41ce,
+  0x447b, 0x471d, 0x49b4, 0x4c40, 0x4ec0, 0x5134, 0x539b, 0x55f6,
+  0x5843, 0x5a82, 0x5cb4, 0x5ed7, 0x60ec, 0x62f2, 0x64e9, 0x66d0,
+  0x68a7, 0x6a6e, 0x6c24, 0x6dca, 0x6f5f, 0x70e3, 0x7255, 0x73b6,
+  0x7505, 0x7642, 0x776c, 0x7885, 0x798a, 0x7a7d, 0x7b5d, 0x7c2a,
+  0x7ce4, 0x7d8a, 0x7e1e, 0x7e9d, 0x7f0a, 0x7f62, 0x7fa7, 0x7fd9,
+  0x7ff6, 0x7fff, 0x7ff6
+};
+
+
+/**  
+ * @brief Fast approximation to the trigonometric cosine function for Q15 data.  
+ * @param[in] x Scaled input value in radians.  
+ * @return  cos(x).  
+ *  
+ * The Q15 input value is in the range [0 +1) and is mapped to a radian value in the range [0 2*pi).  
+ */
+
+q15_t arm_cos_q15(
+  q15_t x)
+{
+  q31_t cosVal;                                  /* Temporary variable for output */
+  q15_t *tablePtr;                               /* Pointer to table */
+  q15_t in, in2;                                 /* Temporary variables for input */
+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
+  q15_t a, b, c, d;                              /* Four nearest output values */
+  q15_t fract, fractCube, fractSquare;           /* Variables for fractional value */
+  q15_t oneBy6 = 0x1555;                         /* Fixed point value of 1/6 */
+  q15_t tableSpacing = TABLE_SPACING_Q15;        /* Table spacing */
+  int32_t index;                                 /* Index variable */
+
+  in = x;
+
+  /* Calculate the nearest index */
+  index = (int32_t) in / tableSpacing;
+
+  /* Calculate the nearest value of input */
+  in2 = (q15_t) index *tableSpacing;
+
+  /* Calculation of fractional value */
+  fract = (in - in2) << 8;
+
+  /* fractSquare = fract * fract */
+  fractSquare = (q15_t) ((fract * fract) >> 15);
+
+  /* fractCube = fract * fract * fract */
+  fractCube = (q15_t) ((fractSquare * fract) >> 15);
+
+  /* Initialise table pointer */
+  tablePtr = (q15_t *) & cosTableQ15[index];
+
+  /* Cubic interpolation process */
+  /* Calculation of wa */
+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAA)*fract; */
+  wa = (q31_t) oneBy6 *fractCube;
+  wa += (q31_t) 0x2AAA *fract;
+  wa = -(wa >> 15);
+  wa += (fractSquare >> 1u);
+
+  /* Read first nearest value of output from the cos table */
+  a = *tablePtr++;
+
+  /* cosVal = a * wa */
+  cosVal = a * wa;
+
+  /* Calculation of wb */
+  wb = (((fractCube >> 1u) - fractSquare) - (fract >> 1u)) + 0x7FFF;
+
+  /* Read second nearest value of output from the cos table */
+  b = *tablePtr++;
+
+  /*      cosVal += b*wb */
+  cosVal += b * wb;
+
+  /* Calculation of wc */
+  wc = -(q31_t) fractCube + fractSquare;
+  wc = (wc >> 1u) + fract;
+
+  /* Read third nearest value of output from the cos table */
+  c = *tablePtr++;
+
+  /*      cosVal += c*wc */
+  cosVal += c * wc;
+
+  /* Calculation of wd */
+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
+  fractCube = fractCube - fract;
+  wd = ((q15_t) (((q31_t) oneBy6 * fractCube) >> 15));
+
+  /* Read fourth nearest value of output from the cos table */
+  d = *tablePtr++;
+
+  /* cosVal += d*wd; */
+  cosVal += d * wd;
+
+  /* Return the output value in 1.15(q15) format */
+  return ((q15_t) (cosVal >> 15u));
+
+}
+
+/**   
+ * @} end of cos group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
new file mode 100644
index 000000000..7203e06c3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_cos_q31.c
@@ -0,0 +1,225 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_cos_q31.c   
+*   
+* Description:	Fast cosine calculation for Q31 values.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFastMath   
+ */
+
+ /**   
+ * @addtogroup cos   
+ * @{   
+ */
+
+/**   
+ * \par   
+ * Table Values are in Q31(1.31 Fixed point format) and generation is done in three steps   
+ * First Generate cos values in floating point:   
+ * tableSize = 256;     
+ * 
    for(n = -1; n < (tableSize + 1); n++)   
+ * {   
+ *	cosTable[n+1]= cos(2*pi*n/tableSize);   
+ * } 
        
+ * where pi value is  3.14159265358979   
+ * \par   
+ * Secondly Convert Floating point to Q31(Fixed point):   
+ *	(cosTable[i] * pow(2, 31))   
+ * \par   
+ * Finally Rounding to nearest integer is done   
+ * 	cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5);   
+ */
+
+
+static const q31_t cosTableQ31[259] = {
+  0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f,
+  0x7f0991c4, 0x7e9d55fc,
+  0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b,
+  0x798a23b1, 0x78848414,
+  0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6,
+  0x6f5f02b2, 0x6dca0d14,
+  0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac,
+  0x60ec3830, 0x5ed77c8a,
+  0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94,
+  0x4ebfe8a5, 0x4c3fdff4,
+  0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70,
+  0x398cdd32, 0x36ba2014,
+  0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e,
+  0x2223a4c5, 0x1f19f97b,
+  0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e,
+  0x96a9049, 0x647d97c,
+  0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5,
+  0xed37ef91,
+  0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2,
+  0xd7d946d8, 0xd4e0cb15,
+  0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590,
+  0xc0e8b648, 0xbe31e19b,
+  0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c,
+  0xac64d510, 0xaa0a5b2e,
+  0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54,
+  0x9b1776da, 0x99307ee0,
+  0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a,
+  0x8daad37b, 0x8c4a142f,
+  0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5,
+  0x84a2fc62, 0x83d60412,
+  0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971,
+  0x8058c94c, 0x80277872,
+  0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971,
+  0x80f66e3c, 0x8162aa04,
+  0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5,
+  0x8675dc4f, 0x877b7bec,
+  0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a,
+  0x90a0fd4e, 0x9235f2ec,
+  0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54,
+  0x9f13c7d0, 0xa1288376,
+  0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c,
+  0xb140175b, 0xb3c0200c,
+  0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590,
+  0xc67322ce, 0xc945dfec,
+  0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2,
+  0xdddc5b3b, 0xe0e60685,
+  0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2,
+  0xf6956fb7, 0xf9b82684,
+  0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b,
+  0x12c8106f,
+  0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e,
+  0x2826b928, 0x2b1f34eb,
+  0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70,
+  0x3f1749b8, 0x41ce1e65,
+  0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94,
+  0x539b2af0, 0x55f5a4d2,
+  0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac,
+  0x64e88926, 0x66cf8120,
+  0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6,
+  0x72552c85, 0x73b5ebd1,
+  0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b,
+  0x7b5d039e, 0x7c29fbee,
+  0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f,
+  0x7fa736b4, 0x7fd8878e,
+  0x7ff62182, 0x7fffffff, 0x7ff62182
+};
+
+/**  
+ * @brief Fast approximation to the trigonometric cosine function for Q31 data.  
+ * @param[in] x Scaled input value in radians.  
+ * @return  cos(x).  
+ *  
+ * The Q31 input value is in the range [0 +1) and is mapped to a radian value in the range [0 2*pi).  
+ */
+
+q31_t arm_cos_q31(
+  q31_t x)
+{
+  q31_t cosVal, in, in2;                         /* Temporary variables for input, output */
+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
+  q31_t a, b, c, d;                              /* Four nearest output values */
+  q31_t *tablePtr;                               /* Pointer to table */
+  q31_t fract, fractCube, fractSquare;           /* Temporary values for fractional values */
+  q31_t oneBy6 = 0x15555555;                     /* Fixed point value of 1/6 */
+  q31_t tableSpacing = TABLE_SPACING_Q31;        /* Table spacing */
+  q31_t temp;                                    /* Temporary variable for intermediate process */
+  uint32_t index;                                /* Index variable */
+
+  in = x;
+
+  /* Calculate the nearest index */
+  index = in / tableSpacing;
+
+  /* Calculate the nearest value of input */
+  in2 = ((q31_t) index) * tableSpacing;
+
+  /* Calculation of fractional value */
+  fract = (in - in2) << 8;
+
+  /* fractSquare = fract * fract */
+  fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32));
+  fractSquare = fractSquare << 1;
+
+  /* fractCube = fract * fract * fract */
+  fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32));
+  fractCube = fractCube << 1;
+
+  /* Initialise table pointer */
+  tablePtr = (q31_t *) & cosTableQ31[index];
+
+  /* Cubic interpolation process */
+  /* Calculation of wa */
+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */
+  wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
+  temp = 0x2AAAAAAA;
+  wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32);
+  wa = -(wa << 1u);
+  wa += (fractSquare >> 1u);
+
+  /* Read first nearest value of output from the cos table */
+  a = *tablePtr++;
+
+  /* cosVal = a*wa */
+  cosVal = ((q31_t) (((q63_t) a * wa) >> 32));
+
+  /* q31(1.31) Fixed point value of 1 */
+  temp = 0x7FFFFFFF;
+
+  /* Calculation of wb */
+  wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp;
+  /* Read second nearest value of output from the cos table */
+  b = *tablePtr++;
+
+  /*      cosVal += b*wb */
+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) b * (wb))) >> 32);
+
+  /* Calculation of wc */
+  wc = -fractCube + fractSquare;
+  wc = (wc >> 1u) + fract;
+  /* Read third nearest values of output value from the cos table */
+  c = *tablePtr++;
+
+  /*      cosVal += c*wc */
+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) c * (wc))) >> 32);
+
+  /* Calculation of wd */
+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
+  fractCube = fractCube - fract;
+  wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
+  wd = (wd << 1u);
+
+  /* Read fourth nearest value of output from the cos table */
+  d = *tablePtr++;
+
+  /* cosVal += d*wd; */
+  cosVal = (q31_t) ((((q63_t) cosVal << 32) + ((q63_t) d * (wd))) >> 32);
+
+  /* convert cosVal in 2.30 format to 1.31 format */
+  return (cosVal << 1u);
+
+}
+
+/**   
+ * @} end of cos group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
new file mode 100644
index 000000000..28985cfe1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_f32.c
@@ -0,0 +1,257 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_sin_f32.c   
+*   
+* Description:	Fast sine calculation for floating-point values.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFastMath   
+ */
+
+/**   
+ * @defgroup sin Sine   
+ *   
+ * Computes the trigonometric sine function using a combination of table lookup  
+ * and cubic interpolation.  There are separate functions for  
+ * Q15, Q31, and floating-point data types.  
+ * The input to the floating-point version is in radians while the  
+ * fixed-point Q15 and Q31 have a scaled input with the range  
+ * [0 1) mapping to [0 2*pi).  
+ *  
+ * The implementation is based on table lookup using 256 values together with cubic interpolation.  
+ * The steps used are:  
+ *  -# Calculation of the nearest integer table index  
+ *  -# Fetch the four table values a, b, c, and d    
+ *  -# Compute the fractional portion (fract) of the table index.  
+ *  -# Calculation of wa, wb, wc, wd   
+ *  -# The final result equals a*wa + b*wb + c*wc + d*wd  
+ *  
+ * where  
+ * 
       
+ *    a=Table[index-1];   
+ *    b=Table[index+0];   
+ *    c=Table[index+1];   
+ *    d=Table[index+2];   
+ * 
      
+ * and  
+ * 
       
+ *    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;   
+ *    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;   
+ *    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;   
+ *    wd=(1/6)*fract.^3 - (1/6)*fract;   
+ * 
       
+ */
+
+/**   
+ * @addtogroup sin   
+ * @{   
+ */
+
+
+/**  
+ * \par   
+ * Example code for Generation of Floating-point Sin Table:  
+ * tableSize = 256;   
+ * 
    for(n = -1; n < (tableSize + 1); n++)   
+ * {   
+ *	sinTable[n+1]=sin(2*pi*n/tableSize);   
+ * }
       
+ * \par   
+ * where pi value is  3.14159265358979   
+ */
+
+static const float32_t sinTable[259] = {
+  -0.024541229009628296f, 0.000000000000000000f, 0.024541229009628296f,
+  0.049067676067352295f, 0.073564566671848297f, 0.098017141222953796f,
+  0.122410677373409270f, 0.146730467677116390f,
+  0.170961886644363400f, 0.195090323686599730f, 0.219101235270500180f,
+  0.242980182170867920f, 0.266712754964828490f, 0.290284663438797000f,
+  0.313681751489639280f, 0.336889863014221190f,
+  0.359895050525665280f, 0.382683426141738890f, 0.405241310596466060f,
+  0.427555084228515630f, 0.449611335992813110f, 0.471396744251251220f,
+  0.492898195981979370f, 0.514102756977081300f,
+  0.534997642040252690f, 0.555570244789123540f, 0.575808167457580570f,
+  0.595699310302734380f, 0.615231573581695560f, 0.634393274784088130f,
+  0.653172850608825680f, 0.671558976173400880f,
+  0.689540565013885500f, 0.707106769084930420f, 0.724247097969055180f,
+  0.740951120853424070f, 0.757208824157714840f, 0.773010432720184330f,
+  0.788346409797668460f, 0.803207516670227050f,
+  0.817584812641143800f, 0.831469595432281490f, 0.844853579998016360f,
+  0.857728600502014160f, 0.870086967945098880f, 0.881921291351318360f,
+  0.893224298954010010f, 0.903989315032958980f,
+  0.914209783077239990f, 0.923879504203796390f, 0.932992815971374510f,
+  0.941544055938720700f, 0.949528157711029050f, 0.956940352916717530f,
+  0.963776051998138430f, 0.970031261444091800f,
+  0.975702106952667240f, 0.980785250663757320f, 0.985277652740478520f,
+  0.989176511764526370f, 0.992479562759399410f, 0.995184719562530520f,
+  0.997290432453155520f, 0.998795449733734130f,
+  0.999698817729949950f, 1.000000000000000000f, 0.999698817729949950f,
+  0.998795449733734130f, 0.997290432453155520f, 0.995184719562530520f,
+  0.992479562759399410f, 0.989176511764526370f,
+  0.985277652740478520f, 0.980785250663757320f, 0.975702106952667240f,
+  0.970031261444091800f, 0.963776051998138430f, 0.956940352916717530f,
+  0.949528157711029050f, 0.941544055938720700f,
+  0.932992815971374510f, 0.923879504203796390f, 0.914209783077239990f,
+  0.903989315032958980f, 0.893224298954010010f, 0.881921291351318360f,
+  0.870086967945098880f, 0.857728600502014160f,
+  0.844853579998016360f, 0.831469595432281490f, 0.817584812641143800f,
+  0.803207516670227050f, 0.788346409797668460f, 0.773010432720184330f,
+  0.757208824157714840f, 0.740951120853424070f,
+  0.724247097969055180f, 0.707106769084930420f, 0.689540565013885500f,
+  0.671558976173400880f, 0.653172850608825680f, 0.634393274784088130f,
+  0.615231573581695560f, 0.595699310302734380f,
+  0.575808167457580570f, 0.555570244789123540f, 0.534997642040252690f,
+  0.514102756977081300f, 0.492898195981979370f, 0.471396744251251220f,
+  0.449611335992813110f, 0.427555084228515630f,
+  0.405241310596466060f, 0.382683426141738890f, 0.359895050525665280f,
+  0.336889863014221190f, 0.313681751489639280f, 0.290284663438797000f,
+  0.266712754964828490f, 0.242980182170867920f,
+  0.219101235270500180f, 0.195090323686599730f, 0.170961886644363400f,
+  0.146730467677116390f, 0.122410677373409270f, 0.098017141222953796f,
+  0.073564566671848297f, 0.049067676067352295f,
+  0.024541229009628296f, 0.000000000000000122f, -0.024541229009628296f,
+  -0.049067676067352295f, -0.073564566671848297f, -0.098017141222953796f,
+  -0.122410677373409270f, -0.146730467677116390f,
+  -0.170961886644363400f, -0.195090323686599730f, -0.219101235270500180f,
+  -0.242980182170867920f, -0.266712754964828490f, -0.290284663438797000f,
+  -0.313681751489639280f, -0.336889863014221190f,
+  -0.359895050525665280f, -0.382683426141738890f, -0.405241310596466060f,
+  -0.427555084228515630f, -0.449611335992813110f, -0.471396744251251220f,
+  -0.492898195981979370f, -0.514102756977081300f,
+  -0.534997642040252690f, -0.555570244789123540f, -0.575808167457580570f,
+  -0.595699310302734380f, -0.615231573581695560f, -0.634393274784088130f,
+  -0.653172850608825680f, -0.671558976173400880f,
+  -0.689540565013885500f, -0.707106769084930420f, -0.724247097969055180f,
+  -0.740951120853424070f, -0.757208824157714840f, -0.773010432720184330f,
+  -0.788346409797668460f, -0.803207516670227050f,
+  -0.817584812641143800f, -0.831469595432281490f, -0.844853579998016360f,
+  -0.857728600502014160f, -0.870086967945098880f, -0.881921291351318360f,
+  -0.893224298954010010f, -0.903989315032958980f,
+  -0.914209783077239990f, -0.923879504203796390f, -0.932992815971374510f,
+  -0.941544055938720700f, -0.949528157711029050f, -0.956940352916717530f,
+  -0.963776051998138430f, -0.970031261444091800f,
+  -0.975702106952667240f, -0.980785250663757320f, -0.985277652740478520f,
+  -0.989176511764526370f, -0.992479562759399410f, -0.995184719562530520f,
+  -0.997290432453155520f, -0.998795449733734130f,
+  -0.999698817729949950f, -1.000000000000000000f, -0.999698817729949950f,
+  -0.998795449733734130f, -0.997290432453155520f, -0.995184719562530520f,
+  -0.992479562759399410f, -0.989176511764526370f,
+  -0.985277652740478520f, -0.980785250663757320f, -0.975702106952667240f,
+  -0.970031261444091800f, -0.963776051998138430f, -0.956940352916717530f,
+  -0.949528157711029050f, -0.941544055938720700f,
+  -0.932992815971374510f, -0.923879504203796390f, -0.914209783077239990f,
+  -0.903989315032958980f, -0.893224298954010010f, -0.881921291351318360f,
+  -0.870086967945098880f, -0.857728600502014160f,
+  -0.844853579998016360f, -0.831469595432281490f, -0.817584812641143800f,
+  -0.803207516670227050f, -0.788346409797668460f, -0.773010432720184330f,
+  -0.757208824157714840f, -0.740951120853424070f,
+  -0.724247097969055180f, -0.707106769084930420f, -0.689540565013885500f,
+  -0.671558976173400880f, -0.653172850608825680f, -0.634393274784088130f,
+  -0.615231573581695560f, -0.595699310302734380f,
+  -0.575808167457580570f, -0.555570244789123540f, -0.534997642040252690f,
+  -0.514102756977081300f, -0.492898195981979370f, -0.471396744251251220f,
+  -0.449611335992813110f, -0.427555084228515630f,
+  -0.405241310596466060f, -0.382683426141738890f, -0.359895050525665280f,
+  -0.336889863014221190f, -0.313681751489639280f, -0.290284663438797000f,
+  -0.266712754964828490f, -0.242980182170867920f,
+  -0.219101235270500180f, -0.195090323686599730f, -0.170961886644363400f,
+  -0.146730467677116390f, -0.122410677373409270f, -0.098017141222953796f,
+  -0.073564566671848297f, -0.049067676067352295f,
+  -0.024541229009628296f, -0.000000000000000245f, 0.024541229009628296f
+};
+
+
+/**  
+ * @brief  Fast approximation to the trigonometric sine function for floating-point data.  
+ * @param[in] x input value in radians.  
+ * @return  sin(x).  
+ */
+
+float32_t arm_sin_f32(
+  float32_t x)
+{
+  float32_t sinVal, fract, in;                   /* Temporary variables for input, output */
+  uint32_t index;                                /* Index variable */
+  uint32_t tableSize = (uint32_t) TABLE_SIZE;    /* Initialise tablesize */
+  float32_t wa, wb, wc, wd;                      /* Cubic interpolation coefficients */
+  float32_t a, b, c, d;                          /* Four nearest output values */
+  float32_t *tablePtr;                           /* Pointer to table */
+  int32_t n;
+
+  /* input x is in radians */
+  /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */
+  in = x * 0.159154943092f;
+
+  /* Calculation of floor value of input */
+  n = (int32_t) in;
+
+  /* Make negative values towards -infinity */
+  if(x < 0.0f)
+  {
+    n = n - 1;
+  }
+
+  /* Map input value to [0 1] */
+  in = in - (float32_t) n;
+
+  /* Calculation of index of the table */
+  index = (uint32_t) (tableSize * in);
+
+  /* fractional value calculation */
+  fract = ((float32_t) tableSize * in) - (float32_t) index;
+
+  /* Initialise table pointer */
+  tablePtr = (float32_t *) & sinTable[index];
+
+  /* Read four nearest values of output value from the sin table */
+  a = *tablePtr++;
+  b = *tablePtr++;
+  c = *tablePtr++;
+  d = *tablePtr++;
+
+  /* Cubic interpolation process */
+  wa = -(((0.166666667f) * (fract * (fract * fract))) +
+         ((0.3333333333333f) * fract)) + ((0.5f) * (fract * fract));
+  wb = (((0.5f) * (fract * (fract * fract))) -
+        ((fract * fract) + ((0.5f) * fract))) + 1.0f;
+  wc = (-((0.5f) * (fract * (fract * fract))) +
+        ((0.5f) * (fract * fract))) + fract;
+  wd = ((0.166666667f) * (fract * (fract * fract))) -
+    ((0.166666667f) * fract);
+
+  /* Calculate sin value */
+  sinVal = ((a * wa) + (b * wb)) + ((c * wc) + (d * wd));
+
+  /* Return the output value */
+  return (sinVal);
+
+}
+
+/**   
+ * @} end of sin group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
new file mode 100644
index 000000000..d796fc7d4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q15.c
@@ -0,0 +1,192 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_sin_q15.c   
+*   
+* Description:	Fast sine calculation for Q15 values.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFastMath   
+ */
+
+ /**   
+ * @addtogroup sin   
+ * @{   
+ */
+
+
+/**   
+ * \par   
+ * Example code for Generation of Q15 Sin Table:  
+ * \par   
+ * 
    tableSize = 256;   
+ * for(n = -1; n < (tableSize + 1); n++)   
+ * {   
+ *	sinTable[n+1]=sin(2*pi*n/tableSize);   
+ * } 
       
+ * where pi value is  3.14159265358979   
+ * \par   
+ * Convert Floating point to Q15(Fixed point):   
+ *	(sinTable[i] * pow(2, 15))   
+ * \par   
+ * rounding to nearest integer is done   
+ * 	sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5);   
+ */
+
+
+static const q15_t sinTableQ15[259] = {
+  0xfcdc, 0x0, 0x324, 0x648, 0x96b, 0xc8c, 0xfab, 0x12c8,
+  0x15e2, 0x18f9, 0x1c0c, 0x1f1a, 0x2224, 0x2528, 0x2827, 0x2b1f,
+  0x2e11, 0x30fc, 0x33df, 0x36ba, 0x398d, 0x3c57, 0x3f17, 0x41ce,
+  0x447b, 0x471d, 0x49b4, 0x4c40, 0x4ec0, 0x5134, 0x539b, 0x55f6,
+  0x5843, 0x5a82, 0x5cb4, 0x5ed7, 0x60ec, 0x62f2, 0x64e9, 0x66d0,
+  0x68a7, 0x6a6e, 0x6c24, 0x6dca, 0x6f5f, 0x70e3, 0x7255, 0x73b6,
+  0x7505, 0x7642, 0x776c, 0x7885, 0x798a, 0x7a7d, 0x7b5d, 0x7c2a,
+  0x7ce4, 0x7d8a, 0x7e1e, 0x7e9d, 0x7f0a, 0x7f62, 0x7fa7, 0x7fd9,
+  0x7ff6, 0x7fff, 0x7ff6, 0x7fd9, 0x7fa7, 0x7f62, 0x7f0a, 0x7e9d,
+  0x7e1e, 0x7d8a, 0x7ce4, 0x7c2a, 0x7b5d, 0x7a7d, 0x798a, 0x7885,
+  0x776c, 0x7642, 0x7505, 0x73b6, 0x7255, 0x70e3, 0x6f5f, 0x6dca,
+  0x6c24, 0x6a6e, 0x68a7, 0x66d0, 0x64e9, 0x62f2, 0x60ec, 0x5ed7,
+  0x5cb4, 0x5a82, 0x5843, 0x55f6, 0x539b, 0x5134, 0x4ec0, 0x4c40,
+  0x49b4, 0x471d, 0x447b, 0x41ce, 0x3f17, 0x3c57, 0x398d, 0x36ba,
+  0x33df, 0x30fc, 0x2e11, 0x2b1f, 0x2827, 0x2528, 0x2224, 0x1f1a,
+  0x1c0c, 0x18f9, 0x15e2, 0x12c8, 0xfab, 0xc8c, 0x96b, 0x648,
+  0x324, 0x0, 0xfcdc, 0xf9b8, 0xf695, 0xf374, 0xf055, 0xed38,
+  0xea1e, 0xe707, 0xe3f4, 0xe0e6, 0xdddc, 0xdad8, 0xd7d9, 0xd4e1,
+  0xd1ef, 0xcf04, 0xcc21, 0xc946, 0xc673, 0xc3a9, 0xc0e9, 0xbe32,
+  0xbb85, 0xb8e3, 0xb64c, 0xb3c0, 0xb140, 0xaecc, 0xac65, 0xaa0a,
+  0xa7bd, 0xa57e, 0xa34c, 0xa129, 0x9f14, 0x9d0e, 0x9b17, 0x9930,
+  0x9759, 0x9592, 0x93dc, 0x9236, 0x90a1, 0x8f1d, 0x8dab, 0x8c4a,
+  0x8afb, 0x89be, 0x8894, 0x877b, 0x8676, 0x8583, 0x84a3, 0x83d6,
+  0x831c, 0x8276, 0x81e2, 0x8163, 0x80f6, 0x809e, 0x8059, 0x8027,
+  0x800a, 0x8000, 0x800a, 0x8027, 0x8059, 0x809e, 0x80f6, 0x8163,
+  0x81e2, 0x8276, 0x831c, 0x83d6, 0x84a3, 0x8583, 0x8676, 0x877b,
+  0x8894, 0x89be, 0x8afb, 0x8c4a, 0x8dab, 0x8f1d, 0x90a1, 0x9236,
+  0x93dc, 0x9592, 0x9759, 0x9930, 0x9b17, 0x9d0e, 0x9f14, 0xa129,
+  0xa34c, 0xa57e, 0xa7bd, 0xaa0a, 0xac65, 0xaecc, 0xb140, 0xb3c0,
+  0xb64c, 0xb8e3, 0xbb85, 0xbe32, 0xc0e9, 0xc3a9, 0xc673, 0xc946,
+  0xcc21, 0xcf04, 0xd1ef, 0xd4e1, 0xd7d9, 0xdad8, 0xdddc, 0xe0e6,
+  0xe3f4, 0xe707, 0xea1e, 0xed38, 0xf055, 0xf374, 0xf695, 0xf9b8,
+  0xfcdc, 0x0, 0x324
+};
+
+
+/**  
+ * @brief Fast approximation to the trigonometric sine function for Q15 data.  
+ * @param[in] x Scaled input value in radians.  
+ * @return  sin(x).  
+ *  
+ * The Q15 input value is in the range [0 +1) and is mapped to a radian value in the range [0 2*pi).  
+ */
+
+q15_t arm_sin_q15(
+  q15_t x)
+{
+  q31_t sinVal;                                  /* Temporary variables output */
+  q15_t *tablePtr;                               /* Pointer to table */
+  q15_t fract, in, in2;                          /* Temporary variables for input, output */
+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
+  q15_t a, b, c, d;                              /* Four nearest output values */
+  q15_t fractCube, fractSquare;                  /* Temporary values for fractional value */
+  q15_t oneBy6 = 0x1555;                         /* Fixed point value of 1/6 */
+  q15_t tableSpacing = TABLE_SPACING_Q15;        /* Table spacing */
+  int32_t index;                                 /* Index variable */
+
+  in = x;
+
+  /* Calculate the nearest index */
+  index = (int32_t) in / tableSpacing;
+
+  /* Calculate the nearest value of input */
+  in2 = (q15_t) ((index) * tableSpacing);
+
+  /* Calculation of fractional value */
+  fract = (in - in2) << 8;
+
+  /* fractSquare = fract * fract */
+  fractSquare = (q15_t) ((fract * fract) >> 15);
+
+  /* fractCube = fract * fract * fract */
+  fractCube = (q15_t) ((fractSquare * fract) >> 15);
+
+  /* Initialise table pointer */
+  tablePtr = (q15_t *) & sinTableQ15[index];
+
+  /* Cubic interpolation process */
+  /* Calculation of wa */
+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAA)*fract; */
+  wa = (q31_t) oneBy6 *fractCube;
+  wa += (q31_t) 0x2AAA *fract;
+  wa = -(wa >> 15);
+  wa += ((q31_t) fractSquare >> 1u);
+
+  /* Read first nearest value of output from the sin table */
+  a = *tablePtr++;
+
+  /* sinVal = a * wa */
+  sinVal = a * wa;
+
+  /* Calculation of wb */
+  wb = (((q31_t) fractCube >> 1u) - (q31_t) fractSquare) -
+    (((q31_t) fract >> 1u) - 0x7FFF);
+
+  /* Read second nearest value of output from the sin table */
+  b = *tablePtr++;
+
+  /*      sinVal += b*wb */
+  sinVal += b * wb;
+
+
+  /* Calculation of wc */
+  wc = -(q31_t) fractCube + fractSquare;
+  wc = (wc >> 1u) + fract;
+
+  /* Read third nearest value of output from the sin table */
+  c = *tablePtr++;
+
+  /*      sinVal += c*wc */
+  sinVal += c * wc;
+
+  /* Calculation of wd */
+  /* wd = (oneBy6)*fractCube - (oneBy6)*fract; */
+  fractCube = fractCube - fract;
+  wd = ((q15_t) (((q31_t) oneBy6 * fractCube) >> 15));
+
+  /* Read fourth nearest value of output from the sin table */
+  d = *tablePtr++;
+
+  /* sinVal += d*wd; */
+  sinVal += d * wd;
+
+  /* Return the output value in 1.15(q15) format */
+  return ((q15_t) (sinVal >> 15u));
+
+}
+
+/**   
+ * @} end of sin group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
new file mode 100644
index 000000000..0ab10573d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sin_q31.c
@@ -0,0 +1,227 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_sin_q31.c   
+*   
+* Description:	Fast sine calculation for Q31 values.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFastMath   
+ */
+
+ /**   
+ * @addtogroup sin   
+ * @{   
+ */
+
+/**  
+ * \par   
+ * Tables generated are in Q31(1.31 Fixed point format)   
+ * Generation of sin values in floating point:   
+ * 
    tableSize = 256;     
+ * for(n = -1; n < (tableSize + 1); n++)   
+ * {   
+ *	sinTable[n+1]= sin(2*pi*n/tableSize);   
+ * } 
       
+ * where pi value is  3.14159265358979   
+ * \par   
+ * Convert Floating point to Q31(Fixed point):   
+ *	(sinTable[i] * pow(2, 31))   
+ * \par   
+ * rounding to nearest integer is done   
+ * 	sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5);   
+ */
+
+static const q31_t sinTableQ31[259] = {
+  0xfcdbd541, 0x0, 0x3242abf, 0x647d97c, 0x96a9049, 0xc8bd35e, 0xfab272b,
+  0x12c8106f,
+  0x15e21445, 0x18f8b83c, 0x1c0b826a, 0x1f19f97b, 0x2223a4c5, 0x25280c5e,
+  0x2826b928, 0x2b1f34eb,
+  0x2e110a62, 0x30fbc54d, 0x33def287, 0x36ba2014, 0x398cdd32, 0x3c56ba70,
+  0x3f1749b8, 0x41ce1e65,
+  0x447acd50, 0x471cece7, 0x49b41533, 0x4c3fdff4, 0x4ebfe8a5, 0x5133cc94,
+  0x539b2af0, 0x55f5a4d2,
+  0x5842dd54, 0x5a82799a, 0x5cb420e0, 0x5ed77c8a, 0x60ec3830, 0x62f201ac,
+  0x64e88926, 0x66cf8120,
+  0x68a69e81, 0x6a6d98a4, 0x6c242960, 0x6dca0d14, 0x6f5f02b2, 0x70e2cbc6,
+  0x72552c85, 0x73b5ebd1,
+  0x7504d345, 0x7641af3d, 0x776c4edb, 0x78848414, 0x798a23b1, 0x7a7d055b,
+  0x7b5d039e, 0x7c29fbee,
+  0x7ce3ceb2, 0x7d8a5f40, 0x7e1d93ea, 0x7e9d55fc, 0x7f0991c4, 0x7f62368f,
+  0x7fa736b4, 0x7fd8878e,
+  0x7ff62182, 0x7fffffff, 0x7ff62182, 0x7fd8878e, 0x7fa736b4, 0x7f62368f,
+  0x7f0991c4, 0x7e9d55fc,
+  0x7e1d93ea, 0x7d8a5f40, 0x7ce3ceb2, 0x7c29fbee, 0x7b5d039e, 0x7a7d055b,
+  0x798a23b1, 0x78848414,
+  0x776c4edb, 0x7641af3d, 0x7504d345, 0x73b5ebd1, 0x72552c85, 0x70e2cbc6,
+  0x6f5f02b2, 0x6dca0d14,
+  0x6c242960, 0x6a6d98a4, 0x68a69e81, 0x66cf8120, 0x64e88926, 0x62f201ac,
+  0x60ec3830, 0x5ed77c8a,
+  0x5cb420e0, 0x5a82799a, 0x5842dd54, 0x55f5a4d2, 0x539b2af0, 0x5133cc94,
+  0x4ebfe8a5, 0x4c3fdff4,
+  0x49b41533, 0x471cece7, 0x447acd50, 0x41ce1e65, 0x3f1749b8, 0x3c56ba70,
+  0x398cdd32, 0x36ba2014,
+  0x33def287, 0x30fbc54d, 0x2e110a62, 0x2b1f34eb, 0x2826b928, 0x25280c5e,
+  0x2223a4c5, 0x1f19f97b,
+  0x1c0b826a, 0x18f8b83c, 0x15e21445, 0x12c8106f, 0xfab272b, 0xc8bd35e,
+  0x96a9049, 0x647d97c,
+  0x3242abf, 0x0, 0xfcdbd541, 0xf9b82684, 0xf6956fb7, 0xf3742ca2, 0xf054d8d5,
+  0xed37ef91,
+  0xea1debbb, 0xe70747c4, 0xe3f47d96, 0xe0e60685, 0xdddc5b3b, 0xdad7f3a2,
+  0xd7d946d8, 0xd4e0cb15,
+  0xd1eef59e, 0xcf043ab3, 0xcc210d79, 0xc945dfec, 0xc67322ce, 0xc3a94590,
+  0xc0e8b648, 0xbe31e19b,
+  0xbb8532b0, 0xb8e31319, 0xb64beacd, 0xb3c0200c, 0xb140175b, 0xaecc336c,
+  0xac64d510, 0xaa0a5b2e,
+  0xa7bd22ac, 0xa57d8666, 0xa34bdf20, 0xa1288376, 0x9f13c7d0, 0x9d0dfe54,
+  0x9b1776da, 0x99307ee0,
+  0x9759617f, 0x9592675c, 0x93dbd6a0, 0x9235f2ec, 0x90a0fd4e, 0x8f1d343a,
+  0x8daad37b, 0x8c4a142f,
+  0x8afb2cbb, 0x89be50c3, 0x8893b125, 0x877b7bec, 0x8675dc4f, 0x8582faa5,
+  0x84a2fc62, 0x83d60412,
+  0x831c314e, 0x8275a0c0, 0x81e26c16, 0x8162aa04, 0x80f66e3c, 0x809dc971,
+  0x8058c94c, 0x80277872,
+  0x8009de7e, 0x80000000, 0x8009de7e, 0x80277872, 0x8058c94c, 0x809dc971,
+  0x80f66e3c, 0x8162aa04,
+  0x81e26c16, 0x8275a0c0, 0x831c314e, 0x83d60412, 0x84a2fc62, 0x8582faa5,
+  0x8675dc4f, 0x877b7bec,
+  0x8893b125, 0x89be50c3, 0x8afb2cbb, 0x8c4a142f, 0x8daad37b, 0x8f1d343a,
+  0x90a0fd4e, 0x9235f2ec,
+  0x93dbd6a0, 0x9592675c, 0x9759617f, 0x99307ee0, 0x9b1776da, 0x9d0dfe54,
+  0x9f13c7d0, 0xa1288376,
+  0xa34bdf20, 0xa57d8666, 0xa7bd22ac, 0xaa0a5b2e, 0xac64d510, 0xaecc336c,
+  0xb140175b, 0xb3c0200c,
+  0xb64beacd, 0xb8e31319, 0xbb8532b0, 0xbe31e19b, 0xc0e8b648, 0xc3a94590,
+  0xc67322ce, 0xc945dfec,
+  0xcc210d79, 0xcf043ab3, 0xd1eef59e, 0xd4e0cb15, 0xd7d946d8, 0xdad7f3a2,
+  0xdddc5b3b, 0xe0e60685,
+  0xe3f47d96, 0xe70747c4, 0xea1debbb, 0xed37ef91, 0xf054d8d5, 0xf3742ca2,
+  0xf6956fb7, 0xf9b82684,
+  0xfcdbd541, 0x0, 0x3242abf
+};
+
+
+/**  
+ * @brief Fast approximation to the trigonometric sine function for Q31 data.  
+ * @param[in] x Scaled input value in radians.  
+ * @return  sin(x).  
+ *  
+ * The Q31 input value is in the range [0 +1) and is mapped to a radian value in the range [0 2*pi).  
+ */
+
+q31_t arm_sin_q31(
+  q31_t x)
+{
+  q31_t sinVal, in, in2;                         /* Temporary variables for input, output */
+  uint32_t index;                                /* Index variables */
+  q31_t wa, wb, wc, wd;                          /* Cubic interpolation coefficients */
+  q31_t a, b, c, d;                              /* Four nearest output values */
+  q31_t *tablePtr;                               /* Pointer to table */
+  q31_t fract, fractCube, fractSquare;           /* Temporary values for fractional values */
+  q31_t oneBy6 = 0x15555555;                     /* Fixed point value of 1/6 */
+  q31_t tableSpacing = TABLE_SPACING_Q31;        /* Table spacing */
+  q31_t temp;                                    /* Temporary variable for intermediate process */
+
+  in = x;
+
+  /* Calculate the nearest index */
+  index = (uint32_t) in / (uint32_t) tableSpacing;
+
+  /* Calculate the nearest value of input */
+  in2 = (q31_t) index *tableSpacing;
+
+  /* Calculation of fractional value */
+  fract = (in - in2) << 8;
+
+  /* fractSquare = fract * fract */
+  fractSquare = ((q31_t) (((q63_t) fract * fract) >> 32));
+  fractSquare = fractSquare << 1;
+
+  /* fractCube = fract * fract * fract */
+  fractCube = ((q31_t) (((q63_t) fractSquare * fract) >> 32));
+  fractCube = fractCube << 1;
+
+  /* Initialise table pointer */
+  tablePtr = (q31_t *) & sinTableQ31[index];
+
+  /* Cubic interpolation process */
+  /* Calculation of wa */
+  /* wa = -(oneBy6)*fractCube + (fractSquare >> 1u) - (0x2AAAAAAA)*fract; */
+  wa = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
+  temp = 0x2AAAAAAA;
+  wa = (q31_t) ((((q63_t) wa << 32) + ((q63_t) temp * fract)) >> 32);
+  wa = -(wa << 1u);
+  wa += (fractSquare >> 1u);
+
+  /* Read first nearest value of output from the sin table */
+  a = *tablePtr++;
+
+  /* sinVal = a*wa */
+  sinVal = ((q31_t) (((q63_t) a * wa) >> 32));
+
+  /* q31(1.31) Fixed point value of 1 */
+  temp = 0x7FFFFFFF;
+
+  /* Calculation of wb */
+  wb = ((fractCube >> 1u) - (fractSquare + (fract >> 1u))) + temp;
+
+  /* Read second nearest value of output from the sin table */
+  b = *tablePtr++;
+
+  /*  sinVal += b*wb */
+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + (q63_t) b * (wb)) >> 32);
+
+  /* Calculation of wc */
+  wc = -fractCube + fractSquare;
+  wc = (wc >> 1u) + fract;
+
+  /* Read third nearest value of output from the sin table */
+  c = *tablePtr++;
+
+  /*      sinVal += c*wc */
+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) c * wc)) >> 32);
+
+  /* Calculation of wd */
+  /* wd = (oneBy6) * fractCube - (oneBy6) * fract; */
+  fractCube = fractCube - fract;
+  wd = ((q31_t) (((q63_t) oneBy6 * fractCube) >> 32));
+  wd = (wd << 1u);
+
+  /* Read fourth nearest value of output from the sin table */
+  d = *tablePtr++;
+
+  /* sinVal += d*wd; */
+  sinVal = (q31_t) ((((q63_t) sinVal << 32) + ((q63_t) d * wd)) >> 32);
+
+  /* convert sinVal in 2.30 format to 1.31 format */
+  return (sinVal << 1u);
+
+}
+
+/**   
+ * @} end of sin group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
new file mode 100644
index 000000000..7e27baacb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q15.c
@@ -0,0 +1,178 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_sqrt_q15.c   
+*   
+* Description:	Q15 square root function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+
+/**   
+ * @ingroup groupFastMath   
+ */
+
+/**   
+ * @addtogroup SQRT   
+ * @{   
+ */
+
+  /**  
+   * @brief  Q15 square root function.  
+   * @param[in]   in     input value.  The range of the input value is [0 +1) or 0x0000 to 0x7FFF.  
+   * @param[out]  *pOut  square root of input value.  
+   * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if  
+   * in is negative value and returns zero output for negative values.  
+   */
+
+arm_status arm_sqrt_q15(
+  q15_t in,
+  q15_t * pOut)
+{
+  q31_t prevOut;
+  q15_t oneByOut;
+  uint32_t sign_bits;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t out;
+
+  if(in > 0)
+  {
+    /* run for ten iterations */
+
+    /* Take initial guess as half of the input and first iteration */
+    out = ((q31_t) in >> 1u) + 0x3FFF;
+
+    /* Calculation of reciprocal of out */
+    /* oneByOut contains reciprocal of out which is in 2.14 format   
+       and oneByOut should be upscaled by signBits */
+    sign_bits = arm_recip_q15((q15_t) out, &oneByOut, armRecipTableQ15);
+
+    /* 0.5 * (out) */
+    out = out >> 1u;
+    /* prevOut = 0.5 * out + (in * (oneByOut << signBits))) */
+    prevOut = out + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    /* Third iteration */
+    sign_bits = arm_recip_q15((q15_t) prevOut, &oneByOut, armRecipTableQ15);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    sign_bits = arm_recip_q15((q15_t) out, &oneByOut, armRecipTableQ15);
+    out = out >> 1u;
+    prevOut = out + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    /* Fifth iteration */
+    sign_bits = arm_recip_q15((q15_t) prevOut, &oneByOut, armRecipTableQ15);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    sign_bits = arm_recip_q15((q15_t) out, &oneByOut, armRecipTableQ15);
+    out = out >> 1u;
+    prevOut = out + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    /* Seventh iteration */
+    sign_bits = arm_recip_q15((q15_t) prevOut, &oneByOut, armRecipTableQ15);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    sign_bits = arm_recip_q15((q15_t) out, &oneByOut, armRecipTableQ15);
+    out = out >> 1u;
+    prevOut = out + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    sign_bits = arm_recip_q15((q15_t) prevOut, &oneByOut, armRecipTableQ15);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    /* tenth iteration */
+    sign_bits = arm_recip_q15((q15_t) out, &oneByOut, armRecipTableQ15);
+    out = out >> 1u;
+    *pOut = out + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    return (ARM_MATH_SUCCESS);
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t out, loopVar;                            /* Temporary variable for output, loop variable */
+  if(in > 0)
+  {
+    /* run for ten iterations */
+
+    /* Take initial guess as half of the input and first iteration */
+    out = ((q31_t) in >> 1u) + 0x3FFF;
+
+    /* Calculation of reciprocal of out */
+
+    /* oneByOut contains reciprocal of out which is in 2.14 format   
+       and oneByOut should be upscaled by sign bits */
+    sign_bits = arm_recip_q15((q15_t) out, &oneByOut, armRecipTableQ15);
+
+    /* 0.5 * (out) */
+    out = out >> 1u;
+    /* prevOut = 0.5 * out + (in * oneByOut) << signbits))) */
+    prevOut = out + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+
+    /* loop for third iteration to tenth iteration */
+
+    for (loopVar = 1; loopVar <= 8; loopVar++)
+    {
+
+      sign_bits = arm_recip_q15((q15_t) prevOut, &oneByOut, armRecipTableQ15);
+      /* 0.5 * (prevOut) */
+      prevOut = prevOut >> 1u;
+      /* prevOut = 0.5 * prevOut+ (in * oneByOut) << signbits))) */
+      out =
+        prevOut + (((q15_t) (((q31_t) in * oneByOut) >> 16)) << sign_bits);
+      /* prevOut      = out */
+      prevOut = out;
+
+    }
+    /* output is moved to pOut pointer */
+    *pOut = prevOut;
+
+    return (ARM_MATH_SUCCESS);
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  else
+  {
+
+    *pOut = 0;
+    return (ARM_MATH_ARGUMENT_ERROR);
+  }
+
+}
+
+/**   
+ * @} end of SQRT group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
new file mode 100644
index 000000000..ab2779e79
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FastMathFunctions/arm_sqrt_q31.c
@@ -0,0 +1,199 @@
+/* ----------------------------------------------------------------------  
+* Copyright (C) 2010 ARM Limited. All rights reserved.  
+*  
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*  
+* Project: 	    CMSIS DSP Library  
+* Title:		arm_sqrt_q31.c  
+*  
+* Description:	Q31 square root function. 
+*  
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.2 2010/11/11  
+*    Documentation updated.   
+*  
+* Version 1.0.1 2010/10/05   
+*    Production release and review comments incorporated.  
+*  
+* Version 1.0.0 2010/09/20   
+*    Production release and review comments incorporated. 
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**  
+ * @ingroup groupFastMath  
+ */
+
+/**  
+ * @addtogroup SQRT  
+ * @{  
+ */
+
+/** 
+ * @brief Q31 square root function. 
+ * @param[in]   in    input value.  The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF. 
+ * @param[out]  *pOut square root of input value. 
+ * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if 
+ * in is negative value and returns zero output for negative values. 
+ */
+
+arm_status arm_sqrt_q31(
+  q31_t in,
+  q31_t * pOut)
+{
+  q63_t prevOut;
+  q31_t oneByOut;
+  uint32_t signBits;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q63_t out;
+
+  if(in > 0)
+  {
+
+    /* run for ten iterations */
+
+    /* Take initial guess as half of the input and first iteration */
+    out = (in >> 1) + 0x3FFFFFFF;
+
+    /* Calculation of reciprocal of out */
+    /* oneByOut contains reciprocal of out which is in 2.30 format  
+       and oneByOut should be upscaled by signBits */
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+
+    /* 0.5 * (out) */
+    out = out >> 1u;
+
+    /* prevOut = 0.5 * out + (in * (oneByOut << signBits))) */
+    prevOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    /* Third iteration */
+    signBits = arm_recip_q31((q31_t) prevOut, &oneByOut, armRecipTableQ31);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+    out = out >> 1u;
+    prevOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    /* Fifth iteration */
+    signBits = arm_recip_q31((q31_t) prevOut, &oneByOut, armRecipTableQ31);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+    out = out >> 1u;
+    prevOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    /* Seventh iteration */
+    signBits = arm_recip_q31((q31_t) prevOut, &oneByOut, armRecipTableQ31);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+    out = out >> 1u;
+    prevOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) prevOut, &oneByOut, armRecipTableQ31);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+    out = out >> 1u;
+    prevOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) prevOut, &oneByOut, armRecipTableQ31);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+    out = out >> 1u;
+    prevOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) prevOut, &oneByOut, armRecipTableQ31);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+    out = out >> 1u;
+    prevOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    signBits = arm_recip_q31((q31_t) prevOut, &oneByOut, armRecipTableQ31);
+    prevOut = prevOut >> 1u;
+    out = prevOut + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    /* tenth iteration */
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+    out = out >> 1u;
+    *pOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+    return (ARM_MATH_SUCCESS);
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q63_t out, loopVar;                            /* Temporary variable for output, loop variable */
+  if(in > 0)
+  {
+
+    /* run for ten iterations */
+
+    /* Take initial guess as half of the input and first iteration */
+    out = (in >> 1) + 0x3FFFFFFF;
+
+    /* Calculation of reciprocal of out */
+    /* oneByOut contains reciprocal of out which is in 2.30 format   
+       and oneByOut should be upscaled by sign bits */
+    signBits = arm_recip_q31((q31_t) out, &oneByOut, armRecipTableQ31);
+
+    /* 0.5 * (out) */
+    out = out >> 1u;
+
+    /* prevOut = 0.5 * out + (in * (oneByOut) << signbits) */
+    prevOut = out + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+
+
+    /* loop for third iteration to tength iteration */
+
+    for (loopVar = 1; loopVar <= 14; loopVar++)
+    {
+
+      signBits = arm_recip_q31((q31_t) prevOut, &oneByOut, armRecipTableQ31);
+      /* 0.5 * (prevOut) */
+      prevOut = prevOut >> 1u;
+      /* out = 0.5 * prevOut + (in * oneByOut) << signbits))) */
+      out = prevOut + (((q31_t) (((q63_t) in * oneByOut) >> 32)) << signBits);
+      /* prevOut      = out */
+      prevOut = out;
+
+    }
+    /* output is moved to pOut pointer */
+    *pOut = prevOut;
+
+    return (ARM_MATH_SUCCESS);
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  else
+  {
+    *pOut = 0;
+    return (ARM_MATH_ARGUMENT_ERROR);
+  }
+}
+
+/**  
+ * @} end of SQRT group  
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
new file mode 100644
index 000000000..ec4b058a9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_init_q31.c
@@ -0,0 +1,102 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df1_32x64_init_q31.c   
+*   
+* Description:	High precision Q31 Biquad cascade filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1_32x64   
+ * @{   
+ */
+
+/**   
+ * @details   
+ *   
+ * @param[in,out] *S           	points to an instance of the high precision Q31 Biquad cascade filter structure.   
+ * @param[in]     numStages     number of 2nd order stages in the filter.   
+ * @param[in]     *pCoeffs      points to the filter coefficients.   
+ * @param[in]     *pState       points to the state buffer.   
+ * @param[in]     postShift     Shift to be applied after the accumulator.  Varies according to the coefficients format.   
+ * @return        none   
+ *   
+ * Coefficient and State Ordering:   
+ *   
+ * \par   
+ * The coefficients are stored in the array pCoeffs in the following order:   
+ * 
       
+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}   
+ * 
       
+ * where b1x and a1x are the coefficients for the first stage,   
+ * b2x and a2x are the coefficients for the second stage,   
+ * and so on.  The pCoeffs array contains a total of 5*numStages values.   
+ *   
+ * \par   
+ * The pState points to state variables array and size of each state variable is 1.63 format.   
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].   
+ * The state variables are arranged in the state array as:   
+ * 
       
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ * 
       
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.   
+ * The state array has a total length of 4*numStages values.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ */
+
+void arm_biquad_cas_df1_32x64_init_q31(
+  arm_biquad_cas_df1_32x64_ins_q31 * S,
+  uint8_t numStages,
+  q31_t * pCoeffs,
+  q63_t * pState,
+  uint8_t postShift)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign postShift to be applied to the output */
+  S->postShift = postShift;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 4 * numStages */
+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q63_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**   
+ * @} end of BiquadCascadeDF1_32x64 group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
new file mode 100644
index 000000000..35cfe856f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_32x64_q31.c
@@ -0,0 +1,476 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df1_32x64_q31.c   
+*   
+* Description:	High precision Q31 Biquad cascade filter processing function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup BiquadCascadeDF1_32x64 High Precision Q31 Biquad Cascade Filter   
+ *   
+ * This function implements a high precision Biquad cascade filter which operates on   
+ * Q31 data values.  The filter coefficients are in 1.31 format and the state variables   
+ * are in 1.63 format.  The double precision state variables reduce quantization noise   
+ * in the filter and provide a cleaner output.   
+ * These filters are particularly useful when implementing filters in which the   
+ * singularities are close to the unit circle.  This is common for low pass or high   
+ * pass filters with very low cutoff frequencies.   
+ *   
+ * The function operates on blocks of input and output data   
+ * and each call to the function processes blockSize samples through   
+ * the filter. pSrc and pDst points to input and output arrays   
+ * containing blockSize Q31 values.   
+ *   
+ * \par Algorithm   
+ * Each Biquad stage implements a second order filter using the difference equation:   
+ * 
       
+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+ * 
       
+ * A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage.   
+ * \image html Biquad.gif "Single Biquad filter stage"   
+ * Coefficients b0, b1, and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.   
+ * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.   
+ * Pay careful attention to the sign of the feedback coefficients.   
+ * Some design tools use the difference equation   
+ * 
       
+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]   
+ * 
       
+ * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.   
+ *   
+ * \par   
+ * Higher order filters are realized as a cascade of second order sections.   
+ * numStages refers to the number of second order stages used.   
+ * For example, an 8th order filter would be realized with numStages=4 second order stages.   
+ * \image html BiquadCascade.gif "8th order filter using a cascade of Biquad stages"   
+ * A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).   
+ *   
+ * \par   
+ * The pState points to state variables array .   
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2] and each state variable in 1.63 format to improve precision.   
+ * The state variables are arranged in the array as:   
+ * 
       
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ * 
       
+ *   
+ * \par   
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.   
+ * The state array has a total length of 4*numStages values of data in 1.63 format.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ *   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.   
+ *   
+ * \par Init Function   
+ * There is also an associated initialization function which performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Set the values in the state buffer to zeros before static initialization.   
+ * For example, to statically initialize the filter instance structure use   
+ * 
       
+ *     arm_biquad_cas_df1_32x64_ins_q31 S1 = {numStages, pState, pCoeffs, postShift};   
+ * 
       
+ * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer;   
+ * pCoeffs is the address of the coefficient buffer; postShift shift to be applied which is described in detail below.   
+ * \par Fixed-Point Behavior   
+ * Care must be taken while using Biquad Cascade 32x64 filter function.   
+ * Following issues must be considered:   
+ * - Scaling of coefficients   
+ * - Filter gain   
+ * - Overflow and saturation   
+ *   
+ * \par   
+ * Filter coefficients are represented as fractional values and   
+ * restricted to lie in the range [-1 +1).   
+ * The processing function has an additional scaling parameter postShift   
+ * which allows the filter coefficients to exceed the range [+1 -1).   
+ * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.   
+ * \image html BiquadPostshift.gif "Fixed-point Biquad with shift by postShift bits after accumulator"   
+ * This essentially scales the filter coefficients by 2^postShift.   
+ * For example, to realize the coefficients   
+ * 
       
+ *    {1.5, -0.8, 1.2, 1.6, -0.9}   
+ * 
       
+ * set the Coefficient array to:   
+ * 
       
+ *    {0.75, -0.4, 0.6, 0.8, -0.45}   
+ * 
       
+ * and set postShift=1   
+ *   
+ * \par   
+ * The second thing to keep in mind is the gain through the filter.   
+ * The frequency response of a Biquad filter is a function of its coefficients.   
+ * It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies.   
+ * This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter.   
+ * To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.   
+ *   
+ * \par   
+ * The third item to consider is the overflow and saturation behavior of the fixed-point Q31 version.   
+ * This is described in the function specific documentation below.   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1_32x64   
+ * @{   
+ */
+
+/**   
+ * @details   
+   
+ * @param[in]  *S points to an instance of the high precision Q31 Biquad cascade filter.   
+ * @param[in]  *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in]  blockSize number of samples to process.   
+ * @return none.   
+ *   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around rather than clip.   
+ * In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25).   
+ * After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by postShift bits and the result truncated to   
+ * 1.31 format by discarding the low 32 bits.   
+ *   
+ * \par   
+ * Two related functions are provided in the CMSIS DSP library.   
+ * arm_biquad_cascade_df1_q31() implements a Biquad cascade with 32-bit coefficients and state variables with a Q63 accumulator.   
+ * arm_biquad_cascade_df1_fast_q31() implements a Biquad cascade with 32-bit coefficients and state variables with a Q31 accumulator.   
+ */
+
+void arm_biquad_cas_df1_32x64_q31(
+  const arm_biquad_cas_df1_32x64_ins_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
+  q31_t *pOut = pDst;                            /*  output pointer initialization */
+  q63_t *pState = S->pState;                     /*  state pointer initialization  */
+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
+  q63_t acc;                                     /*  accumulator                   */
+  q63_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
+  q63_t Xn;                                      /*  temporary input               */
+  int32_t shift = (int32_t) S->postShift + 1;    /*  Shift to be applied to the output */
+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    /* The variable acc hold output value that is being computed and   
+     * stored in the destination buffer   
+     * acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+     */
+
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling. Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* The value is shifted to the MSB to perform 32x64 multiplication */
+      Xn = Xn << 32;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = mult32x64(Xn, b0);
+      /* acc +=  b1 * x[n-1] */
+      acc += mult32x64(Xn1, b1);
+      /* acc +=  b[2] * x[n-2] */
+      acc += mult32x64(Xn2, b2);
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn1, a1);
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn2, a2);
+
+      /* The result is converted to 1.63 , Yn2 variable is reused */
+      Yn2 = acc << shift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *pOut++ = (q31_t) (acc >> (32 - shift));
+
+      /* Read the second input into Xn2, to reuse the value */
+      Xn2 = *pIn++;
+
+      /* The value is shifted to the MSB to perform 32x64 multiplication */
+      Xn2 = Xn2 << 32;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = mult32x64(Xn2, b0);
+      /* acc +=  b1 * x[n-1] */
+      acc += mult32x64(Xn, b1);
+      /* acc +=  b[2] * x[n-2] */
+      acc += mult32x64(Xn1, b2);
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn2, a1);
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn1, a2);
+
+      /* The result is converted to 1.63, Yn1 variable is reused */
+      Yn1 = acc << shift;
+
+      /* The result is converted to 1.31 */
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q31_t) (acc >> (32 - shift));
+
+      /* Read the third input into Xn1, to reuse the value */
+      Xn1 = *pIn++;
+
+      /* The value is shifted to the MSB to perform 32x64 multiplication */
+      Xn1 = Xn1 << 32;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = mult32x64(Xn1, b0);
+      /* acc +=  b1 * x[n-1] */
+      acc += mult32x64(Xn2, b1);
+      /* acc +=  b[2] * x[n-2] */
+      acc += mult32x64(Xn, b2);
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn1, a1);
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn2, a2);
+
+      /* The result is converted to 1.63, Yn2 variable is reused  */
+      Yn2 = acc << shift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *pOut++ = (q31_t) (acc >> (32 - shift));
+
+      /* Read the fourth input into Xn, to reuse the value */
+      Xn = *pIn++;
+
+      /* The value is shifted to the MSB to perform 32x64 multiplication */
+      Xn = Xn << 32;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = mult32x64(Xn, b0);
+      /* acc +=  b1 * x[n-1] */
+      acc += mult32x64(Xn1, b1);
+      /* acc +=  b[2] * x[n-2] */
+      acc += mult32x64(Xn2, b2);
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn2, a1);
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn1, a2);
+
+      /* The result is converted to 1.63, Yn1 variable is reused  */
+      Yn1 = acc << shift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *pOut++ = (q31_t) (acc >> (32 - shift));
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    sample = (blockSize & 0x3u);
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* The value is shifted to the MSB to perform 32x64 multiplication */
+      Xn = Xn << 32;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = mult32x64(Xn, b0);
+      /* acc +=  b1 * x[n-1] */
+      acc += mult32x64(Xn1, b1);
+      /* acc +=  b[2] * x[n-2] */
+      acc += mult32x64(Xn2, b2);
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn1, a1);
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn2, a2);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = acc << shift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *pOut++ = (q31_t) (acc >> (32 - shift));
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage output is given as input to the second stage. */
+    pIn = pDst;
+
+    /* Reset to destination buffer working pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* The variable acc hold output value that is being computed and       
+     * stored in the destination buffer           
+     * acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]           
+     */
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* The value is shifted to the MSB to perform 32x64 multiplication */
+      Xn = Xn << 32;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = mult32x64(Xn, b0);
+      /* acc +=  b1 * x[n-1] */
+      acc += mult32x64(Xn1, b1);
+      /* acc +=  b[2] * x[n-2] */
+      acc += mult32x64(Xn2, b2);
+      /* acc +=  a1 * y[n-1] */
+      acc += mult32x64(Yn1, a1);
+      /* acc +=  a2 * y[n-2] */
+      acc += mult32x64(Yn2, a2);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = acc << shift;
+
+      /* Store the output in the destination buffer in 1.31 format. */
+      *pOut++ = (q31_t) (acc >> (32 - shift));
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage output is given as input to the second stage. */
+    pIn = pDst;
+
+    /* Reset to destination buffer working pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#endif /*    #ifndef ARM_MATH_CM0     */
+}
+
+  /**   
+   * @} end of BiquadCascadeDF1_32x64 group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
new file mode 100644
index 000000000..b5a744d0f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_f32.c
@@ -0,0 +1,418 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df1_f32.c   
+*   
+* Description:	Processing function for the   
+*               floating-point Biquad cascade DirectFormI(DF1) filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup BiquadCascadeDF1 Biquad Cascade IIR Filters Using Direct Form I Structure   
+ *   
+ * This set of functions implements arbitrary order recursive (IIR) filters.   
+ * The filters are implemented as a cascade of second order Biquad sections.   
+ * The functions support Q15, Q31 and floating-point data types. 
+ * Fast version of Q15 and Q31 also supported on CortexM4 and Cortex-M3.   
+ *   
+ * The functions operate on blocks of input and output data and each call to the function   
+ * processes blockSize samples through the filter.   
+ * pSrc points to the array of input data and   
+ * pDst points to the array of output data.   
+ * Both arrays contain blockSize values.   
+ *   
+ * \par Algorithm   
+ * Each Biquad stage implements a second order filter using the difference equation:   
+ * 
       
+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+ * 
       
+ * A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage.   
+ * \image html Biquad.gif "Single Biquad filter stage"   
+ * Coefficients b0, b1 and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.   
+ * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.   
+ * Pay careful attention to the sign of the feedback coefficients.   
+ * Some design tools use the difference equation   
+ * 
       
+ *     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]   
+ * 
       
+ * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.   
+ *   
+ * \par   
+ * Higher order filters are realized as a cascade of second order sections.   
+ * numStages refers to the number of second order stages used.   
+ * For example, an 8th order filter would be realized with numStages=4 second order stages.   
+ * \image html BiquadCascade.gif "8th order filter using a cascade of Biquad stages"   
+ * A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).   
+ *   
+ * \par   
+ * The pState points to state variables array.   
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].   
+ * The state variables are arranged in the pState array as:   
+ * 
       
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ * 
       
+ *   
+ * \par   
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.   
+ * The state array has a total length of 4*numStages values.   
+ * The state variables are updated after each block of data is processed, the coefficients are untouched.   
+ *   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Init Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ *   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Set the values in the state buffer to zeros before static initialization.   
+ * The code below statically initializes each of the 3 different data type filter instance structures   
+ * 
       
+ *     arm_biquad_casd_df1_inst_f32 S1 = {numStages, pState, pCoeffs};   
+ *     arm_biquad_casd_df1_inst_q15 S2 = {numStages, pState, pCoeffs, postShift};   
+ *     arm_biquad_casd_df1_inst_q31 S3 = {numStages, pState, pCoeffs, postShift};   
+ * 
       
+ * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer;   
+ * pCoeffs is the address of the coefficient buffer; postShift shift to be applied.   
+ *   
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the Q15 and Q31 versions of the Biquad Cascade filter functions.   
+ * Following issues must be considered:   
+ * - Scaling of coefficients   
+ * - Filter gain   
+ * - Overflow and saturation   
+ *   
+ * \par   
+ * Scaling of coefficients:    
+ * Filter coefficients are represented as fractional values and   
+ * coefficients are restricted to lie in the range [-1 +1).   
+ * The fixed-point functions have an additional scaling parameter postShift   
+ * which allow the filter coefficients to exceed the range [+1 -1).   
+ * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.   
+ * \image html BiquadPostshift.gif "Fixed-point Biquad with shift by postShift bits after accumulator"   
+ * This essentially scales the filter coefficients by 2^postShift.   
+ * For example, to realize the coefficients   
+ * 
       
+ *    {1.5, -0.8, 1.2, 1.6, -0.9}   
+ * 
       
+ * set the pCoeffs array to:   
+ * 
       
+ *    {0.75, -0.4, 0.6, 0.8, -0.45}   
+ * 
       
+ * and set postShift=1   
+ *   
+ * \par   
+ * Filter gain:    
+ * The frequency response of a Biquad filter is a function of its coefficients.   
+ * It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies.   
+ * This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter.   
+ * To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.   
+ *   
+ * \par   
+ * Overflow and saturation:    
+ * For Q15 and Q31 versions, it is described separately as part of the function specific documentation below.   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1   
+ * @{   
+ */
+
+/**   
+ * @param[in]  *S         points to an instance of the floating-point Biquad cascade structure.   
+ * @param[in]  *pSrc      points to the block of input data.   
+ * @param[out] *pDst      points to the block of output data.   
+ * @param[in]  blockSize  number of samples to process per call.   
+ * @return     none.   
+ *   
+ */
+
+void arm_biquad_cascade_df1_f32(
+  const arm_biquad_casd_df1_inst_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pIn = pSrc;                         /*  source pointer            */
+  float32_t *pOut = pDst;                        /*  destination pointer       */
+  float32_t *pState = S->pState;                 /*  pState pointer            */
+  float32_t *pCoeffs = S->pCoeffs;               /*  coefficient pointer       */
+  float32_t acc;                                 /*  Simulates the accumulator */
+  float32_t b0, b1, b2, a1, a2;                  /*  Filter coefficients       */
+  float32_t Xn1, Xn2, Yn1, Yn2;                  /*  Filter pState variables   */
+  float32_t Xn;                                  /*  temporary input           */
+  uint32_t sample, stage = S->numStages;         /*  loop counters             */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the pState values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    /*      The variable acc hold output values that are being computed:   
+     *   
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]   
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]   
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]   
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]   
+     */
+
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the first input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      Yn2 = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+
+      /* Read the second input */
+      Xn2 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      Yn1 = (b0 * Xn2) + (b1 * Xn) + (b2 * Xn1) + (a1 * Yn2) + (a2 * Yn1);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+
+      /* Read the third input */
+      Xn1 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      Yn2 = (b0 * Xn1) + (b1 * Xn2) + (b2 * Xn) + (a1 * Yn1) + (a2 * Yn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as: */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+
+      /* Read the forth input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      Yn1 = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn2) + (a2 * Yn1);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+
+      /* decrement the loop counter */
+      sample--;
+
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    sample = blockSize & 0x3u;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      acc = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:    */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = acc;
+
+      /* decrement the loop counter */
+      sample--;
+
+    }
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent numStages  occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset the output pointer */
+    pOut = pDst;
+
+    /* decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the pState values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /*      The variables acc holds the output value that is computed:       
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1]   + a2 * y[n-2]       
+     */
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      acc = (b0 * Xn) + (b1 * Xn1) + (b2 * Xn2) + (a1 * Yn1) + (a2 * Yn2);
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:    */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent numStages  occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset the output pointer */
+    pOut = pDst;
+
+    /* decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#endif /*   #ifndef ARM_MATH_CM0         */
+
+}
+
+
+  /**   
+   * @} end of BiquadCascadeDF1 group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
new file mode 100644
index 000000000..c2270fabd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q15.c
@@ -0,0 +1,283 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df1_fast_q15.c   
+*   
+* Description:	Fast processing function for the   
+*				Q15 Biquad cascade filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.9  2010/08/16    
+*    Initial version   
+*   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1   
+ * @{   
+ */
+
+/**   
+ * @details   
+ * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.   
+ * @param[in]  *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in]  blockSize number of samples to process per call.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * This fast version uses a 32-bit accumulator with 2.30 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around and distorts the result.   
+ * In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25).   
+ * The 2.30 accumulator is then shifted by postShift bits and the result truncated to 1.15 format by discarding the low 16 bits.   
+ *   
+ * \par   
+ * Refer to the function arm_biquad_cascade_df1_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.  Both the slow and the fast versions use the same instance structure.   
+ * Use the function arm_biquad_cascade_df1_init_q15() to initialize the filter structure.   
+ *   
+ */
+
+void arm_biquad_cascade_df1_fast_q15(
+  const arm_biquad_casd_df1_inst_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pIn = pSrc;                             /*  Source pointer                               */
+  q15_t *pOut = pDst;                            /*  Destination pointer                          */
+  q31_t in;                                      /*  Temporary variable to hold input value       */
+  q31_t out;                                     /*  Temporary variable to hold output value      */
+  q31_t b0;                                      /*  Temporary variable to hold bo value          */
+  q31_t b1, a1;                                  /*  Filter coefficients                          */
+  q31_t state_in, state_out;                     /*  Filter state variables                       */
+  q31_t acc0;                                    /*  Accumulator                                  */
+  int32_t shift = (int32_t) (15 - S->postShift); /*  Post shift                                   */
+  q15_t *pState = S->pState;                     /*  State pointer                                */
+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
+  q31_t *pState_q31;                             /*  32-bit state pointer for SIMD implementation */
+  uint32_t sample, stage = S->numStages;         /*  Stage loop counter                           */
+
+
+
+  do
+  {
+    /* Initialize state pointer of type q31 */
+    pState_q31 = (q31_t *) (pState);
+
+    /* Read the b0 and 0 coefficients using SIMD  */
+    b0 = *__SIMD32(pCoeffs)++;
+
+    /* Read the b1 and b2 coefficients using SIMD */
+    b1 = *__SIMD32(pCoeffs)++;
+
+    /* Read the a1 and a2 coefficients using SIMD */
+    a1 = *__SIMD32(pCoeffs)++;
+
+    /* Read the input state values from the state buffer:  x[n-1], x[n-2] */
+    state_in = (q31_t) (*pState_q31++);
+
+    /* Read the output state values from the state buffer:  y[n-1], y[n-2] */
+    state_out = (q31_t) (*pState_q31);
+
+    /* Apply loop unrolling and compute 2 output values simultaneously. */
+    /*      The variables acc0 ... acc3 hold output values that are being computed:   
+     *   
+     *    acc0 =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+     *    acc0 =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+     */
+    sample = blockSize >> 1u;
+
+    /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.   
+     ** a second loop below computes the remaining 1 sample. */
+    while(sample > 0u)
+    {
+
+      /* Read the input */
+      in = *__SIMD32(pIn)++;
+
+      /* out =  b0 * x[n] + 0 * 0 */
+      out = __SMUAD(b0, in);
+      /* acc0 =  b1 * x[n-1] + acc0 +=  b2 * x[n-2] + out */
+      acc0 = __SMLAD(b1, state_in, out);
+      /* acc0 +=  a1 * y[n-1] + acc0 +=  a2 * y[n-2] */
+      acc0 = __SMLAD(a1, state_out, acc0);
+
+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
+      out = __SSAT((acc0 >> shift), 16);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc0   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, (in >> 16), 16);
+      state_out = __PKHBT(state_out >> 16, (out), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* out =  b0 * x[n] + 0 * 0 */
+      out = __SMUADX(b0, in);
+      /* acc0 =  b1 * x[n-1] + acc0 +=  b2 * x[n-2] + out */
+      acc0 = __SMLAD(b1, state_in, out);
+      /* acc0 +=  a1 * y[n-1] + acc0 +=  a2 * y[n-2] */
+      acc0 = __SMLAD(a1, state_out, acc0);
+
+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
+      out = __SSAT((acc0 >> shift), 16);
+
+
+      /* Store the output in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ = __PKHBT(state_out, out, 16);
+
+#else
+
+      *__SIMD32(pOut)++ = __PKHBT(out, state_out >> 16, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc0   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in >> 16, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, in, 16);
+      state_out = __PKHBT(state_out >> 16, out, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+
+      /* Decrement the loop counter */
+      sample--;
+
+    }
+
+    /* If the blockSize is not a multiple of 2, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+
+    if((blockSize & 0x1u) != 0u)
+    {
+      /* Read the input */
+      in = *pIn++;
+
+      /* out =  b0 * x[n] + 0 * 0 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      out = __SMUAD(b0, in);
+
+#else
+
+      out = __SMUADX(b0, in);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* acc0 =  b1 * x[n-1] + acc0 +=  b2 * x[n-2] + out */
+      acc0 = __SMLAD(b1, state_in, out);
+      /* acc0 +=  a1 * y[n-1] + acc0 +=  a2 * y[n-2] */
+      acc0 = __SMLAD(a1, state_out, acc0);
+
+      /* The result is converted from 3.29 to 1.31 and then saturation is applied */
+      out = __SSAT((acc0 >> shift), 16);
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q15_t) out;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc0   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, in, 16);
+      state_out = __PKHBT(state_out >> 16, out, 16);
+
+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer.  */
+    /*  Subsequent (numStages - 1) occur in-place in the output buffer  */
+    pIn = pDst;
+
+    /* Reset the output pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the state array */
+    *__SIMD32(pState)++ = state_in;
+    *__SIMD32(pState)++ = state_out;
+
+
+    /* Decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+}
+
+
+/**   
+ * @} end of BiquadCascadeDF1 group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
new file mode 100644
index 000000000..5a86ee1bc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_fast_q31.c
@@ -0,0 +1,271 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df1_fast_q31.c   
+*   
+* Description:	Processing function for the   
+*				Q31 Fast Biquad cascade DirectFormI(DF1) filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.9  2010/08/27    
+*    Initial version   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1   
+ * @{   
+ */
+
+/**   
+ * @details   
+ *   
+ * @param[in]  *S        points to an instance of the Q31 Biquad cascade structure.   
+ * @param[in]  *pSrc     points to the block of input data.   
+ * @param[out] *pDst     points to the block of output data.   
+ * @param[in]  blockSize number of samples to process per call.   
+ * @return 	   none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.   
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.   
+ * These intermediate results are added to a 2.30 accumulator.   
+ * Finally, the accumulator is saturated and converted to a 1.31 result.   
+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.   
+ * In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25). Use the intialization function   
+ * arm_biquad_cascade_df1_init_q31() to initialize filter structure.   
+ *   
+ * \par   
+ * Refer to the function arm_biquad_cascade_df1_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.  Both the slow and the fast versions use the same instance structure.   
+ * Use the function arm_biquad_cascade_df1_init_q31() to initialize the filter structure.   
+ */
+
+void arm_biquad_cascade_df1_fast_q31(
+  const arm_biquad_casd_df1_inst_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
+  q31_t *pOut = pDst;                            /*  output pointer initialization */
+  q31_t *pState = S->pState;                     /*  pState pointer initialization */
+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
+  q31_t acc;                                     /*  accumulator                   */
+  q31_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
+  q31_t Xn;                                      /*  temporary input               */
+  int32_t shift = (int32_t) S->postShift + 1;    /*  Shift to be applied to the output */
+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
+
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    /*      The variables acc ... acc3 hold output values that are being computed:   
+     *   
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+     */
+
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * Xn) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
+
+      /* The result is converted to 1.31 , Yn2 variable is reused */
+      Yn2 = acc << shift;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Read the second input */
+      Xn2 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * (Xn2)) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn1))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn2))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn1))) >> 32);
+
+      /* The result is converted to 1.31, Yn1 variable is reused  */
+      Yn1 = acc << shift;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* Read the third input  */
+      Xn1 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * (Xn1)) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn2))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
+
+      /* The result is converted to 1.31, Yn2 variable is reused  */
+      Yn2 = acc << shift;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Read the forth input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * (Xn)) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn2))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn1))) >> 32);
+
+      /* The result is converted to 1.31, Yn1 variable is reused  */
+      Yn1 = acc << shift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    sample = (blockSize & 0x3u);
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) (((q63_t) b0 * (Xn)) >> 32);
+      /* acc +=  b1 * x[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b1 * (Xn1))) >> 32);
+      /* acc +=  b[2] * x[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) b2 * (Xn2))) >> 32);
+      /* acc +=  a1 * y[n-1] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a1 * (Yn1))) >> 32);
+      /* acc +=  a2 * y[n-2] */
+      acc = (q31_t) ((((q63_t) acc << 32) + ((q63_t) a2 * (Yn2))) >> 32);
+      /* The result is converted to 1.31  */
+      acc = acc << shift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = acc;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent stages occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset to destination pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+}
+
+/**   
+  * @} end of BiquadCascadeDF1 group   
+  */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
new file mode 100644
index 000000000..4ea93db8b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_f32.c
@@ -0,0 +1,104 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_biquad_cascade_df1_init_f32.c   
+*   
+* Description:  floating-point Biquad cascade DirectFormI(DF1) filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1   
+ * @{   
+ */
+
+/**   
+ * @details   
+ * @brief  Initialization function for the floating-point Biquad cascade filter.   
+ * @param[in,out] *S           points to an instance of the floating-point Biquad cascade structure.   
+ * @param[in]     numStages    number of 2nd order stages in the filter.   
+ * @param[in]     *pCoeffs     points to the filter coefficients array.   
+ * @param[in]     *pState      points to the state array.   
+ * @return        none   
+ *   
+ *   
+ * Coefficient and State Ordering:   
+ *   
+ * \par   
+ * The coefficients are stored in the array pCoeffs in the following order:   
+ * 
       
+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}   
+ * 
       
+ *   
+ * \par   
+ * where b1x and a1x are the coefficients for the first stage,   
+ * b2x and a2x are the coefficients for the second stage,   
+ * and so on.  The pCoeffs array contains a total of 5*numStages values.   
+ *   
+ * \par   
+ * The pState is a pointer to state array.   
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].   
+ * The state variables are arranged in the pState array as:   
+ * 
       
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ * 
       
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.   
+ * The state array has a total length of 4*numStages values.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ *   
+ */
+
+void arm_biquad_cascade_df1_init_f32(
+  arm_biquad_casd_df1_inst_f32 * S,
+  uint8_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 4 * numStages */
+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**   
+ * @} end of BiquadCascadeDF1 group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
new file mode 100644
index 000000000..19ceb32a8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q15.c
@@ -0,0 +1,106 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_biquad_cascade_df1_init_q15.c   
+*   
+* Description:  Q15 Biquad cascade DirectFormI(DF1) filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1   
+ * @{   
+ */
+
+/**   
+ * @details   
+ *   
+ * @param[in,out] *S           points to an instance of the Q15 Biquad cascade structure.   
+ * @param[in]     numStages    number of 2nd order stages in the filter.   
+ * @param[in]     *pCoeffs     points to the filter coefficients.   
+ * @param[in]     *pState      points to the state buffer.   
+ * @param[in]     postShift    Shift to be applied to the accumulator result. Varies according to the coefficients format   
+ * @return        none   
+ *   
+ * Coefficient and State Ordering:   
+ *   
+ * \par   
+ * The coefficients are stored in the array pCoeffs in the following order:   
+ * 
       
+ *     {b10, 0, b11, b12, a11, a12, b20, 0, b21, b22, a21, a22, ...}   
+ * 
       
+ * where b1x and a1x are the coefficients for the first stage,   
+ * b2x and a2x are the coefficients for the second stage,   
+ * and so on.  The pCoeffs array contains a total of 6*numStages values.   
+ * The zero coefficient between b1 and b2 facilities  use of 16-bit SIMD instructions on the Cortex-M4.   
+ *   
+ * \par   
+ * The state variables are stored in the array pState.   
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].   
+ * The state variables are arranged in the pState array as:   
+ * 
       
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ * 
       
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.   
+ * The state array has a total length of 4*numStages values.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ */
+
+void arm_biquad_cascade_df1_init_q15(
+  arm_biquad_casd_df1_inst_q15 * S,
+  uint8_t numStages,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  int8_t postShift)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign postShift to be applied to the output */
+  S->postShift = postShift;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 4 * numStages */
+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**   
+ * @} end of BiquadCascadeDF1 group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
new file mode 100644
index 000000000..a41e4daf7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_init_q31.c
@@ -0,0 +1,106 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df1_init_q31.c   
+*   
+* Description:	Q31 Biquad cascade DirectFormI(DF1) filter initialization function.   
+*   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1   
+ * @{   
+ */
+
+/**   
+ * @details   
+ *   
+ * @param[in,out] *S           points to an instance of the Q31 Biquad cascade structure.   
+ * @param[in]     numStages    number of 2nd order stages in the filter.   
+ * @param[in]     *pCoeffs     points to the filter coefficients buffer.   
+ * @param[in]     *pState      points to the state buffer.   
+ * @param[in]     postShift    Shift to be applied after the accumulator.  Varies according to the coefficients format   
+ * @return        none   
+ *   
+ * Coefficient and State Ordering:   
+ *   
+ * \par   
+ * The coefficients are stored in the array pCoeffs in the following order:   
+ * 
       
+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}   
+ * 
       
+ * where b1x and a1x are the coefficients for the first stage,   
+ * b2x and a2x are the coefficients for the second stage,   
+ * and so on.  The pCoeffs array contains a total of 5*numStages values.   
+ *   
+ * \par   
+ * The pState points to state variables array.   
+ * Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2].   
+ * The state variables are arranged in the pState array as:   
+ * 
       
+ *     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ * 
       
+ * The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on.   
+ * The state array has a total length of 4*numStages values.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ */
+
+void arm_biquad_cascade_df1_init_q31(
+  arm_biquad_casd_df1_inst_q31 * S,
+  uint8_t numStages,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  int8_t postShift)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign postShift to be applied to the output */
+  S->postShift = postShift;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 4 * numStages */
+  memset(pState, 0, (4u * (uint32_t) numStages) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**   
+ * @} end of BiquadCascadeDF1 group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
new file mode 100644
index 000000000..a9083f8f1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q15.c
@@ -0,0 +1,380 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df1_q15.c   
+*   
+* Description:	Processing function for the   
+*				Q15 Biquad cascade DirectFormI(DF1) filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q15 Biquad cascade filter.   
+ * @param[in]  *S points to an instance of the Q15 Biquad cascade structure.   
+ * @param[in]  *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the location where the output result is written.   
+ * @param[in]  blockSize number of samples to process per call.   
+ * @return none.   
+ *   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.   
+ * The accumulator is then shifted by postShift bits to truncate the result to 1.15 format by discarding the low 16 bits.   
+ * Finally, the result is saturated to 1.15 format.   
+ *   
+ * \par   
+ * Refer to the function arm_biquad_cascade_df1_fast_q15() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_biquad_cascade_df1_q15(
+  const arm_biquad_casd_df1_inst_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn = pSrc;                             /*  Source pointer                               */
+  q15_t *pOut = pDst;                            /*  Destination pointer                          */
+  q31_t in;                                      /*  Temporary variable to hold input value       */
+  q31_t out;                                     /*  Temporary variable to hold output value      */
+  q31_t b0;                                      /*  Temporary variable to hold bo value          */
+  q31_t b1, a1;                                  /*  Filter coefficients                          */
+  q31_t state_in, state_out;                     /*  Filter state variables                       */
+  q63_t acc;                                     /*  Accumulator                                  */
+  int32_t shift = (15 - (int32_t) S->postShift); /*  Post shift                                   */
+  q15_t *pState = S->pState;                     /*  State pointer                                */
+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
+  q31_t *pState_q31;                             /*  32-bit state pointer for SIMD implementation */
+  uint32_t sample, stage = (uint32_t) S->numStages;     /*  Stage loop counter                           */
+
+  do
+  {
+    /* Initialize state pointer of type q31 */
+    pState_q31 = (q31_t *) (pState);
+
+    /* Read the b0 and 0 coefficients using SIMD  */
+    b0 = *__SIMD32(pCoeffs)++;
+
+    /* Read the b1 and b2 coefficients using SIMD */
+    b1 = *__SIMD32(pCoeffs)++;
+
+    /* Read the a1 and a2 coefficients using SIMD */
+    a1 = *__SIMD32(pCoeffs)++;
+
+    /* Read the input state values from the state buffer:  x[n-1], x[n-2] */
+    state_in = (q31_t) (*pState_q31++);
+
+    /* Read the output state values from the state buffer:  y[n-1], y[n-2] */
+    state_out = (q31_t) (*pState_q31);
+
+    /* Apply loop unrolling and compute 2 output values simultaneously. */
+    /*      The variable acc hold output values that are being computed:   
+     *   
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+     */
+    sample = blockSize >> 1u;
+
+    /* First part of the processing with loop unrolling.  Compute 2 outputs at a time.   
+     ** a second loop below computes the remaining 1 sample. */
+    while(sample > 0u)
+    {
+
+      /* Read the input */
+      in = *__SIMD32(pIn)++;
+
+      /* out =  b0 * x[n] + 0 * 0 */
+      out = __SMUAD(b0, in);
+
+      /* acc +=  b1 * x[n-1] +  b2 * x[n-2] + out */
+      acc = __SMLALD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] +  a2 * y[n-2] */
+      acc = __SMLALD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
+      out = __SSAT((acc >> shift), 16);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, (in >> 16), 16);
+      state_out = __PKHBT(state_out >> 16, (out), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* out =  b0 * x[n] + 0 * 0 */
+      out = __SMUADX(b0, in);
+      /* acc +=  b1 * x[n-1] +  b2 * x[n-2] + out */
+      acc = __SMLALD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] + a2 * y[n-2] */
+      acc = __SMLALD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
+      out = __SSAT((acc >> shift), 16);
+
+      /* Store the output in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ = __PKHBT(state_out, out, 16);
+
+#else
+
+      *__SIMD32(pOut)++ = __PKHBT(out, state_out >> 16, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in >> 16, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, in, 16);
+      state_out = __PKHBT(state_out >> 16, out, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+
+      /* Decrement the loop counter */
+      sample--;
+
+    }
+
+    /* If the blockSize is not a multiple of 2, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+
+    if((blockSize & 0x1u) != 0u)
+    {
+      /* Read the input */
+      in = *pIn++;
+
+      /* out =  b0 * x[n] + 0 * 0 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      out = __SMUAD(b0, in);
+
+#else
+
+      out = __SMUADX(b0, in);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* acc =  b1 * x[n-1] + b2 * x[n-2] + out */
+      acc = __SMLALD(b1, state_in, out);
+      /* acc +=  a1 * y[n-1] + a2 * y[n-2] */
+      acc = __SMLALD(a1, state_out, acc);
+
+      /* The result is converted from 3.29 to 1.31 if postShift = 1, and then saturation is applied */
+      out = __SSAT((acc >> shift), 16);
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q15_t) out;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc   */
+      /* x[n-N], x[n-N-1] are packed together to make state_in of type q31 */
+      /* y[n-N], y[n-N-1] are packed together to make state_out of type q31 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      state_in = __PKHBT(in, state_in, 16);
+      state_out = __PKHBT(out, state_out, 16);
+
+#else
+
+      state_in = __PKHBT(state_in >> 16, in, 16);
+      state_out = __PKHBT(state_out >> 16, out, 16);
+
+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    }
+
+    /*  The first stage goes from the input wire to the output wire.  */
+    /*  Subsequent numStages occur in-place in the output wire  */
+    pIn = pDst;
+
+    /* Reset the output pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the state array */
+    *__SIMD32(pState)++ = state_in;
+    *__SIMD32(pState)++ = state_out;
+
+
+    /* Decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t *pIn = pSrc;                             /*  Source pointer                               */
+  q15_t *pOut = pDst;                            /*  Destination pointer                          */
+  q15_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
+  q15_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
+  q15_t Xn;                                      /*  temporary input               */
+  q63_t acc;                                     /*  Accumulator                                  */
+  int32_t shift = (15 - (int32_t) S->postShift); /*  Post shift                                   */
+  q15_t *pState = S->pState;                     /*  State pointer                                */
+  q15_t *pCoeffs = S->pCoeffs;                   /*  Coefficient pointer                          */
+  uint32_t sample, stage = (uint32_t) S->numStages;     /*  Stage loop counter                           */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /*      The variables acc holds the output value that is computed:        
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]        
+     */
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q31_t) b0 *Xn;
+
+      /* acc +=  b1 * x[n-1] */
+      acc += (q31_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q31_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q31_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q31_t) a2 *Yn2;
+
+      /* The result is converted to 1.31  */
+      acc = __SSAT((acc >> shift), 16);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = (q15_t) acc;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q15_t) acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent stages occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset to destination pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#endif /*     #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/**   
+ * @} end of BiquadCascadeDF1 group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
new file mode 100644
index 000000000..66d65f803
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df1_q31.c
@@ -0,0 +1,362 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df1_q31.c   
+*   
+* Description:	Processing function for the   
+*				Q31 Biquad cascade filter   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF1   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q31 Biquad cascade filter.   
+ * @param[in]  *S         points to an instance of the Q31 Biquad cascade structure.   
+ * @param[in]  *pSrc      points to the block of input data.   
+ * @param[out] *pDst      points to the block of output data.   
+ * @param[in]  blockSize  number of samples to process per call.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around rather than clip.   
+ * In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25).   
+ * After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by postShift bits and the result truncated to   
+ * 1.31 format by discarding the low 32 bits.   
+ *   
+ * \par   
+ * Refer to the function arm_biquad_cascade_df1_fast_q31() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_biquad_cascade_df1_q31(
+  const arm_biquad_casd_df1_inst_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /*  input pointer initialization  */
+  q31_t *pOut = pDst;                            /*  output pointer initialization */
+  q31_t *pState = S->pState;                     /*  pState pointer initialization */
+  q31_t *pCoeffs = S->pCoeffs;                   /*  coeff pointer initialization  */
+  q63_t acc;                                     /*  accumulator                   */
+  q31_t Xn1, Xn2, Yn1, Yn2;                      /*  Filter state variables        */
+  q31_t b0, b1, b2, a1, a2;                      /*  Filter coefficients           */
+  q31_t Xn;                                      /*  temporary input               */
+  uint32_t shift = 32u - ((uint32_t) S->postShift + 1u);        /*  Shift to be applied to the output */
+  uint32_t sample, stage = S->numStages;         /*  loop counters                     */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    /*      The variable acc hold output values that are being computed:   
+     *   
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+     */
+
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn2;
+
+      /* The result is converted to 1.31 , Yn2 variable is reused */
+      Yn2 = (q31_t) (acc >> shift);
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Read the second input */
+      Xn2 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn2;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn1;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn2;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn1;
+
+
+      /* The result is converted to 1.31, Yn1 variable is reused  */
+      Yn1 = (q31_t) (acc >> shift);
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* Read the third input  */
+      Xn1 = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn1;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn2;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn2;
+
+      /* The result is converted to 1.31, Yn2 variable is reused  */
+      Yn2 = (q31_t) (acc >> shift);
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn2;
+
+      /* Read the forth input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn2;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn1;
+
+      /* The result is converted to 1.31, Yn1 variable is reused  */
+      Yn1 = (q31_t) (acc >> shift);
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = Yn1;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    sample = (blockSize & 0x3u);
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn;
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn2;
+
+      /* The result is converted to 1.31  */
+      acc = acc >> shift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = (q31_t) acc;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q31_t) acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent stages occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset to destination pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /* Reading the state values */
+    Xn1 = pState[0];
+    Xn2 = pState[1];
+    Yn1 = pState[2];
+    Yn2 = pState[3];
+
+    /*      The variables acc holds the output value that is computed:        
+     *    acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]        
+     */
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* acc =  b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2] */
+      /* acc =  b0 * x[n] */
+      acc = (q63_t) b0 *Xn;
+
+      /* acc +=  b1 * x[n-1] */
+      acc += (q63_t) b1 *Xn1;
+      /* acc +=  b[2] * x[n-2] */
+      acc += (q63_t) b2 *Xn2;
+      /* acc +=  a1 * y[n-1] */
+      acc += (q63_t) a1 *Yn1;
+      /* acc +=  a2 * y[n-2] */
+      acc += (q63_t) a2 *Yn2;
+
+      /* The result is converted to 1.31  */
+      acc = acc >> shift;
+
+      /* Every time after the output is computed state should be updated. */
+      /* The states should be updated as:  */
+      /* Xn2 = Xn1    */
+      /* Xn1 = Xn     */
+      /* Yn2 = Yn1    */
+      /* Yn1 = acc    */
+      Xn2 = Xn1;
+      Xn1 = Xn;
+      Yn2 = Yn1;
+      Yn1 = (q31_t) acc;
+
+      /* Store the output in the destination buffer. */
+      *pOut++ = (q31_t) acc;
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /*  The first stage goes from the input buffer to the output buffer. */
+    /*  Subsequent stages occur in-place in the output buffer */
+    pIn = pDst;
+
+    /* Reset to destination pointer */
+    pOut = pDst;
+
+    /*  Store the updated state variables back into the pState array */
+    *pState++ = Xn1;
+    *pState++ = Xn2;
+    *pState++ = Yn1;
+    *pState++ = Yn2;
+
+  } while(--stage);
+
+#endif /*  #ifndef ARM_MATH_CM0 */
+}
+
+/**   
+  * @} end of BiquadCascadeDF1 group   
+  */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
new file mode 100644
index 000000000..9c3e0a72f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_f32.c
@@ -0,0 +1,359 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_biquad_cascade_df2T_f32.c   
+*   
+* Description:  Processing function for the floating-point transposed   
+*               direct form II Biquad cascade filter.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup BiquadCascadeDF2T Biquad Cascade IIR Filters Using a Direct Form II Transposed Structure   
+ *   
+ * This set of functions implements arbitrary order recursive (IIR) filters using a transposed direct form II structure.   
+ * The filters are implemented as a cascade of second order Biquad sections.   
+ * These functions provide a slight memory savings as compared to the direct form I Biquad filter functions.  
+ * Only floating-point data is supported.   
+ *   
+ * This function operate on blocks of input and output data and each call to the function   
+ * processes blockSize samples through the filter.   
+ * pSrc points to the array of input data and   
+ * pDst points to the array of output data.   
+ * Both arrays contain blockSize values.   
+ *   
+ * \par Algorithm   
+ * Each Biquad stage implements a second order filter using the difference equation:   
+ * 
       
+ *    y[n] = b0 * x[n] + d1   
+ *    d1 = b1 * x[n] + a1 * y[n] + d2   
+ *    d2 = b2 * x[n] + a2 * y[n]   
+ * 
       
+ * where d1 and d2 represent the two state values.   
+ *   
+ * \par   
+ * A Biquad filter using a transposed Direct Form II structure is shown below.   
+ * \image html BiquadDF2Transposed.gif "Single transposed Direct Form II Biquad"   
+ * Coefficients b0, b1, and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients.   
+ * Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients.   
+ * Pay careful attention to the sign of the feedback coefficients.   
+ * Some design tools flip the sign of the feedback coefficients:   
+ * 
       
+ *    y[n] = b0 * x[n] + d1;   
+ *    d1 = b1 * x[n] - a1 * y[n] + d2;   
+ *    d2 = b2 * x[n] - a2 * y[n];   
+ * 
       
+ * In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.   
+ *   
+ * \par   
+ * Higher order filters are realized as a cascade of second order sections.   
+ * numStages refers to the number of second order stages used.   
+ * For example, an 8th order filter would be realized with numStages=4 second order stages.   
+ * A 9th order filter would be realized with numStages=5 second order stages with the   
+ * coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).   
+ *   
+ * \par   
+ * pState points to the state variable array.   
+ * Each Biquad stage has 2 state variables d1 and d2.   
+ * The state variables are arranged in the pState array as:   
+ * 
       
+ *     {d11, d12, d21, d22, ...}   
+ * 
       
+ * where d1x refers to the state variables for the first Biquad and   
+ * d2x refers to the state variables for the second Biquad.   
+ * The state array has a total length of 2*numStages values.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ *   
+ * \par   
+ * The CMSIS library contains Biquad filters in both Direct Form I and transposed Direct Form II.   
+ * The advantage of the Direct Form I structure is that it is numerically more robust for fixed-point data types.   
+ * That is why the Direct Form I structure supports Q15 and Q31 data types.   
+ * The transposed Direct Form II structure, on the other hand, requires a wide dynamic range for the state variables d1 and d2.   
+ * Because of this, the CMSIS library only has a floating-point version of the Direct Form II Biquad.   
+ * The advantage of the Direct Form II Biquad is that it requires half the number of state variables, 2 rather than 4, per Biquad stage.   
+ *   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.   
+ *   
+ * \par Init Functions   
+ * There is also an associated initialization function.  
+ * The initialization function performs following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ *   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Set the values in the state buffer to zeros before static initialization.   
+ * For example, to statically initialize the instance structure use   
+ * 
       
+ *     arm_biquad_cascade_df2T_instance_f32 S1 = {numStages, pState, pCoeffs};   
+ * 
       
+ * where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer.   
+ * pCoeffs is the address of the coefficient buffer;    
+ *   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF2T   
+ * @{   
+ */
+
+/**  
+ * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter.  
+ * @param[in]  *S        points to an instance of the filter data structure.  
+ * @param[in]  *pSrc     points to the block of input data.  
+ * @param[out] *pDst     points to the block of output data  
+ * @param[in]  blockSize number of samples to process.  
+ * @return none.  
+ */
+
+void arm_biquad_cascade_df2T_f32(
+  const arm_biquad_cascade_df2T_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+
+  float32_t *pIn = pSrc;                         /*  source pointer            */
+  float32_t *pOut = pDst;                        /*  destination pointer       */
+  float32_t *pState = S->pState;                 /*  State pointer            */
+  float32_t *pCoeffs = S->pCoeffs;               /*  coefficient pointer       */
+  float32_t acc0;                                /*  Simulates the accumulator */
+  float32_t b0, b1, b2, a1, a2;                  /*  Filter coefficients       */
+  float32_t Xn;                                  /*  temporary input           */
+  float32_t d1, d2;                              /*  state variables          */
+  uint32_t sample, stage = S->numStages;         /*  loop counters             */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /*Reading the state values */
+    d1 = pState[0];
+    d2 = pState[1];
+
+    /* Apply loop unrolling and compute 4 output values simultaneously. */
+    sample = blockSize >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(sample > 0u)
+    {
+      /* Read the first input */
+      Xn = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      /* Every time after the output is computed state should be updated. */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
+
+      /* d2 = b2 * x[n] + a2 * y[n] */
+      d2 = (b2 * Xn) + (a2 * acc0);
+
+      /* Read the second input */
+      Xn = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      /* Every time after the output is computed state should be updated. */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
+
+      /* d2 = b2 * x[n] + a2 * y[n] */
+      d2 = (b2 * Xn) + (a2 * acc0);
+
+      /* Read the third input */
+      Xn = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      /* Every time after the output is computed state should be updated. */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
+
+      /* d2 = b2 * x[n] + a2 * y[n] */
+      d2 = (b2 * Xn) + (a2 * acc0);
+
+      /* Read the fourth input */
+      Xn = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      /* Every time after the output is computed state should be updated. */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      d1 = (b1 * Xn) + (a1 * acc0) + d2;
+
+      /* d2 = b2 * x[n] + a2 * y[n] */
+      d2 = (b2 * Xn) + (a2 * acc0);
+
+      /* decrement the loop counter */
+      sample--;
+
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    sample = blockSize & 0x3u;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      /* Every time after the output is computed state should be updated. */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
+
+      /* d2 = b2 * x[n] + a2 * y[n] */
+      d2 = (b2 * Xn) + (a2 * acc0);
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* Store the updated state variables back into the state array */
+    *pState++ = d1;
+    *pState++ = d2;
+
+    /* The current stage input is given as the output to the next stage */
+    pIn = pDst;
+
+    /*Reset the output working pointer */
+    pOut = pDst;
+
+    /* decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  do
+  {
+    /* Reading the coefficients */
+    b0 = *pCoeffs++;
+    b1 = *pCoeffs++;
+    b2 = *pCoeffs++;
+    a1 = *pCoeffs++;
+    a2 = *pCoeffs++;
+
+    /*Reading the state values */
+    d1 = pState[0];
+    d2 = pState[1];
+
+
+    sample = blockSize;
+
+    while(sample > 0u)
+    {
+      /* Read the input */
+      Xn = *pIn++;
+
+      /* y[n] = b0 * x[n] + d1 */
+      acc0 = (b0 * Xn) + d1;
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+
+      /* Every time after the output is computed state should be updated. */
+      /* d1 = b1 * x[n] + a1 * y[n] + d2 */
+      d1 = ((b1 * Xn) + (a1 * acc0)) + d2;
+
+      /* d2 = b2 * x[n] + a2 * y[n] */
+      d2 = (b2 * Xn) + (a2 * acc0);
+
+      /* decrement the loop counter */
+      sample--;
+    }
+
+    /* Store the updated state variables back into the state array */
+    *pState++ = d1;
+    *pState++ = d2;
+
+    /* The current stage input is given as the output to the next stage */
+    pIn = pDst;
+
+    /*Reset the output working pointer */
+    pOut = pDst;
+
+    /* decrement the loop counter */
+    stage--;
+
+  } while(stage > 0u);
+
+#endif /*  #ifndef ARM_MATH_CM0         */
+
+}
+
+
+  /**   
+   * @} end of BiquadCascadeDF2T group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
new file mode 100644
index 000000000..eaf35d85b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_biquad_cascade_df2T_init_f32.c
@@ -0,0 +1,94 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_biquad_cascade_df2T_init_f32.c   
+*   
+* Description:  Initialization function for the floating-point transposed  
+*               direct form II Biquad cascade filter.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup BiquadCascadeDF2T   
+ * @{   
+ */
+
+/**  
+ * @brief  Initialization function for the floating-point transposed direct form II Biquad cascade filter.  
+ * @param[in,out] *S           points to an instance of the filter data structure.  
+ * @param[in]     numStages    number of 2nd order stages in the filter.  
+ * @param[in]     *pCoeffs     points to the filter coefficients.  
+ * @param[in]     *pState      points to the state buffer.  
+ * @return        none  
+ *   
+ * Coefficient and State Ordering:   
+ * \par   
+ * The coefficients are stored in the array pCoeffs in the following order:   
+ * 
       
+ *     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}   
+ * 
       
+ *   
+ * \par   
+ * where b1x and a1x are the coefficients for the first stage,   
+ * b2x and a2x are the coefficients for the second stage,   
+ * and so on.  The pCoeffs array contains a total of 5*numStages values.   
+ *   
+ * \par   
+ * The pState is a pointer to state array.   
+ * Each Biquad stage has 2 state variables d1, and d2.   
+ * The 2 state variables for stage 1 are first, then the 2 state variables for stage 2, and so on.   
+ * The state array has a total length of 2*numStages values.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ */
+
+void arm_biquad_cascade_df2T_init_f32(
+  arm_biquad_cascade_df2T_instance_f32 * S,
+  uint8_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState)
+{
+  /* Assign filter stages */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always 2 * numStages */
+  memset(pState, 0, (2u * (uint32_t) numStages) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+}
+
+/**   
+ * @} end of BiquadCascadeDF2T group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
new file mode 100644
index 000000000..1c8a726e2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_f32.c
@@ -0,0 +1,623 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_f32.c   
+*   
+* Description:	Convolution of floating-point sequences.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup Conv Convolution   
+ *   
+ * Convolution is a mathematical operation that operates on two finite length vectors to generate a finite length output vector.   
+ * Convolution is similar to correlation and is frequently used in filtering and data analysis.   
+ * The CMSIS DSP library contains functions for convolving Q7, Q15, Q31, and floating-point data types.   
+ * The library also provides fast versions of the Q15 and Q31 functions on Cortex-M4 and Cortex-M3.   
+ *   
+ * \par Algorithm   
+ * Let a[n] and b[n] be sequences of length srcALen and srcBLen samples respectively.   
+ * Then the convolution   
+ *   
+ * 
       
+ *                   c[n] = a[n] * b[n]   
+ * 
       
+ *   
+ * \par   
+ * is defined as   
+ * \image html ConvolutionEquation.gif   
+ * \par   
+ * Note that c[n] is of length srcALen + srcBLen - 1 and is defined over the interval n=0, 1, 2, ..., srcALen + srcBLen - 2.   
+ * pSrcA points to the first input vector of length srcALen and   
+ * pSrcB points to the second input vector of length srcBLen.   
+ * The output result is written to pDst and the calling function must allocate srcALen+srcBLen-1 words for the result.   
+ *   
+ * \par   
+ * Conceptually, when two signals a[n] and b[n] are convolved,   
+ * the signal b[n] slides over a[n].   
+ * For each offset \c n, the overlapping portions of a[n] and b[n] are multiplied and summed together.   
+ *   
+ * \par   
+ * Note that convolution is a commutative operation:   
+ *   
+ * 
       
+ *                   a[n] * b[n] = b[n] * a[n].   
+ * 
       
+ *   
+ * \par   
+ * This means that switching the A and B arguments to the convolution functions has no effect.   
+ *   
+ * Fixed-Point Behavior   
+ *   
+ * \par   
+ * Convolution requires summing up a large number of intermediate products.   
+ * As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation.   
+ * Refer to the function specific documentation below for further details of the particular algorithm used.   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @brief Convolution of floating-point sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ */
+
+void arm_conv_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t *pIn1;                               /* inputA pointer */
+  float32_t *pIn2;                               /* inputB pointer */
+  float32_t *pOut = pDst;                        /* output pointer */
+  float32_t *px;                                 /* Intermediate inputA pointer */
+  float32_t *py;                                 /* Intermediate inputB pointer */
+  float32_t *pSrc1, *pSrc2;                      /* Intermediate pointers */
+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulator */
+  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */
+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counters */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0.0f;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 1] */
+      sum += *px++ * *py--;
+
+      /* x[1] * y[srcBLen - 2] */
+      sum += *px++ * *py--;
+
+      /* x[2] * y[srcBLen - 3] */
+      sum += *px++ * *py--;
+
+      /* x[3] * y[srcBLen - 4] */
+      sum += *px++ * *py--;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += *px++ * *py--;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0.0f;
+      acc1 = 0.0f;
+      acc2 = 0.0f;
+      acc3 = 0.0f;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[srcBLen - 1] sample */
+        c0 = *(py--);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[0] * y[srcBLen - 1] */
+        acc0 += x0 * c0;
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] */
+        acc1 += x1 * c0;
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] */
+        acc2 += x2 * c0;
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] */
+        acc3 += x3 * c0;
+
+        /* Read y[srcBLen - 2] sample */
+        c0 = *(py--);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[1] * y[srcBLen - 2] */
+        acc0 += x1 * c0;
+        /* acc1 +=  x[2] * y[srcBLen - 2] */
+        acc1 += x2 * c0;
+        /* acc2 +=  x[3] * y[srcBLen - 2] */
+        acc2 += x3 * c0;
+        /* acc3 +=  x[4] * y[srcBLen - 2] */
+        acc3 += x0 * c0;
+
+        /* Read y[srcBLen - 3] sample */
+        c0 = *(py--);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[srcBLen - 3] */
+        acc0 += x2 * c0;
+        /* acc1 +=  x[3] * y[srcBLen - 2] */
+        acc1 += x3 * c0;
+        /* acc2 +=  x[4] * y[srcBLen - 2] */
+        acc2 += x0 * c0;
+        /* acc3 +=  x[5] * y[srcBLen - 2] */
+        acc3 += x1 * c0;
+
+        /* Read y[srcBLen - 4] sample */
+        c0 = *(py--);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[srcBLen - 4] */
+        acc0 += x3 * c0;
+        /* acc1 +=  x[4] * y[srcBLen - 4] */
+        acc1 += x0 * c0;
+        /* acc2 +=  x[5] * y[srcBLen - 4] */
+        acc2 += x1 * c0;
+        /* acc3 +=  x[6] * y[srcBLen - 4] */
+        acc3 += x2 * c0;
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[srcBLen - 5] sample */
+        c0 = *(py--);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[srcBLen - 5] */
+        acc0 += x0 * c0;
+        /* acc1 +=  x[5] * y[srcBLen - 5] */
+        acc1 += x1 * c0;
+        /* acc2 +=  x[6] * y[srcBLen - 5] */
+        acc2 += x2 * c0;
+        /* acc3 +=  x[7] * y[srcBLen - 5] */
+        acc3 += x3 * c0;
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = acc0;
+      *pOut++ = acc1;
+      *pOut++ = acc2;
+      *pOut++ = acc3;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pSrc2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += *px++ * *py--;
+        sum += *px++ * *py--;
+        sum += *px++ * *py--;
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0.0f;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+      sum += *px++ * *py--;
+
+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+      sum += *px++ * *py--;
+
+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+      sum += *px++ * *py--;
+
+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+      sum += *px++ * *py--;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+      sum += *px++ * *py--;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
+  float32_t sum;                                 /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i < ((srcALen + srcBLen) - 1u); i++)
+  {
+    /* Initialize sum with zero to carry out MAC operations */
+    sum = 0.0f;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += pIn1[j] * pIn2[i - j];
+      }
+    }
+    /* Store the output in the destination buffer */
+    pDst[i] = sum;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0        */
+
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
new file mode 100644
index 000000000..e53dbac13
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q15.c
@@ -0,0 +1,677 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_fast_q15.c   
+*   
+* Description:	Fast Q15 Convolution.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * This fast version uses a 32-bit accumulator with 2.30 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results   
+ * but provides only a single guard bit. There is no saturation on intermediate additions.   
+ * Thus, if the accumulator overflows it wraps around and distorts the result.   
+ * The input signals should be scaled down to avoid intermediate overflows.   
+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,   
+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.   
+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.   
+ *   
+ * \par   
+ * See arm_conv_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.   
+ */
+
+void arm_conv_fast_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst)
+{
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *pOut = pDst;                            /* output pointer */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
+  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */
+  q31_t *pb;                                     /* 32 bit pointer for inputB buffer */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations less than 4 */
+  /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  while((count < 4u) && (blockSize1 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Loop over number of MAC operations between   
+     * inputA samples and inputB samples */
+    k = count;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLAD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* The second part of the stage starts here */
+  /* The internal loop, over count, is unrolled by 4 */
+  /* To, read the last two inputB samples using SIMD:   
+   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+  py = py - 1;
+
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+      /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* For the next MAC operations, the pointer py is used without SIMD   
+     * So, py is incremented by 1 */
+    py = py + 1u;
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLAD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + (count - 1u);
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* Initialize inputB pointer of type q31 */
+  pb = (q31_t *) (py - 1u);
+
+  /* count is the index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+
+  /* --------------------   
+   * Stage2 process   
+   * -------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+
+      /* read x[0], x[1] samples */
+      x0 = *(q31_t *) (px++);
+      /* read x[1], x[2] samples */
+      x1 = *(q31_t *) (px++);
+
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the last two inputB samples using SIMD:   
+         * y[srcBLen - 1] and y[srcBLen - 2] */
+        c0 = *(pb--);
+
+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+        acc0 = __SMLADX(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+        acc1 = __SMLADX(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *(q31_t *) (px++);
+
+        /* Read x[3], x[4] */
+        x3 = *(q31_t *) (px++);
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+        acc2 = __SMLADX(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+        acc3 = __SMLADX(x3, c0, acc3);
+
+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+        c0 = *(pb--);
+
+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+        acc0 = __SMLADX(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+        acc1 = __SMLADX(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = *(q31_t *) (px++);
+
+        /* Read x[5], x[6] */
+        x1 = *(q31_t *) (px++);
+
+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+        acc2 = __SMLADX(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+        acc3 = __SMLADX(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+      py = (q15_t *) pb;
+      py = py + 1;
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[srcBLen - 5] */
+        c0 = *(py);
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+//          c0 = unallign_rev(p, c0); 
+        c0 = c0 << 16;
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+        x3 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLADX(x1, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = *(pb);
+
+        /* Read x[7], x[8] */
+        x3 = *(q31_t *) px++;
+
+        /* Read x[9] */
+        x2 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x0, c0, acc0);
+        acc1 = __SMLADX(x1, c0, acc1);
+        acc2 = __SMLADX(x3, c0, acc2);
+        acc3 = __SMLADX(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = *pb--;
+
+        /* Read x[7], x[8] */
+        x3 = *(q31_t *) px++;
+
+        /* Read x[9] */
+        x2 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x0, c0, acc0);
+        acc1 = __SMLADX(x1, c0, acc1);
+        acc2 = __SMLADX(x3, c0, acc2);
+        acc3 = __SMLADX(x2, c0, acc3);
+
+        /* Read y[srcBLen - 7] */
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = (*pb);
+//              c0 = (c0 & 0x0000FFFF)<<16;     
+        c0 = (c0) << 16;
+
+#else
+
+        c0 = (q15_t) (*pb >> 16);
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+        x3 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x1, c0, acc0);
+        acc1 = __SMLAD(x2, c0, acc1);
+        acc2 = __SMLADX(x2, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      /* Store the results in the accumulators in the destination buffer. */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ = __PKHBT((acc0 >> 15), (acc1 >> 15), 16);
+      *__SIMD32(pOut)++ = __PKHBT((acc2 >> 15), (acc3 >> 15), 16);
+
+#else
+
+      *__SIMD32(pOut)++ = __PKHBT((acc1 >> 15), (acc0 >> 15), 16);
+      *__SIMD32(pOut)++ = __PKHBT((acc3 >> 15), (acc2 >> 15), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pSrc2;
+      pb = (q31_t *) (py - 1);
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  pIn2 = pSrc2 - 1u;
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations greater than 4 */
+  /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  j = blockSize3 >> 2u;
+
+  while((j > 0u) && (blockSize3 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
+       * with y[srcBLen - 1], y[srcBLen - 2] respectively */
+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+      /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
+       * with y[srcBLen - 3], y[srcBLen - 4] respectively */
+      sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* For the next MAC operations, the pointer py is used without SIMD   
+     * So, py is incremented by 1 */
+    py = py + 1u;
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+      sum = __SMLAD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+
+    j--;
+  }
+
+  /* The second part of the stage starts here */
+  /* SIMD is not used for the next MAC operations,   
+   * so pointer py is updated to read only one sample at a time */
+  py = py + 1u;
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+      sum = __SMLAD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (sum >> 15);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
new file mode 100644
index 000000000..3bd92170f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_fast_q31.c
@@ -0,0 +1,567 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_fast_q31.c   
+*   
+* Description:	Q31 Convolution (fast version).   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.   
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.   
+ * These intermediate results are accumulated in a 32-bit register in 2.30 format.   
+ * Finally, the accumulator is saturated and converted to a 1.31 result.   
+ *   
+ * \par   
+ * The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result.   
+ * In order to avoid overflows completely the input signals must be scaled down.   
+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,   
+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.   
+ *   
+ * \par   
+ * See arm_conv_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.   
+ */
+
+void arm_conv_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst)
+{
+  q31_t *pIn1;                                   /* inputA pointer */
+  q31_t *pIn2;                                   /* inputB pointer */
+  q31_t *pOut = pDst;                            /* output pointer */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* x[1] * y[srcBLen - 2] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* x[2] * y[srcBLen - 3] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* x[3] * y[srcBLen - 4] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = sum << 1;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[srcBLen - 1] sample */
+        c0 = *(py--);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[0] * y[srcBLen - 1] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+        /* Read y[srcBLen - 2] sample */
+        c0 = *(py--);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[1] * y[srcBLen - 2] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc1 +=  x[2] * y[srcBLen - 2] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc2 +=  x[3] * y[srcBLen - 2] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc3 +=  x[4] * y[srcBLen - 2] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+        /* Read y[srcBLen - 3] sample */
+        c0 = *(py--);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[srcBLen - 3] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc1 +=  x[3] * y[srcBLen - 2] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc2 +=  x[4] * y[srcBLen - 2] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc3 +=  x[5] * y[srcBLen - 2] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+        /* Read y[srcBLen - 4] sample */
+        c0 = *(py--);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[srcBLen - 4] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc1 +=  x[4] * y[srcBLen - 4] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc2 +=  x[5] * y[srcBLen - 4] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc3 +=  x[6] * y[srcBLen - 4] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[srcBLen - 5] sample */
+        c0 = *(py--);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[srcBLen - 5] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc1 +=  x[5] * y[srcBLen - 5] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc2 +=  x[6] * y[srcBLen - 5] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc3 +=  x[7] * y[srcBLen - 5] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the results in the accumulators in the destination buffer. */
+      *pOut++ = (q31_t) (acc0 << 1);
+      *pOut++ = (q31_t) (acc1 << 1);
+      *pOut++ = (q31_t) (acc2 << 1);
+      *pOut++ = (q31_t) (acc3 << 1);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pSrc2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum << 1;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum << 1;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py--))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = sum << 1;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
new file mode 100644
index 000000000..914ee2b6c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_f32.c
@@ -0,0 +1,641 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_f32.c   
+*   
+* Description:	Partial convolution of floating-point sequences.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup PartialConv Partial Convolution   
+ *   
+ * Partial Convolution is equivalent to Convolution except that a subset of the output samples is generated.   
+ * Each function has two additional arguments.   
+ * firstIndex specifies the starting index of the subset of output samples.   
+ * numPoints is the number of output samples to compute.   
+ * The function computes the output in the range   
+ * [firstIndex, ..., firstIndex+numPoints-1].   
+ * The output array pDst contains numPoints values.   
+ *   
+ * The allowable range of output indices is [0 srcALen+srcBLen-2].   
+ * If the requested subset does not fall in this range then the functions return ARM_MATH_ARGUMENT_ERROR.   
+ * Otherwise the functions return ARM_MATH_SUCCESS.   
+ * \note Refer arm_conv_f32() for details on fixed point behavior.  
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of floating-point sequences.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ */
+
+arm_status arm_conv_partial_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
+  float32_t *pOut = pDst;                        /* output pointer */
+  float32_t *px;                                 /* Intermediate inputA pointer */
+  float32_t *py;                                 /* Intermediate inputB pointer */
+  float32_t *pSrc1, *pSrc2;                      /* Intermediate pointers */
+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulator */
+  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */
+  uint32_t j, k, count = 0u, blkCnt, check;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = (int32_t) check - (int32_t) srcALen;
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = ((int32_t) srcBLen - 1) - (int32_t) firstIndex;
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = ((int32_t) check - blockSize3) -
+      (blockSize1 + (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc1 = pIn2 + firstIndex;
+    py = pSrc1;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* The first stage starts here */
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[0] * y[srcBLen - 1] */
+        sum += *px++ * *py--;
+
+        /* x[1] * y[srcBLen - 2] */
+        sum += *px++ * *py--;
+
+        /* x[2] * y[srcBLen - 3] */
+        sum += *px++ * *py--;
+
+        /* x[3] * y[srcBLen - 4] */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc1;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is index by which the pointer pIn1 to be incremented */
+    count = 1u;
+
+    /* -------------------   
+     * Stage2 process   
+     * ------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2, by 4 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0.0f;
+        acc1 = 0.0f;
+        acc2 = 0.0f;
+        acc3 = 0.0f;
+
+        /* read x[0], x[1], x[2] samples */
+        x0 = *(px++);
+        x1 = *(px++);
+        x2 = *(px++);
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read y[srcBLen - 1] sample */
+          c0 = *(py--);
+
+          /* Read x[3] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[0] * y[srcBLen - 1] */
+          acc0 += x0 * c0;
+
+          /* acc1 +=  x[1] * y[srcBLen - 1] */
+          acc1 += x1 * c0;
+
+          /* acc2 +=  x[2] * y[srcBLen - 1] */
+          acc2 += x2 * c0;
+
+          /* acc3 +=  x[3] * y[srcBLen - 1] */
+          acc3 += x3 * c0;
+
+          /* Read y[srcBLen - 2] sample */
+          c0 = *(py--);
+
+          /* Read x[4] sample */
+          x0 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[1] * y[srcBLen - 2] */
+          acc0 += x1 * c0;
+          /* acc1 +=  x[2] * y[srcBLen - 2] */
+          acc1 += x2 * c0;
+          /* acc2 +=  x[3] * y[srcBLen - 2] */
+          acc2 += x3 * c0;
+          /* acc3 +=  x[4] * y[srcBLen - 2] */
+          acc3 += x0 * c0;
+
+          /* Read y[srcBLen - 3] sample */
+          c0 = *(py--);
+
+          /* Read x[5] sample */
+          x1 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[2] * y[srcBLen - 3] */
+          acc0 += x2 * c0;
+          /* acc1 +=  x[3] * y[srcBLen - 2] */
+          acc1 += x3 * c0;
+          /* acc2 +=  x[4] * y[srcBLen - 2] */
+          acc2 += x0 * c0;
+          /* acc3 +=  x[5] * y[srcBLen - 2] */
+          acc3 += x1 * c0;
+
+          /* Read y[srcBLen - 4] sample */
+          c0 = *(py--);
+
+          /* Read x[6] sample */
+          x2 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[3] * y[srcBLen - 4] */
+          acc0 += x3 * c0;
+          /* acc1 +=  x[4] * y[srcBLen - 4] */
+          acc1 += x0 * c0;
+          /* acc2 +=  x[5] * y[srcBLen - 4] */
+          acc2 += x1 * c0;
+          /* acc3 +=  x[6] * y[srcBLen - 4] */
+          acc3 += x2 * c0;
+
+
+        } while(--k);
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Read y[srcBLen - 5] sample */
+          c0 = *(py--);
+
+          /* Read x[7] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[4] * y[srcBLen - 5] */
+          acc0 += x0 * c0;
+          /* acc1 +=  x[5] * y[srcBLen - 5] */
+          acc1 += x1 * c0;
+          /* acc2 +=  x[6] * y[srcBLen - 5] */
+          acc2 += x2 * c0;
+          /* acc3 +=  x[7] * y[srcBLen - 5] */
+          acc3 += x3 * c0;
+
+          /* Reuse the present samples for the next MAC */
+          x0 = x1;
+          x1 = x2;
+          x2 = x3;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = acc0;
+        *pOut++ = acc1;
+        *pOut++ = acc2;
+        *pOut++ = acc3;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + (count * 4u);
+        py = pSrc2;
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0.0f;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += *px++ * *py--;
+          sum += *px++ * *py--;
+          sum += *px++ * *py--;
+          sum += *px++ * *py--;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += *px++ * *py--;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = sum;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0.0f;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += *px++ * *py--;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = sum;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+        sum += *px++ * *py--;
+
+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+        sum += *px++ * *py--;
+
+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+        sum += *px++ * *py--;
+
+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum += *px++ * *py--;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
+  float32_t *pIn2 = pSrcB;                       /* inputB pointer */
+  float32_t sum;                                 /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Loop to calculate convolution for output length number of values */
+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
+    {
+      /* Initialize sum with zero to carry on MAC operations */
+      sum = 0.0f;
+
+      /* Loop to perform MAC operations according to convolution equation */
+      for (j = 0u; j <= i; j++)
+      {
+        /* Check the array limitations for inputs */
+        if((((i - j) < srcBLen) && (j < srcALen)))
+        {
+          /* z[i] += x[i-j] * y[j] */
+          sum += pIn1[j] * pIn2[i - j];
+        }
+      }
+      /* Store the output in the destination buffer */
+      pDst[i] = sum;
+    }
+    /* set status as ARM_SUCCESS as there are no argument errors */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
new file mode 100644
index 000000000..af219a8ac
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q15.c
@@ -0,0 +1,705 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_fast_q15.c   
+*   
+* Description:	Fast Q15 Partial convolution.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ *   
+ * See arm_conv_partial_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.   
+ */
+
+
+arm_status arm_conv_partial_fast_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */
+  arm_status status;                             /* status of Partial convolution */
+  q31_t *pb;                                     /* 32 bit pointer for inputB buffer */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations less than 4 */
+    /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    while((count < 4u) && (blockSize1 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over number of MAC operations between   
+       * inputA samples and inputB samples */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* The second part of the stage starts here */
+    /* The internal loop, over count, is unrolled by 4 */
+    /* To, read the last two inputB samples using SIMD:   
+     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+    py = py - 1;
+
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+        /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* For the next MAC operations, the pointer py is used without SIMD   
+       * So, py is incremented by 1 */
+      py = py + 1u;
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2 - 1u;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* Initialize inputB pointer of type q31 */
+    pb = (q31_t *) (py - 1u);
+
+    /* count is the index by which the pointer pIn1 to be incremented */
+    count = 1u;
+
+
+    /* --------------------   
+     * Stage2 process   
+     * -------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2, by 4 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+
+        /* read x[0], x[1] samples */
+        x0 = *(q31_t *) (px++);
+        /* read x[1], x[2] samples */
+        x1 = *(q31_t *) (px++);
+
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read the last two inputB samples using SIMD:   
+           * y[srcBLen - 1] and y[srcBLen - 2] */
+          c0 = *(pb--);
+
+          /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+          acc0 = __SMLADX(x0, c0, acc0);
+
+          /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+          acc1 = __SMLADX(x1, c0, acc1);
+
+          /* Read x[2], x[3] */
+          x2 = *(q31_t *) (px++);
+
+          /* Read x[3], x[4] */
+          x3 = *(q31_t *) (px++);
+
+          /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+          acc2 = __SMLADX(x2, c0, acc2);
+
+          /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+          acc3 = __SMLADX(x3, c0, acc3);
+
+          /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+          c0 = *(pb--);
+
+          /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+          acc0 = __SMLADX(x2, c0, acc0);
+
+          /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+          acc1 = __SMLADX(x3, c0, acc1);
+
+          /* Read x[4], x[5] */
+          x0 = *(q31_t *) (px++);
+
+          /* Read x[5], x[6] */
+          x1 = *(q31_t *) (px++);
+
+          /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+          acc2 = __SMLADX(x0, c0, acc2);
+
+          /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+          acc3 = __SMLADX(x1, c0, acc3);
+
+        } while(--k);
+
+        /* For the next MAC operations, SIMD is not used   
+         * So, the 16 bit pointer if inputB, py is updated */
+        py = (q15_t *) pb;
+        py = py + 1;
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        if(k == 1u)
+        {
+          /* Read y[srcBLen - 5] */
+          c0 = *(py);
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+          c0 = c0 << 16;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+          /* Read x[7] */
+          x3 = *(q31_t *) px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLAD(x0, c0, acc0);
+          acc1 = __SMLAD(x1, c0, acc1);
+          acc2 = __SMLADX(x1, c0, acc2);
+          acc3 = __SMLADX(x3, c0, acc3);
+        }
+
+        if(k == 2u)
+        {
+          /* Read y[srcBLen - 5], y[srcBLen - 6] */
+          c0 = *(pb);
+
+          /* Read x[7], x[8] */
+          x3 = *(q31_t *) px++;
+
+          /* Read x[9] */
+          x2 = *(q31_t *) px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLADX(x0, c0, acc0);
+          acc1 = __SMLADX(x1, c0, acc1);
+          acc2 = __SMLADX(x3, c0, acc2);
+          acc3 = __SMLADX(x2, c0, acc3);
+        }
+
+        if(k == 3u)
+        {
+          /* Read y[srcBLen - 5], y[srcBLen - 6] */
+          c0 = *pb--;
+
+          /* Read x[7], x[8] */
+          x3 = *(q31_t *) px++;
+
+          /* Read x[9] */
+          x2 = *(q31_t *) px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLADX(x0, c0, acc0);
+          acc1 = __SMLADX(x1, c0, acc1);
+          acc2 = __SMLADX(x3, c0, acc2);
+          acc3 = __SMLADX(x2, c0, acc3);
+
+          /* Read y[srcBLen - 7] */
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+          c0 = (*pb);
+          c0 = (c0) << 16;
+
+#else
+
+          c0 = (q15_t) (*pb >> 16);
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+          /* Read x[10] */
+          x3 = *(q31_t *) px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLADX(x1, c0, acc0);
+          acc1 = __SMLAD(x2, c0, acc1);
+          acc2 = __SMLADX(x2, c0, acc2);
+          acc3 = __SMLADX(x3, c0, acc3);
+        }
+
+        /* Store the results in the accumulators in the destination buffer. */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *__SIMD32(pOut)++ = __PKHBT(acc0 >> 15, acc1 >> 15, 16);
+        *__SIMD32(pOut)++ = __PKHBT(acc2 >> 15, acc3 >> 15, 16);
+
+#else
+
+        *__SIMD32(pOut)++ = __PKHBT(acc1 >> 15, acc0 >> 15, 16);
+        *__SIMD32(pOut)++ = __PKHBT(acc3 >> 15, acc2 >> 15, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + (count * 4u);
+        py = pSrc2;
+        pb = (q31_t *) (py - 1);
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (sum >> 15);
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (sum >> 15);
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    pIn2 = pSrc2 - 1u;
+    py = pIn2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations greater than 4 */
+    /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    j = count >> 2u;
+
+    while((j > 0u) && (blockSize3 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
+         * with y[srcBLen - 1], y[srcBLen - 2] respectively */
+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+        /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
+         * with y[srcBLen - 3], y[srcBLen - 4] respectively */
+        sum = __SMLADX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* For the next MAC operations, the pointer py is used without SIMD   
+       * So, py is incremented by 1 */
+      py = py + 1u;
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+        sum = __SMLAD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pIn2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+      j--;
+    }
+
+    /* The second part of the stage starts here */
+    /* SIMD is not used for the next MAC operations,   
+     * so pointer py is updated to read only one sample at a time */
+    py = py + 1u;
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum = __SMLAD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (sum >> 15);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
new file mode 100644
index 000000000..4003e3af0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_fast_q31.c
@@ -0,0 +1,593 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_fast_q31.c   
+*   
+* Description:	Fast Q31 Partial convolution.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ *   
+ * \par   
+ * See arm_conv_partial_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.   
+ */
+
+arm_status arm_conv_partial_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+  q31_t *pIn1;                                   /* inputA pointer               */
+  q31_t *pIn2;                                   /* inputB pointer               */
+  q31_t *pOut = pDst;                            /* output pointer               */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q31_t x0, x1, x2, x3, c0;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counters                 */
+  arm_status status;                             /* status of Partial convolution */
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* The first loop starts here */
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[0] * y[srcBLen - 1] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* x[1] * y[srcBLen - 2] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* x[2] * y[srcBLen - 3] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* x[3] * y[srcBLen - 4] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum << 1;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is index by which the pointer pIn1 to be incremented */
+    count = 1u;
+
+    /* -------------------   
+     * Stage2 process   
+     * ------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+        /* read x[0], x[1], x[2] samples */
+        x0 = *(px++);
+        x1 = *(px++);
+        x2 = *(px++);
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read y[srcBLen - 1] sample */
+          c0 = *(py--);
+
+          /* Read x[3] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[0] * y[srcBLen - 1] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+          /* acc1 +=  x[1] * y[srcBLen - 1] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+          /* acc2 +=  x[2] * y[srcBLen - 1] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+          /* acc3 +=  x[3] * y[srcBLen - 1] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+          /* Read y[srcBLen - 2] sample */
+          c0 = *(py--);
+
+          /* Read x[4] sample */
+          x0 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[1] * y[srcBLen - 2] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
+          /* acc1 +=  x[2] * y[srcBLen - 2] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
+          /* acc2 +=  x[3] * y[srcBLen - 2] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
+          /* acc3 +=  x[4] * y[srcBLen - 2] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+          /* Read y[srcBLen - 3] sample */
+          c0 = *(py--);
+
+          /* Read x[5] sample */
+          x1 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[2] * y[srcBLen - 3] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
+          /* acc1 +=  x[3] * y[srcBLen - 2] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
+          /* acc2 +=  x[4] * y[srcBLen - 2] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
+          /* acc3 +=  x[5] * y[srcBLen - 2] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+          /* Read y[srcBLen - 4] sample */
+          c0 = *(py--);
+
+          /* Read x[6] sample */
+          x2 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[3] * y[srcBLen - 4] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
+          /* acc1 +=  x[4] * y[srcBLen - 4] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
+          /* acc2 +=  x[5] * y[srcBLen - 4] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
+          /* acc3 +=  x[6] * y[srcBLen - 4] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+
+        } while(--k);
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Read y[srcBLen - 5] sample */
+          c0 = *(py--);
+
+          /* Read x[7] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[4] * y[srcBLen - 5] */
+          acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+          /* acc1 +=  x[5] * y[srcBLen - 5] */
+          acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+          /* acc2 +=  x[6] * y[srcBLen - 5] */
+          acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+          /* acc3 +=  x[7] * y[srcBLen - 5] */
+          acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+          /* Reuse the present samples for the next MAC */
+          x0 = x1;
+          x1 = x2;
+          x2 = x3;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q31_t) (acc0 << 1);
+        *pOut++ = (q31_t) (acc1 << 1);
+        *pOut++ = (q31_t) (acc2 << 1);
+        *pOut++ = (q31_t) (acc3 << 1);
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + (count * 4u);
+        py = pSrc2;
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = sum << 1;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * px++ * (*py--))) >> 32);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = sum << 1;
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py--))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = sum << 1;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
new file mode 100644
index 000000000..de8d5065c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q15.c
@@ -0,0 +1,765 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_q15.c   
+*   
+* Description:	Partial convolution of Q15 sequences.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of Q15 sequences.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ *   
+ * Refer to arm_conv_partial_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+
+arm_status arm_conv_partial_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary input variables */
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter                 */
+  arm_status status;                             /* status of Partial convolution */
+  q31_t *pb;                                     /* 32 bit pointer for inputB buffer */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations less than 4 */
+    /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    while((count < 4u) && (blockSize1 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over number of MAC operations between   
+       * inputA samples and inputB samples */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = __SMLALD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* The second part of the stage starts here */
+    /* The internal loop, over count, is unrolled by 4 */
+    /* To, read the last two inputB samples using SIMD:   
+     * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+    py = py - 1;
+
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+        /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* For the next MAC operations, the pointer py is used without SIMD   
+       * So, py is incremented by 1 */
+      py = py + 1u;
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = __SMLALD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2 - 1u;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* Initialize inputB pointer of type q31 */
+    pb = (q31_t *) (py - 1u);
+
+    /* count is the index by which the pointer pIn1 to be incremented */
+    count = 1u;
+
+
+    /* --------------------   
+     * Stage2 process   
+     * -------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2, by 4 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+
+        /* read x[0], x[1] samples */
+        x0 = *(q31_t *) (px++);
+        /* read x[1], x[2] samples */
+        x1 = *(q31_t *) (px++);
+
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read the last two inputB samples using SIMD:   
+           * y[srcBLen - 1] and y[srcBLen - 2] */
+          c0 = *(pb--);
+
+          /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+          acc0 = __SMLALDX(x0, c0, acc0);
+
+          /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+          acc1 = __SMLALDX(x1, c0, acc1);
+
+          /* Read x[2], x[3] */
+          x2 = *(q31_t *) (px++);
+
+          /* Read x[3], x[4] */
+          x3 = *(q31_t *) (px++);
+
+          /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+          acc2 = __SMLALDX(x2, c0, acc2);
+
+          /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+          acc3 = __SMLALDX(x3, c0, acc3);
+
+          /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+          c0 = *(pb--);
+
+          /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+          acc0 = __SMLALDX(x2, c0, acc0);
+
+          /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+          acc1 = __SMLALDX(x3, c0, acc1);
+
+          /* Read x[4], x[5] */
+          x0 = *(q31_t *) (px++);
+
+          /* Read x[5], x[6] */
+          x1 = *(q31_t *) (px++);
+
+          /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+          acc2 = __SMLALDX(x0, c0, acc2);
+
+          /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+          acc3 = __SMLALDX(x1, c0, acc3);
+
+        } while(--k);
+
+        /* For the next MAC operations, SIMD is not used   
+         * So, the 16 bit pointer if inputB, py is updated */
+        py = (q15_t *) pb;
+        py = py + 1;
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        if(k == 1u)
+        {
+          /* Read y[srcBLen - 5] */
+          c0 = *(py);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+          c0 = c0 << 16u;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+          /* Read x[7] */
+          x3 = *(q31_t *) px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLALD(x0, c0, acc0);
+          acc1 = __SMLALD(x1, c0, acc1);
+          acc2 = __SMLALDX(x1, c0, acc2);
+          acc3 = __SMLALDX(x3, c0, acc3);
+        }
+
+        if(k == 2u)
+        {
+          /* Read y[srcBLen - 5], y[srcBLen - 6] */
+          c0 = *(pb);
+
+          /* Read x[7], x[8] */
+          x3 = *(q31_t *) px++;
+
+          /* Read x[9] */
+          x2 = *(q31_t *) px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLALDX(x0, c0, acc0);
+          acc1 = __SMLALDX(x1, c0, acc1);
+          acc2 = __SMLALDX(x3, c0, acc2);
+          acc3 = __SMLALDX(x2, c0, acc3);
+        }
+
+        if(k == 3u)
+        {
+          /* Read y[srcBLen - 5], y[srcBLen - 6] */
+          c0 = *pb--;
+
+          /* Read x[7], x[8] */
+          x3 = *(q31_t *) px++;
+
+          /* Read x[9] */
+          x2 = *(q31_t *) px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLALDX(x0, c0, acc0);
+          acc1 = __SMLALDX(x1, c0, acc1);
+          acc2 = __SMLALDX(x3, c0, acc2);
+          acc3 = __SMLALDX(x2, c0, acc3);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+          /* Read y[srcBLen - 7] */
+          c0 = (*pb);
+          c0 = (c0) << 16;
+
+#else
+
+          /* Read y[srcBLen - 7] */
+          c0 = (q15_t) (*pb >> 16);
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+          /* Read x[10] */
+          x3 = *(q31_t *) px++;
+
+          /* Perform the multiply-accumulates */
+          acc0 = __SMLALDX(x1, c0, acc0);
+          acc1 = __SMLALD(x2, c0, acc1);
+          acc2 = __SMLALDX(x2, c0, acc2);
+          acc3 = __SMLALDX(x3, c0, acc3);
+        }
+
+        /* Store the results in the accumulators in the destination buffer. */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+        *__SIMD32(pOut)++ =
+          __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+        *__SIMD32(pOut)++ =
+          __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+        *__SIMD32(pOut)++ =
+          __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+        *__SIMD32(pOut)++ =
+          __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + (count * 4u);
+        py = pSrc2;
+        pb = (q31_t *) (py - 1);
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += (q63_t) ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    pIn2 = pSrc2 - 1u;
+    py = pIn2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    /* For loop unrolling by 4, this stage is divided into two. */
+    /* First part of this stage computes the MAC operations greater than 4 */
+    /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+    /* The first part of the stage starts here */
+    j = count >> 2u;
+
+    while((j > 0u) && (blockSize3 > 0))
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
+         * with y[srcBLen - 1], y[srcBLen - 2] respectively */
+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+        /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
+         * with y[srcBLen - 3], y[srcBLen - 4] respectively */
+        sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* For the next MAC operations, the pointer py is used without SIMD   
+       * So, py is incremented by 1 */
+      py = py + 1u;
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+        sum = __SMLALD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pIn2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+      j--;
+    }
+
+    /* The second part of the stage starts here */
+    /* SIMD is not used for the next MAC operations,   
+     * so pointer py is updated to read only one sample at a time */
+    py = py + 1u;
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum = __SMLALD(*px++, *py--, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t *pIn1 = pSrcA;                           /* inputA pointer */
+  q15_t *pIn2 = pSrcB;                           /* inputB pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Loop to calculate convolution for output length number of values */
+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
+    {
+      /* Initialize sum with zero to carry on MAC operations */
+      sum = 0;
+
+      /* Loop to perform MAC operations according to convolution equation */
+      for (j = 0; j <= i; j++)
+      {
+        /* Check the array limitations */
+        if(((i - j) < srcBLen) && (j < srcALen))
+        {
+          /* z[i] += x[i-j] * y[j] */
+          sum += ((q31_t) pIn1[j] * (pIn2[i - j]));
+        }
+      }
+
+      /* Store the output in the destination buffer */
+      pDst[i] = (q15_t) __SSAT((sum >> 15u), 16u);
+    }
+    /* set status as ARM_SUCCESS as there are no argument errors */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+
+#endif /*     #ifndef ARM_MATH_CM0      */
+
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
new file mode 100644
index 000000000..ab7a4cc01
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q31.c
@@ -0,0 +1,616 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_q31.c   
+*   
+* Description:	Partial convolution of Q31 sequences.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of Q31 sequences.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ *   
+ * See arm_conv_partial_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+arm_status arm_conv_partial_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn1;                                   /* inputA pointer               */
+  q31_t *pIn2;                                   /* inputB pointer               */
+  q31_t *pOut = pDst;                            /* output pointer               */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers        */
+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator                  */
+  q31_t x0, x1, x2, x3, c0;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter                 */
+  arm_status status;                             /* status of Partial convolution */
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* The first loop starts here */
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[0] * y[srcBLen - 1] */
+        sum += (q63_t) * px++ * (*py--);
+        /* x[1] * y[srcBLen - 2] */
+        sum += (q63_t) * px++ * (*py--);
+        /* x[2] * y[srcBLen - 3] */
+        sum += (q63_t) * px++ * (*py--);
+        /* x[3] * y[srcBLen - 4] */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q31_t) (sum >> 31);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is index by which the pointer pIn1 to be incremented */
+    count = 1u;
+
+    /* -------------------   
+     * Stage2 process   
+     * ------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+        /* read x[0], x[1], x[2] samples */
+        x0 = *(px++);
+        x1 = *(px++);
+        x2 = *(px++);
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read y[srcBLen - 1] sample */
+          c0 = *(py--);
+
+          /* Read x[3] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[0] * y[srcBLen - 1] */
+          acc0 += (q63_t) x0 *c0;
+          /* acc1 +=  x[1] * y[srcBLen - 1] */
+          acc1 += (q63_t) x1 *c0;
+          /* acc2 +=  x[2] * y[srcBLen - 1] */
+          acc2 += (q63_t) x2 *c0;
+          /* acc3 +=  x[3] * y[srcBLen - 1] */
+          acc3 += (q63_t) x3 *c0;
+
+          /* Read y[srcBLen - 2] sample */
+          c0 = *(py--);
+
+          /* Read x[4] sample */
+          x0 = *(px++);
+
+          /* Perform the multiply-accumulate */
+          /* acc0 +=  x[1] * y[srcBLen - 2] */
+          acc0 += (q63_t) x1 *c0;
+          /* acc1 +=  x[2] * y[srcBLen - 2] */
+          acc1 += (q63_t) x2 *c0;
+          /* acc2 +=  x[3] * y[srcBLen - 2] */
+          acc2 += (q63_t) x3 *c0;
+          /* acc3 +=  x[4] * y[srcBLen - 2] */
+          acc3 += (q63_t) x0 *c0;
+
+          /* Read y[srcBLen - 3] sample */
+          c0 = *(py--);
+
+          /* Read x[5] sample */
+          x1 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[2] * y[srcBLen - 3] */
+          acc0 += (q63_t) x2 *c0;
+          /* acc1 +=  x[3] * y[srcBLen - 2] */
+          acc1 += (q63_t) x3 *c0;
+          /* acc2 +=  x[4] * y[srcBLen - 2] */
+          acc2 += (q63_t) x0 *c0;
+          /* acc3 +=  x[5] * y[srcBLen - 2] */
+          acc3 += (q63_t) x1 *c0;
+
+          /* Read y[srcBLen - 4] sample */
+          c0 = *(py--);
+
+          /* Read x[6] sample */
+          x2 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[3] * y[srcBLen - 4] */
+          acc0 += (q63_t) x3 *c0;
+          /* acc1 +=  x[4] * y[srcBLen - 4] */
+          acc1 += (q63_t) x0 *c0;
+          /* acc2 +=  x[5] * y[srcBLen - 4] */
+          acc2 += (q63_t) x1 *c0;
+          /* acc3 +=  x[6] * y[srcBLen - 4] */
+          acc3 += (q63_t) x2 *c0;
+
+        } while(--k);
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Read y[srcBLen - 5] sample */
+          c0 = *(py--);
+
+          /* Read x[7] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[4] * y[srcBLen - 5] */
+          acc0 += (q63_t) x0 *c0;
+          /* acc1 +=  x[5] * y[srcBLen - 5] */
+          acc1 += (q63_t) x1 *c0;
+          /* acc2 +=  x[6] * y[srcBLen - 5] */
+          acc2 += (q63_t) x2 *c0;
+          /* acc3 +=  x[7] * y[srcBLen - 5] */
+          acc3 += (q63_t) x3 *c0;
+
+          /* Reuse the present samples for the next MAC */
+          x0 = x1;
+          x1 = x2;
+          x2 = x3;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q31_t) (acc0 >> 31);
+        *pOut++ = (q31_t) (acc1 >> 31);
+        *pOut++ = (q31_t) (acc2 >> 31);
+        *pOut++ = (q31_t) (acc3 >> 31);
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + (count * 4u);
+        py = pSrc2;
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) * px++ * (*py--);
+          sum += (q63_t) * px++ * (*py--);
+          sum += (q63_t) * px++ * (*py--);
+          sum += (q63_t) * px++ * (*py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += (q63_t) * px++ * (*py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q31_t) (sum >> 31);
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += (q63_t) * px++ * (*py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q31_t) (sum >> 31);
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The blockSize3 variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q31_t) (sum >> 31);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t *pIn1 = pSrcA;                           /* inputA pointer */
+  q31_t *pIn2 = pSrcB;                           /* inputB pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Loop to calculate convolution for output length number of values */
+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
+    {
+      /* Initialize sum with zero to carry on MAC operations */
+      sum = 0;
+
+      /* Loop to perform MAC operations according to convolution equation */
+      for (j = 0; j <= i; j++)
+      {
+        /* Check the array limitations */
+        if(((i - j) < srcBLen) && (j < srcALen))
+        {
+          /* z[i] += x[i-j] * y[j] */
+          sum += ((q63_t) pIn1[j] * (pIn2[i - j]));
+        }
+      }
+
+      /* Store the output in the destination buffer */
+      pDst[i] = (q31_t) (sum >> 31u);
+    }
+    /* set status as ARM_SUCCESS as there are no argument errors */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+
+#endif /*    #ifndef ARM_MATH_CM0      */
+
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
new file mode 100644
index 000000000..a6a0d5a00
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_partial_q7.c
@@ -0,0 +1,723 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_partial_q7.c   
+*   
+* Description:	Partial convolution of Q7 sequences.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup PartialConv   
+ * @{   
+ */
+
+/**   
+ * @brief Partial convolution of Q7 sequences.   
+ * @param[in]       *pSrcA points to the first input sequence.   
+ * @param[in]       srcALen length of the first input sequence.   
+ * @param[in]       *pSrcB points to the second input sequence.   
+ * @param[in]       srcBLen length of the second input sequence.   
+ * @param[out]      *pDst points to the location where the output result is written.   
+ * @param[in]       firstIndex is the first output sample to start with.   
+ * @param[in]       numPoints is the number of output points to be computed.   
+ * @return  Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].   
+ *   
+ */
+
+arm_status arm_conv_partial_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst,
+  uint32_t firstIndex,
+  uint32_t numPoints)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t *pIn1;                                    /* inputA pointer */
+  q7_t *pIn2;                                    /* inputB pointer */
+  q7_t *pOut = pDst;                             /* output pointer */
+  q7_t *px;                                      /* Intermediate inputA pointer */
+  q7_t *py;                                      /* Intermediate inputB pointer */
+  q7_t *pSrc1, *pSrc2;                           /* Intermediate pointers */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q31_t input1, input2;
+  q15_t in1, in2;
+  q7_t x0, x1, x2, x3, c0, c1;
+  uint32_t j, k, count, check, blkCnt;
+  int32_t blockSize1, blockSize2, blockSize3;    /* loop counter */
+  arm_status status;
+
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_MATH_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+
+    /* The algorithm implementation is based on the lengths of the inputs. */
+    /* srcB is always made to slide across srcA. */
+    /* So srcBLen is always considered as shorter or equal to srcALen */
+    if(srcALen >= srcBLen)
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcA;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcB;
+    }
+    else
+    {
+      /* Initialization of inputA pointer */
+      pIn1 = pSrcB;
+
+      /* Initialization of inputB pointer */
+      pIn2 = pSrcA;
+
+      /* srcBLen is always considered as shorter or equal to srcALen */
+      j = srcBLen;
+      srcBLen = srcALen;
+      srcALen = j;
+    }
+
+    /* Conditions to check which loopCounter holds   
+     * the first and last indices of the output samples to be calculated. */
+    check = firstIndex + numPoints;
+    blockSize3 = ((int32_t) check - (int32_t) srcALen);
+    blockSize3 = (blockSize3 > 0) ? blockSize3 : 0;
+    blockSize1 = (((int32_t) srcBLen - 1) - (int32_t) firstIndex);
+    blockSize1 = (blockSize1 > 0) ? ((check > (srcBLen - 1u)) ? blockSize1 :
+                                     (int32_t) numPoints) : 0;
+    blockSize2 = (int32_t) check - ((blockSize3 + blockSize1) +
+                                    (int32_t) firstIndex);
+    blockSize2 = (blockSize2 > 0) ? blockSize2 : 0;
+
+    /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+    /* The function is internally   
+     * divided into three stages according to the number of multiplications that has to be   
+     * taken place between inputA samples and inputB samples. In the first stage of the   
+     * algorithm, the multiplications increase by one for every iteration.   
+     * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+     * In the third stage of the algorithm, the multiplications decrease by one   
+     * for every iteration. */
+
+    /* Set the output pointer to point to the firstIndex   
+     * of the output sample to be calculated. */
+    pOut = pDst + firstIndex;
+
+    /* --------------------------   
+     * Initializations of stage1   
+     * -------------------------*/
+
+    /* sum = x[0] * y[0]   
+     * sum = x[0] * y[1] + x[1] * y[0]   
+     * ....   
+     * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+     */
+
+    /* In this stage the MAC operations are increased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed.   
+       Since the partial convolution starts from from firstIndex   
+       Number of Macs to be performed is firstIndex + 1 */
+    count = 1u + firstIndex;
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + firstIndex;
+    py = pSrc2;
+
+    /* ------------------------   
+     * Stage1 process   
+     * ----------------------*/
+
+    /* The first stage starts here */
+    while(blockSize1 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* x[0] , x[1] */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* y[srcBLen - 1] , y[srcBLen - 2] */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* x[0] * y[srcBLen - 1] */
+        /* x[1] * y[srcBLen - 2] */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* x[2] , x[3] */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* y[srcBLen - 3] , y[srcBLen - 4] */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* x[2] * y[srcBLen - 3] */
+        /* x[3] * y[srcBLen - 4] */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      py = ++pSrc2;
+      px = pIn1;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blockSize1--;
+    }
+
+    /* --------------------------   
+     * Initializations of stage2   
+     * ------------------------*/
+
+    /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+     * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+     * ....   
+     * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+     */
+
+    /* Working pointer of inputA */
+    px = pIn1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* count is index by which the pointer pIn1 to be incremented */
+    count = 1u;
+
+    /* -------------------   
+     * Stage2 process   
+     * ------------------*/
+
+    /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+     * So, to loop unroll over blockSize2,   
+     * srcBLen should be greater than or equal to 4 */
+    if(srcBLen >= 4u)
+    {
+      /* Loop unroll over blockSize2, by 4 */
+      blkCnt = ((uint32_t) blockSize2 >> 2u);
+
+      while(blkCnt > 0u)
+      {
+        /* Set all accumulators to zero */
+        acc0 = 0;
+        acc1 = 0;
+        acc2 = 0;
+        acc3 = 0;
+
+        /* read x[0], x[1], x[2] samples */
+        x0 = *(px++);
+        x1 = *(px++);
+        x2 = *(px++);
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        do
+        {
+          /* Read y[srcBLen - 1] sample */
+          c0 = *(py--);
+          /* Read y[srcBLen - 2] sample */
+          c1 = *(py--);
+
+          /* Read x[3] sample */
+          x3 = *(px++);
+
+          /* x[0] and x[1] are packed */
+          in1 = (q15_t) x0;
+          in2 = (q15_t) x1;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* y[srcBLen - 1]   and y[srcBLen - 2] are packed */
+          in1 = (q15_t) c0;
+          in2 = (q15_t) c1;
+
+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc0 += x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2]  */
+          acc0 = __SMLAD(input1, input2, acc0);
+
+          /* x[1] and x[2] are packed */
+          in1 = (q15_t) x1;
+          in2 = (q15_t) x2;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc1 += x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2]  */
+          acc1 = __SMLAD(input1, input2, acc1);
+
+          /* x[2] and x[3] are packed */
+          in1 = (q15_t) x2;
+          in2 = (q15_t) x3;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc2 += x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2]  */
+          acc2 = __SMLAD(input1, input2, acc2);
+
+          /* Read x[4] sample */
+          x0 = *(px++);
+
+          /* x[3] and x[4] are packed */
+          in1 = (q15_t) x3;
+          in2 = (q15_t) x0;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc3 += x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2]  */
+          acc3 = __SMLAD(input1, input2, acc3);
+
+          /* Read y[srcBLen - 3] sample */
+          c0 = *(py--);
+          /* Read y[srcBLen - 4] sample */
+          c1 = *(py--);
+
+          /* Read x[5] sample */
+          x1 = *(px++);
+
+          /* x[2] and x[3] are packed */
+          in1 = (q15_t) x2;
+          in2 = (q15_t) x3;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* y[srcBLen - 3] and y[srcBLen - 4] are packed */
+          in1 = (q15_t) c0;
+          in2 = (q15_t) c1;
+
+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc0 += x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4]  */
+          acc0 = __SMLAD(input1, input2, acc0);
+
+          /* x[3] and x[4] are packed */
+          in1 = (q15_t) x3;
+          in2 = (q15_t) x0;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc1 += x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4]  */
+          acc1 = __SMLAD(input1, input2, acc1);
+
+          /* x[4] and x[5] are packed */
+          in1 = (q15_t) x0;
+          in2 = (q15_t) x1;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc2 += x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4]  */
+          acc2 = __SMLAD(input1, input2, acc2);
+
+          /* Read x[6] sample */
+          x2 = *(px++);
+
+          /* x[5] and x[6] are packed */
+          in1 = (q15_t) x1;
+          in2 = (q15_t) x2;
+
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* acc3 += x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4]  */
+          acc3 = __SMLAD(input1, input2, acc3);
+
+        } while(--k);
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Read y[srcBLen - 5] sample */
+          c0 = *(py--);
+
+          /* Read x[7] sample */
+          x3 = *(px++);
+
+          /* Perform the multiply-accumulates */
+          /* acc0 +=  x[4] * y[srcBLen - 5] */
+          acc0 += ((q31_t) x0 * c0);
+          /* acc1 +=  x[5] * y[srcBLen - 5] */
+          acc1 += ((q31_t) x1 * c0);
+          /* acc2 +=  x[6] * y[srcBLen - 5] */
+          acc2 += ((q31_t) x2 * c0);
+          /* acc3 +=  x[7] * y[srcBLen - 5] */
+          acc3 += ((q31_t) x3 * c0);
+
+          /* Reuse the present samples for the next MAC */
+          x0 = x1;
+          x1 = x2;
+          x2 = x3;
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q7_t) (__SSAT(acc0 >> 7, 8));
+        *pOut++ = (q7_t) (__SSAT(acc1 >> 7, 8));
+        *pOut++ = (q7_t) (__SSAT(acc2 >> 7, 8));
+        *pOut++ = (q7_t) (__SSAT(acc3 >> 7, 8));
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count * 4u;
+        py = pSrc2;
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+
+      /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      blkCnt = (uint32_t) blockSize2 % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        k = srcBLen >> 2u;
+
+        /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+         ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+        while(k > 0u)
+        {
+
+          /* Reading two inputs of SrcA buffer and packing */
+          in1 = (q15_t) * px++;
+          in2 = (q15_t) * px++;
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* Reading two inputs of SrcB buffer and packing */
+          in1 = (q15_t) * py--;
+          in2 = (q15_t) * py--;
+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* Perform the multiply-accumulates */
+          sum = __SMLAD(input1, input2, sum);
+
+          /* Reading two inputs of SrcA buffer and packing */
+          in1 = (q15_t) * px++;
+          in2 = (q15_t) * px++;
+          input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* Reading two inputs of SrcB buffer and packing */
+          in1 = (q15_t) * py--;
+          in2 = (q15_t) * py--;
+          input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+          /* Perform the multiply-accumulates */
+          sum = __SMLAD(input1, input2, sum);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        k = srcBLen % 0x4u;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulates */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the pointer pIn1 index, count by 1 */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+    else
+    {
+      /* If the srcBLen is not a multiple of 4,   
+       * the blockSize2 loop cannot be unrolled by 4 */
+      blkCnt = (uint32_t) blockSize2;
+
+      while(blkCnt > 0u)
+      {
+        /* Accumulator is made zero for every iteration */
+        sum = 0;
+
+        /* srcBLen number of MACS should be performed */
+        k = srcBLen;
+
+        while(k > 0u)
+        {
+          /* Perform the multiply-accumulate */
+          sum += ((q31_t) * px++ * *py--);
+
+          /* Decrement the loop counter */
+          k--;
+        }
+
+        /* Store the result in the accumulator in the destination buffer. */
+        *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
+
+        /* Update the inputA and inputB pointers for next MAC calculation */
+        px = pIn1 + count;
+        py = pSrc2;
+
+        /* Increment the MAC count */
+        count++;
+
+        /* Decrement the loop counter */
+        blkCnt--;
+      }
+    }
+
+
+    /* --------------------------   
+     * Initializations of stage3   
+     * -------------------------*/
+
+    /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+     * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+     * ....   
+     * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+     * sum +=  x[srcALen-1] * y[srcBLen-1]   
+     */
+
+    /* In this stage the MAC operations are decreased by 1 for every iteration.   
+       The count variable holds the number of MAC operations performed */
+    count = srcBLen - 1u;
+
+    /* Working pointer of inputA */
+    pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+    px = pSrc1;
+
+    /* Working pointer of inputB */
+    pSrc2 = pIn2 + (srcBLen - 1u);
+    py = pSrc2;
+
+    /* -------------------   
+     * Stage3 process   
+     * ------------------*/
+
+    while(blockSize3 > 0)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = count >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Reading two inputs, x[srcALen - srcBLen + 1] and x[srcALen - srcBLen + 2] of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Reading two inputs, y[srcBLen - 1] and y[srcBLen - 2] of SrcB buffer and packing */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+        /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Reading two inputs, x[srcALen - srcBLen + 3] and x[srcALen - srcBLen + 4] of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Reading two inputs, y[srcBLen - 3] and y[srcBLen - 4] of SrcB buffer and packing */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+        /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the count is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = count % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+        sum += ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(sum >> 7, 8));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = ++pSrc1;
+      py = pSrc2;
+
+      /* Decrement the MAC count */
+      count--;
+
+      /* Decrement the loop counter */
+      blockSize3--;
+
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q7_t *pIn1 = pSrcA;                            /* inputA pointer */
+  q7_t *pIn2 = pSrcB;                            /* inputB pointer */
+  q31_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counters */
+  arm_status status;                             /* status of Partial convolution */
+
+  /* Check for range of output samples to be calculated */
+  if((firstIndex + numPoints) > ((srcALen + (srcBLen - 1u))))
+  {
+    /* Set status as ARM_ARGUMENT_ERROR */
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Loop to calculate convolution for output length number of values */
+    for (i = firstIndex; i <= (firstIndex + numPoints - 1); i++)
+    {
+      /* Initialize sum with zero to carry on MAC operations */
+      sum = 0;
+
+      /* Loop to perform MAC operations according to convolution equation */
+      for (j = 0; j <= i; j++)
+      {
+        /* Check the array limitations */
+        if(((i - j) < srcBLen) && (j < srcALen))
+        {
+          /* z[i] += x[i-j] * y[j] */
+          sum += ((q15_t) pIn1[j] * (pIn2[i - j]));
+        }
+      }
+
+      /* Store the output in the destination buffer */
+      pDst[i] = (q7_t) __SSAT((sum >> 7u), 8u);
+    }
+    /* set status as ARM_SUCCESS as there are no argument errors */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+
+#endif /*  #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of PartialConv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
new file mode 100644
index 000000000..71e15fd4c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q15.c
@@ -0,0 +1,727 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_q15.c   
+*   
+* Description:	Convolution of Q15 sequences.     
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @brief Convolution of Q15 sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * This approach provides 33 guard bits and there is no risk of overflow.   
+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.   
+ *   
+ * \par   
+ * Refer to arm_conv_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_conv_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn1;                                   /* inputA pointer */
+  q15_t *pIn2;                                   /* inputB pointer */
+  q15_t *pOut = pDst;                            /* output pointer */
+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
+  uint32_t blockSize1, blockSize2, blockSize3, j, k, count, blkCnt;     /* loop counter */
+  q31_t *pb;                                     /* 32 bit pointer for inputB buffer */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations less than 4 */
+  /* Second part of this stage computes the MAC operations greater than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  while((count < 4u) && (blockSize1 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Loop over number of MAC operations between   
+     * inputA samples and inputB samples */
+    k = count;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLALD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* The second part of the stage starts here */
+  /* The internal loop, over count, is unrolled by 4 */
+  /* To, read the last two inputB samples using SIMD:   
+   * y[srcBLen] and y[srcBLen-1] coefficients, py is decremented by 1 */
+  py = py - 1;
+
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0], x[1] are multiplied with y[srcBLen - 1], y[srcBLen - 2] respectively */
+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+      /* x[2], x[3] are multiplied with y[srcBLen - 3], y[srcBLen - 4] respectively */
+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* For the next MAC operations, the pointer py is used without SIMD   
+     * So, py is incremented by 1 */
+    py = py + 1u;
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLALD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + (count - 1u);
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* Initialize inputB pointer of type q31 */
+  pb = (q31_t *) (py - 1u);
+
+  /* count is the index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+
+  /* --------------------   
+   * Stage2 process   
+   * -------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+
+      /* read x[0], x[1] samples */
+      x0 = *(q31_t *) (px++);
+      /* read x[1], x[2] samples */
+      x1 = *(q31_t *) (px++);
+
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the last two inputB samples using SIMD:   
+         * y[srcBLen - 1] and y[srcBLen - 2] */
+        c0 = *(pb--);
+
+        /* acc0 +=  x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2] */
+        acc0 = __SMLALDX(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2] */
+        acc1 = __SMLALDX(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *(q31_t *) (px++);
+
+        /* Read x[3], x[4] */
+        x3 = *(q31_t *) (px++);
+
+        /* acc2 +=  x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2] */
+        acc2 = __SMLALDX(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2] */
+        acc3 = __SMLALDX(x3, c0, acc3);
+
+        /* Read y[srcBLen - 3] and y[srcBLen - 4] */
+        c0 = *(pb--);
+
+        /* acc0 +=  x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4] */
+        acc0 = __SMLALDX(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4] */
+        acc1 = __SMLALDX(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = *(q31_t *) (px++);
+
+        /* Read x[5], x[6] */
+        x1 = *(q31_t *) (px++);
+
+        /* acc2 +=  x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4] */
+        acc2 = __SMLALDX(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4] */
+        acc3 = __SMLALDX(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+      py = (q15_t *) pb;
+      py = py + 1;
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[srcBLen - 5] */
+        c0 = *(py);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+        x3 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALDX(x1, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = *(pb);
+
+        /* Read x[7], x[8] */
+        x3 = *(q31_t *) px++;
+
+        /* Read x[9] */
+        x2 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x0, c0, acc0);
+        acc1 = __SMLALDX(x1, c0, acc1);
+        acc2 = __SMLALDX(x3, c0, acc2);
+        acc3 = __SMLALDX(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[srcBLen - 5], y[srcBLen - 6] */
+        c0 = *pb--;
+
+        /* Read x[7], x[8] */
+        x3 = *(q31_t *) px++;
+
+        /* Read x[9] */
+        x2 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x0, c0, acc0);
+        acc1 = __SMLALDX(x1, c0, acc1);
+        acc2 = __SMLALDX(x3, c0, acc2);
+        acc3 = __SMLALDX(x2, c0, acc3);
+
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        /* Read y[srcBLen - 7] */
+        c0 = (*pb);
+
+        //c0 = (c0 & 0x0000FFFF)<<16; 
+        c0 = (c0) << 16;
+
+#else
+
+        /* Read y[srcBLen - 7] */
+        c0 = (q15_t) (*pb >> 16);
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+        x3 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x1, c0, acc0);
+        acc1 = __SMLALD(x2, c0, acc1);
+        acc2 = __SMLALDX(x2, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+
+      /* Store the results in the accumulators in the destination buffer. */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+      *__SIMD32(pOut)++ =
+        __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pSrc2;
+      pb = (q31_t *) (py - 1);
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) ((q31_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q15_t) (__SSAT(sum >> 15, 16));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  blockSize3 = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  pIn2 = pSrc2 - 1u;
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  /* For loop unrolling by 4, this stage is divided into two. */
+  /* First part of this stage computes the MAC operations greater than 4 */
+  /* Second part of this stage computes the MAC operations less than or equal to 4 */
+
+  /* The first part of the stage starts here */
+  j = blockSize3 >> 2u;
+
+  while((j > 0u) && (blockSize3 > 0u))
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[srcALen - srcBLen + 1], x[srcALen - srcBLen + 2] are multiplied   
+       * with y[srcBLen - 1], y[srcBLen - 2] respectively */
+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+      /* x[srcALen - srcBLen + 3], x[srcALen - srcBLen + 4] are multiplied   
+       * with y[srcBLen - 3], y[srcBLen - 4] respectively */
+      sum = __SMLALDX(*__SIMD32(px)++, *__SIMD32(py)--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* For the next MAC operations, the pointer py is used without SIMD   
+     * So, py is incremented by 1 */
+    py = py + 1u;
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 5] * y[srcBLen - 5] */
+      sum = __SMLALD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+
+    j--;
+  }
+
+  /* The second part of the stage starts here */
+  /* SIMD is not used for the next MAC operations,   
+   * so pointer py is updated to read only one sample at a time */
+  py = py + 1u;
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum +=  x[srcALen-1] * y[srcBLen-1] */
+      sum = __SMLALD(*px++, *py--, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q15_t *pIn1 = pSrcA;                           /* input pointer */
+  q15_t *pIn2 = pSrcB;                           /* coefficient pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counter */
+
+  /* Loop to calculate output of convolution for output length number of times */
+  for (i = 0; i < (srcALen + srcBLen - 1); i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if(((i - j) < srcBLen) && (j < srcALen))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += (q31_t) pIn1[j] * (pIn2[i - j]);
+      }
+    }
+
+    /* Store the output in the destination buffer */
+    pDst[i] = (q15_t) __SSAT((sum >> 15u), 16u);
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
new file mode 100644
index 000000000..b98bca063
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q31.c
@@ -0,0 +1,583 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_q31.c   
+*   
+* Description:	Convolution of Q31 sequences. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @brief Convolution of Q31 sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * There is no saturation on intermediate additions.   
+ * Thus, if the accumulator overflows it wraps around and distorts the result.   
+ * The input signals should be scaled down to avoid intermediate overflows.   
+ * Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows,   
+ * as maximum of min(srcALen, srcBLen) number of additions are carried internally.   
+ * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.   
+ *   
+ * \par   
+ * See arm_conv_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_conv_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn1;                                   /* inputA pointer */
+  q31_t *pIn2;                                   /* inputB pointer */
+  q31_t *pOut = pDst;                            /* output pointer */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1, *pSrc2;                          /* Intermediate pointers */
+  q63_t sum;                                     /* Accumulator */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulator */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold state and coefficient values */
+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (q31_t *) pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = (q31_t *) pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 1] */
+      sum += (q63_t) * px++ * (*py--);
+      /* x[1] * y[srcBLen - 2] */
+      sum += (q63_t) * px++ * (*py--);
+      /* x[2] * y[srcBLen - 3] */
+      sum += (q63_t) * px++ * (*py--);
+      /* x[3] * y[srcBLen - 4] */
+      sum += (q63_t) * px++ * (*py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (q63_t) * px++ * (*py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q31_t) (sum >> 31);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[srcBLen - 1] sample */
+        c0 = *(py--);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[0] * y[srcBLen - 1] */
+        acc0 += ((q63_t) x0 * c0);
+        /* acc1 +=  x[1] * y[srcBLen - 1] */
+        acc1 += ((q63_t) x1 * c0);
+        /* acc2 +=  x[2] * y[srcBLen - 1] */
+        acc2 += ((q63_t) x2 * c0);
+        /* acc3 +=  x[3] * y[srcBLen - 1] */
+        acc3 += ((q63_t) x3 * c0);
+
+        /* Read y[srcBLen - 2] sample */
+        c0 = *(py--);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[1] * y[srcBLen - 2] */
+        acc0 += ((q63_t) x1 * c0);
+        /* acc1 +=  x[2] * y[srcBLen - 2] */
+        acc1 += ((q63_t) x2 * c0);
+        /* acc2 +=  x[3] * y[srcBLen - 2] */
+        acc2 += ((q63_t) x3 * c0);
+        /* acc3 +=  x[4] * y[srcBLen - 2] */
+        acc3 += ((q63_t) x0 * c0);
+
+        /* Read y[srcBLen - 3] sample */
+        c0 = *(py--);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[srcBLen - 3] */
+        acc0 += ((q63_t) x2 * c0);
+        /* acc1 +=  x[3] * y[srcBLen - 2] */
+        acc1 += ((q63_t) x3 * c0);
+        /* acc2 +=  x[4] * y[srcBLen - 2] */
+        acc2 += ((q63_t) x0 * c0);
+        /* acc3 +=  x[5] * y[srcBLen - 2] */
+        acc3 += ((q63_t) x1 * c0);
+
+        /* Read y[srcBLen - 4] sample */
+        c0 = *(py--);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[srcBLen - 4] */
+        acc0 += ((q63_t) x3 * c0);
+        /* acc1 +=  x[4] * y[srcBLen - 4] */
+        acc1 += ((q63_t) x0 * c0);
+        /* acc2 +=  x[5] * y[srcBLen - 4] */
+        acc2 += ((q63_t) x1 * c0);
+        /* acc3 +=  x[6] * y[srcBLen - 4] */
+        acc3 += ((q63_t) x2 * c0);
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[srcBLen - 5] sample */
+        c0 = *(py--);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[srcBLen - 5] */
+        acc0 += ((q63_t) x0 * c0);
+        /* acc1 +=  x[5] * y[srcBLen - 5] */
+        acc1 += ((q63_t) x1 * c0);
+        /* acc2 +=  x[6] * y[srcBLen - 5] */
+        acc2 += ((q63_t) x2 * c0);
+        /* acc3 +=  x[7] * y[srcBLen - 5] */
+        acc3 += ((q63_t) x3 * c0);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the results in the accumulators in the destination buffer. */
+      *pOut++ = (q31_t) (acc0 >> 31);
+      *pOut++ = (q31_t) (acc1 >> 31);
+      *pOut++ = (q31_t) (acc2 >> 31);
+      *pOut++ = (q31_t) (acc3 >> 31);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pSrc2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q31_t) (sum >> 31);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q31_t) (sum >> 31);
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+      sum += (q63_t) * px++ * (*py--);
+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+      sum += (q63_t) * px++ * (*py--);
+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+      sum += (q63_t) * px++ * (*py--);
+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+      sum += (q63_t) * px++ * (*py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (q63_t) * px++ * (*py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q31_t) (sum >> 31);
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t *pIn1 = pSrcA;                           /* input pointer */
+  q31_t *pIn2 = pSrcB;                           /* coefficient pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counter */
+
+  /* Loop to calculate output of convolution for output length number of times */
+  for (i = 0; i < (srcALen + srcBLen - 1); i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if(((i - j) < srcBLen) && (j < srcALen))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += ((q63_t) pIn1[j] * (pIn2[i - j]));
+      }
+    }
+
+    /* Store the output in the destination buffer */
+    pDst[i] = (q31_t) (sum >> 31u);
+  }
+
+#endif /*     #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
new file mode 100644
index 000000000..cfdea705e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_conv_q7.c
@@ -0,0 +1,680 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_conv_q7.c   
+*   
+* Description:	Convolution of Q7 sequences. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Conv   
+ * @{   
+ */
+
+/**   
+ * @brief Convolution of Q7 sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length srcALen+srcBLen-1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.   
+ * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.   
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.   
+ * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.   
+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and then saturated to 1.7 format.   
+ */
+
+void arm_conv_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t *pIn1;                                    /* inputA pointer */
+  q7_t *pIn2;                                    /* inputB pointer */
+  q7_t *pOut = pDst;                             /* output pointer */
+  q7_t *px;                                      /* Intermediate inputA pointer */
+  q7_t *py;                                      /* Intermediate inputB pointer */
+  q7_t *pSrc1, *pSrc2;                           /* Intermediate pointers */
+  q7_t x0, x1, x2, x3, c0, c1;                   /* Temporary variables to hold state and coefficient values */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulator */
+  q31_t input1, input2;                          /* Temporary input variables */
+  q15_t in1, in2;                                /* Temporary input variables */
+  uint32_t j, k, count, blkCnt, blockSize1, blockSize2, blockSize3;     /* loop counter */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+  }
+
+  /* conv(x,y) at n = x[n] * y[0] + x[n-1] * y[1] + x[n-2] * y[2] + ...+ x[n-N+1] * y[N -1] */
+  /* The function is internally   
+   * divided into three stages according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first stage of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second stage of the algorithm, srcBLen number of multiplications are done.   
+   * In the third stage of the algorithm, the multiplications decrease by one   
+   * for every iteration. */
+
+  /* The algorithm is implemented in three stages.   
+     The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = (srcALen - srcBLen) + 1u;
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[0]   
+   * sum = x[0] * y[1] + x[1] * y[0]   
+   * ....   
+   * sum = x[0] * y[srcBlen - 1] + x[1] * y[srcBlen - 2] +...+ x[srcBLen - 1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] , x[1] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* y[srcBLen - 1] , y[srcBLen - 2] */
+      in1 = (q15_t) * py--;
+      in2 = (q15_t) * py--;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* x[0] * y[srcBLen - 1] */
+      /* x[1] * y[srcBLen - 2] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* x[2] , x[3] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* y[srcBLen - 3] , y[srcBLen - 4] */
+      in1 = (q15_t) * py--;
+      in2 = (q15_t) * py--;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* x[2] * y[srcBLen - 3] */
+      /* x[3] * y[srcBLen - 4] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += ((q15_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pIn2 + count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[srcBLen-1] + x[1] * y[srcBLen-2] +...+ x[srcBLen-1] * y[0]   
+   * sum = x[1] * y[srcBLen-1] + x[2] * y[srcBLen-2] +...+ x[srcBLen] * y[0]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[srcBLen-1] + x[srcALen] * y[srcBLen-2] +...+ x[srcALen-1] * y[0]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[srcBLen - 1] sample */
+        c0 = *(py--);
+        /* Read y[srcBLen - 2] sample */
+        c1 = *(py--);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* x[0] and x[1] are packed */
+        in1 = (q15_t) x0;
+        in2 = (q15_t) x1;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* y[srcBLen - 1]   and y[srcBLen - 2] are packed */
+        in1 = (q15_t) c0;
+        in2 = (q15_t) c1;
+
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc0 += x[0] * y[srcBLen - 1] + x[1] * y[srcBLen - 2]  */
+        acc0 = __SMLAD(input1, input2, acc0);
+
+        /* x[1] and x[2] are packed */
+        in1 = (q15_t) x1;
+        in2 = (q15_t) x2;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc1 += x[1] * y[srcBLen - 1] + x[2] * y[srcBLen - 2]  */
+        acc1 = __SMLAD(input1, input2, acc1);
+
+        /* x[2] and x[3] are packed */
+        in1 = (q15_t) x2;
+        in2 = (q15_t) x3;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc2 += x[2] * y[srcBLen - 1] + x[3] * y[srcBLen - 2]  */
+        acc2 = __SMLAD(input1, input2, acc2);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* x[3] and x[4] are packed */
+        in1 = (q15_t) x3;
+        in2 = (q15_t) x0;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc3 += x[3] * y[srcBLen - 1] + x[4] * y[srcBLen - 2]  */
+        acc3 = __SMLAD(input1, input2, acc3);
+
+        /* Read y[srcBLen - 3] sample */
+        c0 = *(py--);
+        /* Read y[srcBLen - 4] sample */
+        c1 = *(py--);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* x[2] and x[3] are packed */
+        in1 = (q15_t) x2;
+        in2 = (q15_t) x3;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* y[srcBLen - 3] and y[srcBLen - 4] are packed */
+        in1 = (q15_t) c0;
+        in2 = (q15_t) c1;
+
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc0 += x[2] * y[srcBLen - 3] + x[3] * y[srcBLen - 4]  */
+        acc0 = __SMLAD(input1, input2, acc0);
+
+        /* x[3] and x[4] are packed */
+        in1 = (q15_t) x3;
+        in2 = (q15_t) x0;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc1 += x[3] * y[srcBLen - 3] + x[4] * y[srcBLen - 4]  */
+        acc1 = __SMLAD(input1, input2, acc1);
+
+        /* x[4] and x[5] are packed */
+        in1 = (q15_t) x0;
+        in2 = (q15_t) x1;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc2 += x[4] * y[srcBLen - 3] + x[5] * y[srcBLen - 4]  */
+        acc2 = __SMLAD(input1, input2, acc2);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* x[5] and x[6] are packed */
+        in1 = (q15_t) x1;
+        in2 = (q15_t) x2;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* acc3 += x[5] * y[srcBLen - 3] + x[6] * y[srcBLen - 4]  */
+        acc3 = __SMLAD(input1, input2, acc3);
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[srcBLen - 5] sample */
+        c0 = *(py--);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[srcBLen - 5] */
+        acc0 += ((q15_t) x0 * c0);
+        /* acc1 +=  x[5] * y[srcBLen - 5] */
+        acc1 += ((q15_t) x1 * c0);
+        /* acc2 +=  x[6] * y[srcBLen - 5] */
+        acc2 += ((q15_t) x2 * c0);
+        /* acc3 +=  x[7] * y[srcBLen - 5] */
+        acc3 += ((q15_t) x3 * c0);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(acc0 >> 7u, 8));
+      *pOut++ = (q7_t) (__SSAT(acc1 >> 7u, 8));
+      *pOut++ = (q7_t) (__SSAT(acc2 >> 7u, 8));
+      *pOut++ = (q7_t) (__SSAT(acc3 >> 7u, 8));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pSrc2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+
+        /* Reading two inputs of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* Reading two inputs of SrcB buffer and packing */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Reading two inputs of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* Reading two inputs of SrcB buffer and packing */
+        in1 = (q15_t) * py--;
+        in2 = (q15_t) * py--;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q15_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* srcBLen number of MACS should be performed */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q15_t) * px++ * *py--);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pSrc2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[srcBLen-1] + x[srcALen-srcBLen+2] * y[srcBLen-2] +...+ x[srcALen-1] * y[1]   
+   * sum += x[srcALen-srcBLen+2] * y[srcBLen-1] + x[srcALen-srcBLen+3] * y[srcBLen-2] +...+ x[srcALen-1] * y[2]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[srcBLen-1] + x[srcALen-1] * y[srcBLen-2]   
+   * sum +=  x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The blockSize3 variable holds the number of MAC operations performed */
+
+  /* Working pointer of inputA */
+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  pSrc2 = pIn2 + (srcBLen - 1u);
+  py = pSrc2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = blockSize3 >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Reading two inputs, x[srcALen - srcBLen + 1] and x[srcALen - srcBLen + 2] of SrcA buffer and packing */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* Reading two inputs, y[srcBLen - 1] and y[srcBLen - 2] of SrcB buffer and packing */
+      in1 = (q15_t) * py--;
+      in2 = (q15_t) * py--;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* sum += x[srcALen - srcBLen + 1] * y[srcBLen - 1] */
+      /* sum += x[srcALen - srcBLen + 2] * y[srcBLen - 2] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* Reading two inputs, x[srcALen - srcBLen + 3] and x[srcALen - srcBLen + 4] of SrcA buffer and packing */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* Reading two inputs, y[srcBLen - 3] and y[srcBLen - 4] of SrcB buffer and packing */
+      in1 = (q15_t) * py--;
+      in2 = (q15_t) * py--;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16u);
+
+      /* sum += x[srcALen - srcBLen + 3] * y[srcBLen - 3] */
+      /* sum += x[srcALen - srcBLen + 4] * y[srcBLen - 4] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the blockSize3 is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = blockSize3 % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += ((q15_t) * px++ * *py--);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut++ = (q7_t) (__SSAT(sum >> 7u, 8));
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pSrc2;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q7_t *pIn1 = pSrcA;                            /* input pointer */
+  q7_t *pIn2 = pSrcB;                            /* coefficient pointer */
+  q31_t sum;                                     /* Accumulator */
+  uint32_t i, j;                                 /* loop counter */
+
+  /* Loop to calculate output of convolution for output length number of times */
+  for (i = 0; i < (srcALen + srcBLen - 1); i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if(((i - j) < srcBLen) && (j < srcALen))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += (q15_t) pIn1[j] * (pIn2[i - j]);
+      }
+    }
+
+    /* Store the output in the destination buffer */
+    pDst[i] = (q7_t) __SSAT((sum >> 7u), 8u);
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0        */
+
+}
+
+/**   
+ * @} end of Conv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
new file mode 100644
index 000000000..488046efd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_f32.c
@@ -0,0 +1,718 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_f32.c   
+*   
+* Description:	 Correlation of floating-point sequences.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup Corr Correlation   
+ *   
+ * Correlation is a mathematical operation that is similar to convolution.   
+ * As with convolution, correlation uses two signals to produce a third signal.   
+ * The underlying algorithms in correlation and convolution are identical except that one of the inputs is flipped in convolution.   
+ * Correlation is commonly used to measure the similarity between two signals.   
+ * It has applications in pattern recognition, cryptanalysis, and searching.   
+ * The CMSIS library provides correlation functions for Q7, Q15, Q31 and floating-point data types.   
+ * Fast versions of the Q15 and Q31 functions are also provided.   
+ *   
+ * \par Algorithm   
+ * Let a[n] and b[n] be sequences of length srcALen and srcBLen samples respectively.   
+ * The convolution of the two signals is denoted by   
+ * 
       
+ *                   c[n] = a[n] * b[n]   
+ * 
       
+ * In correlation, one of the signals is flipped in time   
+ * 
       
+ *                   c[n] = a[n] * b[-n]   
+ * 
       
+ *   
+ * \par   
+ * and this is mathematically defined as   
+ * \image html CorrelateEquation.gif   
+ * \par   
+ * The pSrcA points to the first input vector of length srcALen and pSrcB points to the second input vector of length srcBLen.   
+ * The result c[n] is of length 2 * max(srcALen, srcBLen) - 1 and is defined over the interval n=0, 1, 2, ..., (2 * max(srcALen, srcBLen) - 2).   
+ * The output result is written to pDst and the calling function must allocate 2 * max(srcALen, srcBLen) - 1 words for the result.   
+ *   
+ * Note  
+ * \par 
+ * The pDst should be initialized to all zeros before being used. 
+ * 
+ * Fixed-Point Behavior   
+ * \par   
+ * Correlation requires summing up a large number of intermediate products.   
+ * As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation.   
+ * Refer to the function specific documentation below for further details of the particular algorithm used.   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+/**   
+ * @brief Correlation of floating-point sequences.   
+ * @param[in]  *pSrcA points to the first input sequence.   
+ * @param[in]  srcALen length of the first input sequence.   
+ * @param[in]  *pSrcB points to the second input sequence.   
+ * @param[in]  srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ */
+
+void arm_correlate_f32(
+  float32_t * pSrcA,
+  uint32_t srcALen,
+  float32_t * pSrcB,
+  uint32_t srcBLen,
+  float32_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t *pIn1;                               /* inputA pointer */
+  float32_t *pIn2;                               /* inputB pointer */
+  float32_t *pOut = pDst;                        /* output pointer */
+  float32_t *px;                                 /* Intermediate inputA pointer */
+  float32_t *py;                                 /* Intermediate inputB pointer */
+  float32_t *pSrc1;                              /* Intermediate pointers */
+  float32_t sum, acc0, acc1, acc2, acc3;         /* Accumulators */
+  float32_t x0, x1, x2, x3, c0;                  /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counters */
+  int32_t inc = 1;                               /* Destination address modifier */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcA;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcB;
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding has to be done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+    //while(j > 0u)  
+    //{  
+    //  /* Zero is stored in the destination buffer */  
+    //  *pOut++ = 0.0f;  
+
+    //  /* Decrement the loop counter */  
+    //  j--;  
+    //}  
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization of inputB pointer */
+    pIn2 = pSrcA;
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen-2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0.0f;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] */
+      sum += *px++ * *py++;
+      /* x[1] * y[srcBLen - 3] */
+      sum += *px++ * *py++;
+      /* x[2] * y[srcBLen - 2] */
+      sum += *px++ * *py++;
+      /* x[3] * y[srcBLen - 1] */
+      sum += *px++ * *py++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      /* x[0] * y[srcBLen - 1] */
+      sum += *px++ * *py++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = sum;
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0.0f;
+      acc1 = 0.0f;
+      acc2 = 0.0f;
+      acc3 = 0.0f;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[0] sample */
+        c0 = *(py++);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[0] * y[0] */
+        acc0 += x0 * c0;
+        /* acc1 +=  x[1] * y[0] */
+        acc1 += x1 * c0;
+        /* acc2 +=  x[2] * y[0] */
+        acc2 += x2 * c0;
+        /* acc3 +=  x[3] * y[0] */
+        acc3 += x3 * c0;
+
+        /* Read y[1] sample */
+        c0 = *(py++);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[1] * y[1] */
+        acc0 += x1 * c0;
+        /* acc1 +=  x[2] * y[1] */
+        acc1 += x2 * c0;
+        /* acc2 +=  x[3] * y[1] */
+        acc2 += x3 * c0;
+        /* acc3 +=  x[4] * y[1] */
+        acc3 += x0 * c0;
+
+        /* Read y[2] sample */
+        c0 = *(py++);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[2] */
+        acc0 += x2 * c0;
+        /* acc1 +=  x[3] * y[2] */
+        acc1 += x3 * c0;
+        /* acc2 +=  x[4] * y[2] */
+        acc2 += x0 * c0;
+        /* acc3 +=  x[5] * y[2] */
+        acc3 += x1 * c0;
+
+        /* Read y[3] sample */
+        c0 = *(py++);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[3] */
+        acc0 += x3 * c0;
+        /* acc1 +=  x[4] * y[3] */
+        acc1 += x0 * c0;
+        /* acc2 +=  x[5] * y[3] */
+        acc2 += x1 * c0;
+        /* acc3 +=  x[6] * y[3] */
+        acc3 += x2 * c0;
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[4] sample */
+        c0 = *(py++);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[4] */
+        acc0 += x0 * c0;
+        /* acc1 +=  x[5] * y[4] */
+        acc1 += x1 * c0;
+        /* acc2 +=  x[6] * y[4] */
+        acc2 += x2 * c0;
+        /* acc3 +=  x[7] * y[4] */
+        acc3 += x3 * c0;
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = acc0;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = acc1;
+      pOut += inc;
+
+      *pOut = acc2;
+      pOut += inc;
+
+      *pOut = acc3;
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pIn2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += *px++ * *py++;
+        sum += *px++ * *py++;
+        sum += *px++ * *py++;
+        sum += *px++ * *py++;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *px++ * *py++;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = sum;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0.0f;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *px++ * *py++;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = sum;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0.0f;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] */
+      sum += *px++ * *py++;
+      /* sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum += *px++ * *py++;
+      /* sum += x[srcALen - srcBLen + 2] * y[1] */
+      sum += *px++ * *py++;
+      /* sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum += *px++ * *py++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += *px++ * *py++;
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = sum;
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t *pIn1 = pSrcA;                       /* inputA pointer */
+  float32_t *pIn2 = pSrcB + (srcBLen - 1u);      /* inputB pointer */
+  float32_t sum;                                 /* Accumulator */
+  uint32_t i = 0u, j;                            /* loop counters */
+  uint32_t inv = 0u;                             /* Reverse order flag */
+  uint32_t tot = 0u;                             /* Length */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and a varaible, inv is set to 1 */
+  /* If lengths are not equal then zero pad has to be done to  make the two   
+   * inputs of same length. But to improve the performance, we include zeroes   
+   * in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   
+   * starting of the output buffer */
+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  
+   * ending of the output buffer */
+  /* Once the zero padding is done the remaining of the output is calcualted  
+   * using convolution but with the shorter signal time shifted. */
+
+  /* Calculate the length of the remaining sequence */
+  tot = ((srcALen + srcBLen) - 2u);
+
+  if(srcALen > srcBLen)
+  {
+    /* Calculating the number of zeros to be padded to the output */
+    j = srcALen - srcBLen;
+
+    /* Initialise the pointer after zero padding */
+    pDst += j;
+  }
+
+  else if(srcALen < srcBLen)
+  {
+    /* Initialization to inputB pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization to the end of inputA pointer */
+    pIn2 = pSrcA + (srcALen - 1u);
+
+    /* Initialisation of the pointer after zero padding */
+    pDst = pDst + tot;
+
+    /* Swapping the lengths */
+    j = srcALen;
+    srcALen = srcBLen;
+    srcBLen = j;
+
+    /* Setting the reverse flag */
+    inv = 1;
+
+  }
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i <= tot; i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0.0f;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += pIn1[j] * pIn2[-((int32_t) i - j)];
+      }
+    }
+    /* Store the output in the destination buffer */
+    if(inv == 1)
+      *pDst-- = sum;
+    else
+      *pDst++ = sum;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
new file mode 100644
index 000000000..8c2dd0fb2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q15.c
@@ -0,0 +1,622 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_fast_q15.c   
+*   
+* Description:	Fast Q15 Correlation.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+
+/**   
+ * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * This fast version uses a 32-bit accumulator with 2.30 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * There is no saturation on intermediate additions.   
+ * Thus, if the accumulator overflows it wraps around and distorts the result.   
+ * The input signals should be scaled down to avoid intermediate overflows.   
+ * Scale down one of the inputs by 1/min(srcALen, srcBLen) to avoid overflow since a   
+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.   
+ * The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.   
+ *   
+ * \par   
+ * See arm_correlate_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion.   
+ */
+
+void arm_correlate_fast_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst)
+{
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1;                                  /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+  q31_t *pb;                                     /* 32 bit pointer for inputB buffer */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first loop starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */
+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+      /* x[3] * y[srcBLen - 1] , x[2] * y[srcBLen - 2] */
+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum = __SMLAD(*px++, *py++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (sum >> 15);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* Initialize inputB pointer of type q31 */
+  pb = (q31_t *) (py);
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1] samples */
+      x0 = *(q31_t *) (px++);
+      /* read x[1], x[2] samples */
+      x1 = *(q31_t *) (px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the first two inputB samples using SIMD:   
+         * y[0] and y[1] */
+        c0 = *(pb++);
+
+        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */
+        acc0 = __SMLAD(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */
+        acc1 = __SMLAD(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *(q31_t *) (px++);
+
+        /* Read x[3], x[4] */
+        x3 = *(q31_t *) (px++);
+
+        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */
+        acc2 = __SMLAD(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */
+        acc3 = __SMLAD(x3, c0, acc3);
+
+        /* Read y[2] and y[3] */
+        c0 = *(pb++);
+
+        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */
+        acc0 = __SMLAD(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */
+        acc1 = __SMLAD(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = *(q31_t *) (px++);
+
+        /* Read x[5], x[6] */
+        x1 = *(q31_t *) (px++);
+
+        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */
+        acc2 = __SMLAD(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */
+        acc3 = __SMLAD(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+      py = (q15_t *) (pb);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[4] */
+        c0 = *py;
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[7] */
+        x3 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLADX(x1, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[4], y[5] */
+        c0 = *(pb);
+
+        /* Read x[7], x[8] */
+        x3 = *(q31_t *) px++;
+
+        /* Read x[9] */
+        x2 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLAD(x3, c0, acc2);
+        acc3 = __SMLAD(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[4], y[5] */
+        c0 = *pb++;
+
+        /* Read x[7], x[8] */
+        x3 = *(q31_t *) px++;
+
+        /* Read x[9] */
+        x2 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLAD(x0, c0, acc0);
+        acc1 = __SMLAD(x1, c0, acc1);
+        acc2 = __SMLAD(x3, c0, acc2);
+        acc3 = __SMLAD(x2, c0, acc3);
+
+        /* Read y[6] */
+#ifdef  ARM_MATH_BIG_ENDIAN
+        c0 = (*pb);
+        c0 = c0 & 0xFFFF0000;
+
+#else
+        c0 = (q15_t) (*pb);
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+
+        /* Read x[10] */
+        x3 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLADX(x1, c0, acc0);
+        acc1 = __SMLAD(x2, c0, acc1);
+        acc2 = __SMLADX(x2, c0, acc2);
+        acc3 = __SMLADX(x3, c0, acc3);
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (acc0 >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q15_t) (acc1 >> 15);
+      pOut += inc;
+
+      *pOut = (q15_t) (acc2 >> 15);
+      pOut += inc;
+
+      *pOut = (q15_t) (acc3 >> 15);
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+      pb = (q31_t *) (py);
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (sum >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q31_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (sum >> 15);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] , sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+      /* sum += x[srcALen - srcBLen + 2] * y[1] , sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum = __SMLAD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLAD(*px++, *py++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (sum >> 15);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
new file mode 100644
index 000000000..34cd3f4a4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_fast_q31.c
@@ -0,0 +1,599 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_fast_q31.c   
+*   
+* Description:	Fast Q31 Correlation.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+
+/**   
+ * @brief Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.   
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.   
+ * These intermediate results are accumulated in a 32-bit register in 2.30 format.   
+ * Finally, the accumulator is saturated and converted to a 1.31 result.   
+ *   
+ * \par   
+ * The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result.   
+ * In order to avoid overflows completely the input signals must be scaled down.   
+ * The input signals should be scaled down to avoid intermediate overflows.   
+ * Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a   
+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.   
+ *   
+ * \par   
+ * See arm_correlate_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision.   
+ */
+
+void arm_correlate_fast_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst)
+{
+  q31_t *pIn1;                                   /* inputA pointer               */
+  q31_t *pIn2;                                   /* inputB pointer               */
+  q31_t *pOut = pDst;                            /* output pointer               */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1;                                  /* Intermediate pointers        */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* x[1] * y[srcBLen - 3] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* x[2] * y[srcBLen - 2] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* x[3] * y[srcBLen - 1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = sum << 1;
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[0] sample */
+        c0 = *(py++);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[0] * y[0] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc1 +=  x[1] * y[0] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc2 +=  x[2] * y[0] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc3 +=  x[3] * y[0] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+        /* Read y[1] sample */
+        c0 = *(py++);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[1] * y[1] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc1 +=  x[2] * y[1] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc2 +=  x[3] * y[1] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc3 +=  x[4] * y[1] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x0 * c0)) >> 32);
+
+        /* Read y[2] sample */
+        c0 = *(py++);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[2] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc1 +=  x[3] * y[2] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc2 +=  x[4] * y[2] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc3 +=  x[5] * y[2] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x1 * c0)) >> 32);
+
+        /* Read y[3] sample */
+        c0 = *(py++);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[3] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x3 * c0)) >> 32);
+        /* acc1 +=  x[4] * y[3] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc2 +=  x[5] * y[3] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc3 +=  x[6] * y[3] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x2 * c0)) >> 32);
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[4] sample */
+        c0 = *(py++);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[4] */
+        acc0 = (q31_t) ((((q63_t) acc0 << 32) + ((q63_t) x0 * c0)) >> 32);
+        /* acc1 +=  x[5] * y[4] */
+        acc1 = (q31_t) ((((q63_t) acc1 << 32) + ((q63_t) x1 * c0)) >> 32);
+        /* acc2 +=  x[6] * y[4] */
+        acc2 = (q31_t) ((((q63_t) acc2 << 32) + ((q63_t) x2 * c0)) >> 32);
+        /* acc3 +=  x[7] * y[4] */
+        acc3 = (q31_t) ((((q63_t) acc3 << 32) + ((q63_t) x3 * c0)) >> 32);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q31_t) (acc0 << 1);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q31_t) (acc1 << 1);
+      pOut += inc;
+
+      *pOut = (q31_t) (acc2 << 1);
+      pOut += inc;
+
+      *pOut = (q31_t) (acc3 << 1);
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pIn2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = sum << 1;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum = (q31_t) ((((q63_t) sum << 32) +
+                        ((q63_t) * px++ * (*py++))) >> 32);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = sum << 1;
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = ((pIn1 + srcALen) - srcBLen) + 1u;
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* sum += x[srcALen - srcBLen + 2] * y[1] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+      /* sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = (q31_t) ((((q63_t) sum << 32) +
+                      ((q63_t) * px++ * (*py++))) >> 32);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = sum << 1;
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
new file mode 100644
index 000000000..a10c1bc51
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q15.c
@@ -0,0 +1,714 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_q15.c   
+*   
+* Description:	Correlation of Q15 sequences. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+
+/**   
+ * @brief Correlation of Q15 sequences. 
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both inputs are in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * This approach provides 33 guard bits and there is no risk of overflow.   
+ * The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.   
+ *   
+ * \par   
+ * Refer to arm_correlate_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_correlate_q15(
+  q15_t * pSrcA,
+  uint32_t srcALen,
+  q15_t * pSrcB,
+  uint32_t srcBLen,
+  q15_t * pDst)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn1;                                   /* inputA pointer               */
+  q15_t *pIn2;                                   /* inputB pointer               */
+  q15_t *pOut = pDst;                            /* output pointer               */
+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q15_t *px;                                     /* Intermediate inputA pointer  */
+  q15_t *py;                                     /* Intermediate inputB pointer  */
+  q15_t *pSrc1;                                  /* Intermediate pointers        */
+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+  q31_t *pb;                                     /* 32 bit pointer for inputB buffer */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first loop starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] , x[1] * y[srcBLen - 3] */
+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+      /* x[3] * y[srcBLen - 1] , x[2] * y[srcBLen - 2] */
+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum = __SMLALD(*px++, *py++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (__SSAT((sum >> 15), 16));
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* Initialize inputB pointer of type q31 */
+  pb = (q31_t *) (py);
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 0u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4, to loop unroll the srcBLen loop */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1] samples */
+      x0 = *(q31_t *) (px++);
+      /* read x[1], x[2] samples */
+      x1 = *(q31_t *) (px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read the first two inputB samples using SIMD:   
+         * y[0] and y[1] */
+        c0 = *(pb++);
+
+        /* acc0 +=  x[0] * y[0] + x[1] * y[1] */
+        acc0 = __SMLALD(x0, c0, acc0);
+
+        /* acc1 +=  x[1] * y[0] + x[2] * y[1] */
+        acc1 = __SMLALD(x1, c0, acc1);
+
+        /* Read x[2], x[3] */
+        x2 = *(q31_t *) (px++);
+
+        /* Read x[3], x[4] */
+        x3 = *(q31_t *) (px++);
+
+        /* acc2 +=  x[2] * y[0] + x[3] * y[1] */
+        acc2 = __SMLALD(x2, c0, acc2);
+
+        /* acc3 +=  x[3] * y[0] + x[4] * y[1] */
+        acc3 = __SMLALD(x3, c0, acc3);
+
+        /* Read y[2] and y[3] */
+        c0 = *(pb++);
+
+        /* acc0 +=  x[2] * y[2] + x[3] * y[3] */
+        acc0 = __SMLALD(x2, c0, acc0);
+
+        /* acc1 +=  x[3] * y[2] + x[4] * y[3] */
+        acc1 = __SMLALD(x3, c0, acc1);
+
+        /* Read x[4], x[5] */
+        x0 = *(q31_t *) (px++);
+
+        /* Read x[5], x[6] */
+        x1 = *(q31_t *) (px++);
+
+        /* acc2 +=  x[4] * y[2] + x[5] * y[3] */
+        acc2 = __SMLALD(x0, c0, acc2);
+
+        /* acc3 +=  x[5] * y[2] + x[6] * y[3] */
+        acc3 = __SMLALD(x1, c0, acc3);
+
+      } while(--k);
+
+      /* For the next MAC operations, SIMD is not used   
+       * So, the 16 bit pointer if inputB, py is updated */
+      py = (q15_t *) (pb);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      if(k == 1u)
+      {
+        /* Read y[4] */
+        c0 = *py;
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = c0 << 16u;
+
+#else
+
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+        /* Read x[7] */
+        x3 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALDX(x1, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+      if(k == 2u)
+      {
+        /* Read y[4], y[5] */
+        c0 = *(pb);
+
+        /* Read x[7], x[8] */
+        x3 = *(q31_t *) px++;
+
+        /* Read x[9] */
+        x2 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALD(x3, c0, acc2);
+        acc3 = __SMLALD(x2, c0, acc3);
+      }
+
+      if(k == 3u)
+      {
+        /* Read y[4], y[5] */
+        c0 = *pb++;
+
+        /* Read x[7], x[8] */
+        x3 = *(q31_t *) px++;
+
+        /* Read x[9] */
+        x2 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALD(x0, c0, acc0);
+        acc1 = __SMLALD(x1, c0, acc1);
+        acc2 = __SMLALD(x3, c0, acc2);
+        acc3 = __SMLALD(x2, c0, acc3);
+
+        /* Read y[6] */
+#ifdef  ARM_MATH_BIG_ENDIAN
+
+        c0 = (*pb);
+        c0 = c0 & 0xFFFF0000;
+
+#else
+
+        c0 = (q15_t) (*pb);
+        c0 = c0 & 0x0000FFFF;
+
+#endif /*      #ifdef  ARM_MATH_BIG_ENDIAN     */
+        /* Read x[10] */
+        x3 = *(q31_t *) px++;
+
+        /* Perform the multiply-accumulates */
+        acc0 = __SMLALDX(x1, c0, acc0);
+        acc1 = __SMLALD(x2, c0, acc1);
+        acc2 = __SMLALDX(x2, c0, acc2);
+        acc3 = __SMLALDX(x3, c0, acc3);
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (__SSAT(acc0 >> 15, 16));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q15_t) (__SSAT(acc1 >> 15, 16));
+      pOut += inc;
+
+      *pOut = (q15_t) (__SSAT(acc2 >> 15, 16));
+      pOut += inc;
+
+      *pOut = (q15_t) (__SSAT(acc3 >> 15, 16));
+      pOut += inc;
+
+      /* Increment the count by 4 as 4 output values are computed */
+      count += 4u;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+      pb = (q31_t *) (py);
+
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q63_t) * px++ * *py++);
+        sum += ((q63_t) * px++ * *py++);
+        sum += ((q63_t) * px++ * *py++);
+        sum += ((q63_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q63_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (__SSAT(sum >> 15, 16));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment count by 1, as one output value is computed */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q63_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q15_t) (__SSAT(sum >> 15, 16));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = (pIn1 + srcALen) - (srcBLen - 1u);
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] , sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+      /* sum += x[srcALen - srcBLen + 2] * y[1] , sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum = __SMLALD(*__SIMD32(px)++, *__SIMD32(py)++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum = __SMLALD(*px++, *py++, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q15_t) (__SSAT((sum >> 15), 16));
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q15_t *pIn1 = pSrcA;                           /* inputA pointer               */
+  q15_t *pIn2 = pSrcB + (srcBLen - 1u);          /* inputB pointer               */
+  q63_t sum;                                     /* Accumulators                  */
+  uint32_t i = 0u, j;                            /* loop counters */
+  uint32_t inv = 0u;                             /* Reverse order flag */
+  uint32_t tot = 0u;                             /* Length */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and a varaible, inv is set to 1 */
+  /* If lengths are not equal then zero pad has to be done to  make the two   
+   * inputs of same length. But to improve the performance, we include zeroes   
+   * in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   
+   * starting of the output buffer */
+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  
+   * ending of the output buffer */
+  /* Once the zero padding is done the remaining of the output is calcualted  
+   * using convolution but with the shorter signal time shifted. */
+
+  /* Calculate the length of the remaining sequence */
+  tot = ((srcALen + srcBLen) - 2u);
+
+  if(srcALen > srcBLen)
+  {
+    /* Calculating the number of zeros to be padded to the output */
+    j = srcALen - srcBLen;
+
+    /* Initialise the pointer after zero padding */
+    pDst += j;
+  }
+
+  else if(srcALen < srcBLen)
+  {
+    /* Initialization to inputB pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization to the end of inputA pointer */
+    pIn2 = pSrcA + (srcALen - 1u);
+
+    /* Initialisation of the pointer after zero padding */
+    pDst = pDst + tot;
+
+    /* Swapping the lengths */
+    j = srcALen;
+    srcALen = srcBLen;
+    srcBLen = j;
+
+    /* Setting the reverse flag */
+    inv = 1;
+
+  }
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i <= tot; i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += ((q31_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
+      }
+    }
+    /* Store the output in the destination buffer */
+    if(inv == 1)
+      *pDst-- = (q15_t) __SSAT((sum >> 15u), 16u);
+    else
+      *pDst++ = (q15_t) __SSAT((sum >> 15u), 16u);
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
new file mode 100644
index 000000000..49de78702
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q31.c
@@ -0,0 +1,683 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_q31.c   
+*   
+* Description:	Correlation of Q31 sequences. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+
+/**   
+ * @brief Correlation of Q31 sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * There is no saturation on intermediate additions.   
+ * Thus, if the accumulator overflows it wraps around and distorts the result.   
+ * The input signals should be scaled down to avoid intermediate overflows.   
+ * Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a   
+ * maximum of min(srcALen, srcBLen) number of additions is carried internally.   
+ * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.   
+ *   
+ * \par   
+ * See arm_correlate_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_correlate_q31(
+  q31_t * pSrcA,
+  uint32_t srcALen,
+  q31_t * pSrcB,
+  uint32_t srcBLen,
+  q31_t * pDst)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn1;                                   /* inputA pointer               */
+  q31_t *pIn2;                                   /* inputB pointer               */
+  q31_t *pOut = pDst;                            /* output pointer               */
+  q31_t *px;                                     /* Intermediate inputA pointer  */
+  q31_t *py;                                     /* Intermediate inputB pointer  */
+  q31_t *pSrc1;                                  /* Intermediate pointers        */
+  q63_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q31_t x0, x1, x2, x3, c0;                      /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;                               /* Destination address modifier */
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] * y[srcBLen - 4] */
+      sum += (q63_t) * px++ * (*py++);
+      /* x[1] * y[srcBLen - 3] */
+      sum += (q63_t) * px++ * (*py++);
+      /* x[2] * y[srcBLen - 2] */
+      sum += (q63_t) * px++ * (*py++);
+      /* x[3] * y[srcBLen - 1] */
+      sum += (q63_t) * px++ * (*py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum += (q63_t) * px++ * (*py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q31_t) (sum >> 31);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *(px++);
+      x1 = *(px++);
+      x2 = *(px++);
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[0] sample */
+        c0 = *(py++);
+
+        /* Read x[3] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulate */
+        /* acc0 +=  x[0] * y[0] */
+        acc0 += ((q63_t) x0 * c0);
+        /* acc1 +=  x[1] * y[0] */
+        acc1 += ((q63_t) x1 * c0);
+        /* acc2 +=  x[2] * y[0] */
+        acc2 += ((q63_t) x2 * c0);
+        /* acc3 +=  x[3] * y[0] */
+        acc3 += ((q63_t) x3 * c0);
+
+        /* Read y[1] sample */
+        c0 = *(py++);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[1] * y[1] */
+        acc0 += ((q63_t) x1 * c0);
+        /* acc1 +=  x[2] * y[1] */
+        acc1 += ((q63_t) x2 * c0);
+        /* acc2 +=  x[3] * y[1] */
+        acc2 += ((q63_t) x3 * c0);
+        /* acc3 +=  x[4] * y[1] */
+        acc3 += ((q63_t) x0 * c0);
+        /* Read y[2] sample */
+        c0 = *(py++);
+
+        /* Read x[5] sample */
+        x1 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[2] * y[2] */
+        acc0 += ((q63_t) x2 * c0);
+        /* acc1 +=  x[3] * y[2] */
+        acc1 += ((q63_t) x3 * c0);
+        /* acc2 +=  x[4] * y[2] */
+        acc2 += ((q63_t) x0 * c0);
+        /* acc3 +=  x[5] * y[2] */
+        acc3 += ((q63_t) x1 * c0);
+
+        /* Read y[3] sample */
+        c0 = *(py++);
+
+        /* Read x[6] sample */
+        x2 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[3] * y[3] */
+        acc0 += ((q63_t) x3 * c0);
+        /* acc1 +=  x[4] * y[3] */
+        acc1 += ((q63_t) x0 * c0);
+        /* acc2 +=  x[5] * y[3] */
+        acc2 += ((q63_t) x1 * c0);
+        /* acc3 +=  x[6] * y[3] */
+        acc3 += ((q63_t) x2 * c0);
+
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[4] sample */
+        c0 = *(py++);
+
+        /* Read x[7] sample */
+        x3 = *(px++);
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[4] */
+        acc0 += ((q63_t) x0 * c0);
+        /* acc1 +=  x[5] * y[4] */
+        acc1 += ((q63_t) x1 * c0);
+        /* acc2 +=  x[6] * y[4] */
+        acc2 += ((q63_t) x2 * c0);
+        /* acc3 +=  x[7] * y[4] */
+        acc3 += ((q63_t) x3 * c0);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q31_t) (acc0 >> 31);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q31_t) (acc1 >> 31);
+      pOut += inc;
+
+      *pOut = (q31_t) (acc2 >> 31);
+      pOut += inc;
+
+      *pOut = (q31_t) (acc3 >> 31);
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pIn2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += (q63_t) * px++ * (*py++);
+        sum += (q63_t) * px++ * (*py++);
+        sum += (q63_t) * px++ * (*py++);
+        sum += (q63_t) * px++ * (*py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q31_t) (sum >> 31);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) * px++ * (*py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q31_t) (sum >> 31);
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] */
+      sum += (q63_t) * px++ * (*py++);
+      /* sum += x[srcALen - srcBLen + 3] * y[2] */
+      sum += (q63_t) * px++ * (*py++);
+      /* sum += x[srcALen - srcBLen + 2] * y[1] */
+      sum += (q63_t) * px++ * (*py++);
+      /* sum += x[srcALen - srcBLen + 1] * y[0] */
+      sum += (q63_t) * px++ * (*py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += (q63_t) * px++ * (*py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q31_t) (sum >> 31);
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t *pIn1 = pSrcA;                           /* inputA pointer               */
+  q31_t *pIn2 = pSrcB + (srcBLen - 1u);          /* inputB pointer               */
+  q63_t sum;                                     /* Accumulators                  */
+  uint32_t i = 0u, j;                            /* loop counters */
+  uint32_t inv = 0u;                             /* Reverse order flag */
+  uint32_t tot = 0u;                             /* Length */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and a varaible, inv is set to 1 */
+  /* If lengths are not equal then zero pad has to be done to  make the two   
+   * inputs of same length. But to improve the performance, we include zeroes   
+   * in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   
+   * starting of the output buffer */
+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  
+   * ending of the output buffer */
+  /* Once the zero padding is done the remaining of the output is calcualted  
+   * using convolution but with the shorter signal time shifted. */
+
+  /* Calculate the length of the remaining sequence */
+  tot = ((srcALen + srcBLen) - 2u);
+
+  if(srcALen > srcBLen)
+  {
+    /* Calculating the number of zeros to be padded to the output */
+    j = srcALen - srcBLen;
+
+    /* Initialise the pointer after zero padding */
+    pDst += j;
+  }
+
+  else if(srcALen < srcBLen)
+  {
+    /* Initialization to inputB pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization to the end of inputA pointer */
+    pIn2 = pSrcA + (srcALen - 1u);
+
+    /* Initialisation of the pointer after zero padding */
+    pDst = pDst + tot;
+
+    /* Swapping the lengths */
+    j = srcALen;
+    srcALen = srcBLen;
+    srcBLen = j;
+
+    /* Setting the reverse flag */
+    inv = 1;
+
+  }
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i <= tot; i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += ((q63_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
+      }
+    }
+    /* Store the output in the destination buffer */
+    if(inv == 1)
+      *pDst-- = (q31_t) (sum >> 31u);
+    else
+      *pDst++ = (q31_t) (sum >> 31u);
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
new file mode 100644
index 000000000..873b5424f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_correlate_q7.c
@@ -0,0 +1,780 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_correlate_q7.c   
+*   
+* Description:	Correlation of Q7 sequences. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup Corr   
+ * @{   
+ */
+
+/**   
+ * @brief Correlation of Q7 sequences.   
+ * @param[in] *pSrcA points to the first input sequence.   
+ * @param[in] srcALen length of the first input sequence.   
+ * @param[in] *pSrcB points to the second input sequence.   
+ * @param[in] srcBLen length of the second input sequence.   
+ * @param[out] *pDst points to the location where the output result is written.  Length 2 * max(srcALen, srcBLen) - 1.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.   
+ * Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result.   
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.   
+ * This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072.   
+ * The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and saturated to 1.7 format.   
+ */
+
+void arm_correlate_q7(
+  q7_t * pSrcA,
+  uint32_t srcALen,
+  q7_t * pSrcB,
+  uint32_t srcBLen,
+  q7_t * pDst)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t *pIn1;                                    /* inputA pointer               */
+  q7_t *pIn2;                                    /* inputB pointer               */
+  q7_t *pOut = pDst;                             /* output pointer               */
+  q7_t *px;                                      /* Intermediate inputA pointer  */
+  q7_t *py;                                      /* Intermediate inputB pointer  */
+  q7_t *pSrc1;                                   /* Intermediate pointers        */
+  q31_t sum, acc0, acc1, acc2, acc3;             /* Accumulators                  */
+  q31_t input1, input2;                          /* temporary variables */
+  q15_t in1, in2;                                /* temporary variables */
+  q7_t x0, x1, x2, x3, c0, c1;                   /* temporary variables for holding input and coefficient values */
+  uint32_t j, k = 0u, count, blkCnt, outBlockSize, blockSize1, blockSize2, blockSize3;  /* loop counter                 */
+  int32_t inc = 1;
+
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and the destination pointer modifier, inc is set to -1 */
+  /* If srcALen > srcBLen, zero pad has to be done to srcB to make the two inputs of same length */
+  /* But to improve the performance,   
+   * we include zeroes in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the starting of the output buffer */
+  /* If srcALen < srcBLen,   
+   * (srcALen - srcBLen) zeroes has to included in the ending of the output buffer */
+  if(srcALen >= srcBLen)
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcA);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcB);
+
+    /* Number of output samples is calculated */
+    outBlockSize = (2u * srcALen) - 1u;
+
+    /* When srcALen > srcBLen, zero padding is done to srcB   
+     * to make their lengths equal.   
+     * Instead, (outBlockSize - (srcALen + srcBLen - 1))   
+     * number of output samples are made zero */
+    j = outBlockSize - (srcALen + (srcBLen - 1u));
+
+    /* Updating the pointer position to non zero value */
+    pOut += j;
+
+  }
+  else
+  {
+    /* Initialization of inputA pointer */
+    pIn1 = (pSrcB);
+
+    /* Initialization of inputB pointer */
+    pIn2 = (pSrcA);
+
+    /* srcBLen is always considered as shorter or equal to srcALen */
+    j = srcBLen;
+    srcBLen = srcALen;
+    srcALen = j;
+
+    /* CORR(x, y) = Reverse order(CORR(y, x)) */
+    /* Hence set the destination pointer to point to the last output sample */
+    pOut = pDst + ((srcALen + srcBLen) - 2u);
+
+    /* Destination address modifier is set to -1 */
+    inc = -1;
+
+  }
+
+  /* The function is internally   
+   * divided into three parts according to the number of multiplications that has to be   
+   * taken place between inputA samples and inputB samples. In the first part of the   
+   * algorithm, the multiplications increase by one for every iteration.   
+   * In the second part of the algorithm, srcBLen number of multiplications are done.   
+   * In the third part of the algorithm, the multiplications decrease by one   
+   * for every iteration.*/
+  /* The algorithm is implemented in three stages.   
+   * The loop counters of each stage is initiated here. */
+  blockSize1 = srcBLen - 1u;
+  blockSize2 = srcALen - (srcBLen - 1u);
+  blockSize3 = blockSize1;
+
+  /* --------------------------   
+   * Initializations of stage1   
+   * -------------------------*/
+
+  /* sum = x[0] * y[srcBlen - 1]   
+   * sum = x[0] * y[srcBlen - 2] + x[1] * y[srcBlen - 1]   
+   * ....   
+   * sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen - 1] * y[srcBLen - 1]   
+   */
+
+  /* In this stage the MAC operations are increased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = 1u;
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  pSrc1 = pIn2 + (srcBLen - 1u);
+  py = pSrc1;
+
+  /* ------------------------   
+   * Stage1 process   
+   * ----------------------*/
+
+  /* The first stage starts here */
+  while(blockSize1 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[0] , x[1] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* y[srcBLen - 4] , y[srcBLen - 3] */
+      in1 = (q15_t) * py++;
+      in2 = (q15_t) * py++;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* x[0] * y[srcBLen - 4] */
+      /* x[1] * y[srcBLen - 3] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* x[2] , x[3] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* y[srcBLen - 2] , y[srcBLen - 1] */
+      in1 = (q15_t) * py++;
+      in2 = (q15_t) * py++;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* x[2] * y[srcBLen - 2] */
+      /* x[3] * y[srcBLen - 1] */
+      sum = __SMLAD(input1, input2, sum);
+
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      /* x[0] * y[srcBLen - 1] */
+      sum += (q31_t) ((q15_t) * px++ * *py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q7_t) (__SSAT(sum >> 7, 8));
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    py = pSrc1 - count;
+    px = pIn1;
+
+    /* Increment the MAC count */
+    count++;
+
+    /* Decrement the loop counter */
+    blockSize1--;
+  }
+
+  /* --------------------------   
+   * Initializations of stage2   
+   * ------------------------*/
+
+  /* sum = x[0] * y[0] + x[1] * y[1] +...+ x[srcBLen-1] * y[srcBLen-1]   
+   * sum = x[1] * y[0] + x[2] * y[1] +...+ x[srcBLen] * y[srcBLen-1]   
+   * ....   
+   * sum = x[srcALen-srcBLen-2] * y[0] + x[srcALen-srcBLen-1] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   */
+
+  /* Working pointer of inputA */
+  px = pIn1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* count is index by which the pointer pIn1 to be incremented */
+  count = 1u;
+
+  /* -------------------   
+   * Stage2 process   
+   * ------------------*/
+
+  /* Stage2 depends on srcBLen as in this stage srcBLen number of MACS are performed.   
+   * So, to loop unroll over blockSize2,   
+   * srcBLen should be greater than or equal to 4 */
+  if(srcBLen >= 4u)
+  {
+    /* Loop unroll over blockSize2, by 4 */
+    blkCnt = blockSize2 >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Set all accumulators to zero */
+      acc0 = 0;
+      acc1 = 0;
+      acc2 = 0;
+      acc3 = 0;
+
+      /* read x[0], x[1], x[2] samples */
+      x0 = *px++;
+      x1 = *px++;
+      x2 = *px++;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      do
+      {
+        /* Read y[0] sample */
+        c0 = *py++;
+        /* Read y[1] sample */
+        c1 = *py++;
+
+        /* Read x[3] sample */
+        x3 = *px++;
+
+        /* x[0] and x[1] are packed */
+        in1 = (q15_t) x0;
+        in2 = (q15_t) x1;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* y[0] and y[1] are packed */
+        in1 = (q15_t) c0;
+        in2 = (q15_t) c1;
+
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc0 += x[0] * y[0] + x[1] * y[1]  */
+        acc0 = __SMLAD(input1, input2, acc0);
+
+        /* x[1] and x[2] are packed */
+        in1 = (q15_t) x1;
+        in2 = (q15_t) x2;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc1 += x[1] * y[0] + x[2] * y[1] */
+        acc1 = __SMLAD(input1, input2, acc1);
+
+        /* x[2] and x[3] are packed */
+        in1 = (q15_t) x2;
+        in2 = (q15_t) x3;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc2 += x[2] * y[0] + x[3] * y[1]  */
+        acc2 = __SMLAD(input1, input2, acc2);
+
+        /* Read x[4] sample */
+        x0 = *(px++);
+
+        /* x[3] and x[4] are packed */
+        in1 = (q15_t) x3;
+        in2 = (q15_t) x0;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc3 += x[3] * y[0] + x[4] * y[1]  */
+        acc3 = __SMLAD(input1, input2, acc3);
+
+        /* Read y[2] sample */
+        c0 = *py++;
+        /* Read y[3] sample */
+        c1 = *py++;
+
+        /* Read x[5] sample */
+        x1 = *px++;
+
+        /* x[2] and x[3] are packed */
+        in1 = (q15_t) x2;
+        in2 = (q15_t) x3;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* y[2] and y[3] are packed */
+        in1 = (q15_t) c0;
+        in2 = (q15_t) c1;
+
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc0 += x[2] * y[2] + x[3] * y[3]  */
+        acc0 = __SMLAD(input1, input2, acc0);
+
+        /* x[3] and x[4] are packed */
+        in1 = (q15_t) x3;
+        in2 = (q15_t) x0;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc1 += x[3] * y[2] + x[4] * y[3]  */
+        acc1 = __SMLAD(input1, input2, acc1);
+
+        /* x[4] and x[5] are packed */
+        in1 = (q15_t) x0;
+        in2 = (q15_t) x1;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc2 += x[4] * y[2] + x[5] * y[3]  */
+        acc2 = __SMLAD(input1, input2, acc2);
+
+        /* Read x[6] sample */
+        x2 = *px++;
+
+        /* x[5] and x[6] are packed */
+        in1 = (q15_t) x1;
+        in2 = (q15_t) x2;
+
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* acc3 += x[5] * y[2] + x[6] * y[3]  */
+        acc3 = __SMLAD(input1, input2, acc3);
+
+      } while(--k);
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Read y[4] sample */
+        c0 = *py++;
+
+        /* Read x[7] sample */
+        x3 = *px++;
+
+        /* Perform the multiply-accumulates */
+        /* acc0 +=  x[4] * y[4] */
+        acc0 += ((q15_t) x0 * c0);
+        /* acc1 +=  x[5] * y[4] */
+        acc1 += ((q15_t) x1 * c0);
+        /* acc2 +=  x[6] * y[4] */
+        acc2 += ((q15_t) x2 * c0);
+        /* acc3 +=  x[7] * y[4] */
+        acc3 += ((q15_t) x3 * c0);
+
+        /* Reuse the present samples for the next MAC */
+        x0 = x1;
+        x1 = x2;
+        x2 = x3;
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q7_t) (__SSAT(acc0 >> 7, 8));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      *pOut = (q7_t) (__SSAT(acc1 >> 7, 8));
+      pOut += inc;
+
+      *pOut = (q7_t) (__SSAT(acc2 >> 7, 8));
+      pOut += inc;
+
+      *pOut = (q7_t) (__SSAT(acc3 >> 7, 8));
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + (count * 4u);
+      py = pIn2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize2 is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = blockSize2 % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Apply loop unrolling and compute 4 MACs simultaneously. */
+      k = srcBLen >> 2u;
+
+      /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+       ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+      while(k > 0u)
+      {
+        /* Reading two inputs of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Reading two inputs of SrcB buffer and packing */
+        in1 = (q15_t) * py++;
+        in2 = (q15_t) * py++;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Reading two inputs of SrcA buffer and packing */
+        in1 = (q15_t) * px++;
+        in2 = (q15_t) * px++;
+        input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Reading two inputs of SrcB buffer and packing */
+        in1 = (q15_t) * py++;
+        in2 = (q15_t) * py++;
+        input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+        /* Perform the multiply-accumulates */
+        sum = __SMLAD(input1, input2, sum);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* If the srcBLen is not a multiple of 4, compute any remaining MACs here.   
+       ** No loop unrolling is used. */
+      k = srcBLen % 0x4u;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulates */
+        sum += ((q15_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q7_t) (__SSAT(sum >> 7, 8));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Increment the pointer pIn1 index, count by 1 */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+  else
+  {
+    /* If the srcBLen is not a multiple of 4,   
+     * the blockSize2 loop cannot be unrolled by 4 */
+    blkCnt = blockSize2;
+
+    while(blkCnt > 0u)
+    {
+      /* Accumulator is made zero for every iteration */
+      sum = 0;
+
+      /* Loop over srcBLen */
+      k = srcBLen;
+
+      while(k > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += ((q15_t) * px++ * *py++);
+
+        /* Decrement the loop counter */
+        k--;
+      }
+
+      /* Store the result in the accumulator in the destination buffer. */
+      *pOut = (q7_t) (__SSAT(sum >> 7, 8));
+      /* Destination pointer is updated according to the address modifier, inc */
+      pOut += inc;
+
+      /* Update the inputA and inputB pointers for next MAC calculation */
+      px = pIn1 + count;
+      py = pIn2;
+
+      /* Increment the MAC count */
+      count++;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+  }
+
+  /* --------------------------   
+   * Initializations of stage3   
+   * -------------------------*/
+
+  /* sum += x[srcALen-srcBLen+1] * y[0] + x[srcALen-srcBLen+2] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * sum += x[srcALen-srcBLen+2] * y[0] + x[srcALen-srcBLen+3] * y[1] +...+ x[srcALen-1] * y[srcBLen-1]   
+   * ....   
+   * sum +=  x[srcALen-2] * y[0] + x[srcALen-1] * y[1]   
+   * sum +=  x[srcALen-1] * y[0]   
+   */
+
+  /* In this stage the MAC operations are decreased by 1 for every iteration.   
+     The count variable holds the number of MAC operations performed */
+  count = srcBLen - 1u;
+
+  /* Working pointer of inputA */
+  pSrc1 = pIn1 + (srcALen - (srcBLen - 1u));
+  px = pSrc1;
+
+  /* Working pointer of inputB */
+  py = pIn2;
+
+  /* -------------------   
+   * Stage3 process   
+   * ------------------*/
+
+  while(blockSize3 > 0u)
+  {
+    /* Accumulator is made zero for every iteration */
+    sum = 0;
+
+    /* Apply loop unrolling and compute 4 MACs simultaneously. */
+    k = count >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 MACs at a time.   
+     ** a second loop below computes MACs for the remaining 1 to 3 samples. */
+    while(k > 0u)
+    {
+      /* x[srcALen - srcBLen + 1] , x[srcALen - srcBLen + 2]  */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* y[0] , y[1] */
+      in1 = (q15_t) * py++;
+      in2 = (q15_t) * py++;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* sum += x[srcALen - srcBLen + 1] * y[0] */
+      /* sum += x[srcALen - srcBLen + 2] * y[1] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* x[srcALen - srcBLen + 3] , x[srcALen - srcBLen + 4] */
+      in1 = (q15_t) * px++;
+      in2 = (q15_t) * px++;
+      input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* y[2] , y[3] */
+      in1 = (q15_t) * py++;
+      in2 = (q15_t) * py++;
+      input2 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+      /* sum += x[srcALen - srcBLen + 3] * y[2] */
+      /* sum += x[srcALen - srcBLen + 4] * y[3] */
+      sum = __SMLAD(input1, input2, sum);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* If the count is not a multiple of 4, compute any remaining MACs here.   
+     ** No loop unrolling is used. */
+    k = count % 0x4u;
+
+    while(k > 0u)
+    {
+      /* Perform the multiply-accumulates */
+      sum += ((q15_t) * px++ * *py++);
+
+      /* Decrement the loop counter */
+      k--;
+    }
+
+    /* Store the result in the accumulator in the destination buffer. */
+    *pOut = (q7_t) (__SSAT(sum >> 7, 8));
+    /* Destination pointer is updated according to the address modifier, inc */
+    pOut += inc;
+
+    /* Update the inputA and inputB pointers for next MAC calculation */
+    px = ++pSrc1;
+    py = pIn2;
+
+    /* Decrement the MAC count */
+    count--;
+
+    /* Decrement the loop counter */
+    blockSize3--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q7_t *pIn1 = pSrcA;                            /* inputA pointer */
+  q7_t *pIn2 = pSrcB + (srcBLen - 1u);           /* inputB pointer */
+  q31_t sum;                                     /* Accumulator */
+  uint32_t i = 0u, j;                            /* loop counters */
+  uint32_t inv = 0u;                             /* Reverse order flag */
+  uint32_t tot = 0u;                             /* Length */
+
+  /* The algorithm implementation is based on the lengths of the inputs. */
+  /* srcB is always made to slide across srcA. */
+  /* So srcBLen is always considered as shorter or equal to srcALen */
+  /* But CORR(x, y) is reverse of CORR(y, x) */
+  /* So, when srcBLen > srcALen, output pointer is made to point to the end of the output buffer */
+  /* and a varaible, inv is set to 1 */
+  /* If lengths are not equal then zero pad has to be done to  make the two   
+   * inputs of same length. But to improve the performance, we include zeroes   
+   * in the output instead of zero padding either of the the inputs*/
+  /* If srcALen > srcBLen, (srcALen - srcBLen) zeroes has to included in the   
+   * starting of the output buffer */
+  /* If srcALen < srcBLen, (srcALen - srcBLen) zeroes has to included in the  
+   * ending of the output buffer */
+  /* Once the zero padding is done the remaining of the output is calcualted  
+   * using convolution but with the shorter signal time shifted. */
+
+  /* Calculate the length of the remaining sequence */
+  tot = ((srcALen + srcBLen) - 2u);
+
+  if(srcALen > srcBLen)
+  {
+    /* Calculating the number of zeros to be padded to the output */
+    j = srcALen - srcBLen;
+
+    /* Initialise the pointer after zero padding */
+    pDst += j;
+  }
+
+  else if(srcALen < srcBLen)
+  {
+    /* Initialization to inputB pointer */
+    pIn1 = pSrcB;
+
+    /* Initialization to the end of inputA pointer */
+    pIn2 = pSrcA + (srcALen - 1u);
+
+    /* Initialisation of the pointer after zero padding */
+    pDst = pDst + tot;
+
+    /* Swapping the lengths */
+    j = srcALen;
+    srcALen = srcBLen;
+    srcBLen = j;
+
+    /* Setting the reverse flag */
+    inv = 1;
+
+  }
+
+  /* Loop to calculate convolution for output length number of times */
+  for (i = 0u; i <= tot; i++)
+  {
+    /* Initialize sum with zero to carry on MAC operations */
+    sum = 0;
+
+    /* Loop to perform MAC operations according to convolution equation */
+    for (j = 0u; j <= i; j++)
+    {
+      /* Check the array limitations */
+      if((((i - j) < srcBLen) && (j < srcALen)))
+      {
+        /* z[i] += x[i-j] * y[j] */
+        sum += ((q15_t) pIn1[j] * pIn2[-((int32_t) i - j)]);
+      }
+    }
+    /* Store the output in the destination buffer */
+    if(inv == 1)
+      *pDst-- = (q7_t) __SSAT((sum >> 7u), 8u);
+    else
+      *pDst++ = (q7_t) __SSAT((sum >> 7u), 8u);
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Corr group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
new file mode 100644
index 000000000..c66d3f4c1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_f32.c
@@ -0,0 +1,370 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_decimate_f32.c   
+*   
+* Description:	FIR decimation for floating-point sequences.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup FIR_decimate Finite Impulse Response (FIR) Decimator   
+ *   
+ * These functions combine an FIR filter together with a decimator.   
+ * They are used in multirate systems for reducing the sample rate of a signal without introducing aliasing distortion.   
+ * Conceptually, the functions are equivalent to the block diagram below:   
+ * \image html FIRDecimator.gif "Components included in the FIR Decimator functions"   
+ * When decimating by a factor of M, the signal should be prefiltered by a lowpass filter with a normalized   
+ * cutoff frequency of 1/M in order to prevent aliasing distortion.   
+ * The user of the function is responsible for providing the filter coefficients.   
+ *   
+ * The FIR decimator functions provided in the CMSIS DSP Library combine the FIR filter and the decimator in an efficient manner.   
+ * Instead of calculating all of the FIR filter outputs and discarding M-1 out of every M, only the   
+ * samples output by the decimator are computed.   
+ * The functions operate on blocks of input and output data.   
+ * pSrc points to an array of blockSize input values and   
+ * pDst points to an array of blockSize/M output values.   
+ * In order to have an integer number of output samples blockSize   
+ * must always be a multiple of the decimation factor M.   
+ *   
+ * The library provides separate functions for Q15, Q31 and floating-point data types.   
+ *   
+ * \par Algorithm:   
+ * The FIR portion of the algorithm uses the standard form filter:   
+ * 
       
+ *    y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]   
+ * 
       
+ * where, b[n] are the filter coefficients.   
+ * \par  
+ * The pCoeffs points to a coefficient array of size numTaps.   
+ * Coefficients are stored in time reversed order.   
+ * \par   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to a state array of size numTaps + blockSize - 1.   
+ * Samples in the state buffer are stored in the order:   
+ * \par   
+ * 
       
+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}   
+ * 
       
+ * The state variables are updated after each block of data is processed, the coefficients are untouched.   
+ *   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient arrays may be shared among several instances while state variable array should be allocated separately.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ * - Checks to make sure that the size of the input is a multiple of the decimation factor.   
+ *   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * The code below statically initializes each of the 3 different data type filter instance structures   
+ * 
       
+ *arm_fir_decimate_instance_f32 S = {M, numTaps, pCoeffs, pState};   
+ *arm_fir_decimate_instance_q31 S = {M, numTaps, pCoeffs, pState};   
+ *arm_fir_decimate_instance_q15 S = {M, numTaps, pCoeffs, pState};   
+ * 
       
+ * where M is the decimation factor; numTaps is the number of filter coefficients in the filter;   
+ * pCoeffs is the address of the coefficient buffer;   
+ * pState is the address of the state buffer.   
+ * Be sure to set the values in the state buffer to zeros when doing static initialization.   
+ *   
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the FIR decimate filter functions.   
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+/**   
+ * @addtogroup FIR_decimate   
+ * @{   
+ */
+
+  /**   
+   * @brief Processing function for the floating-point FIR decimator.   
+   * @param[in] *S        points to an instance of the floating-point FIR decimator structure.   
+   * @param[in] *pSrc     points to the block of input data.   
+   * @param[out] *pDst    points to the block of output data.   
+   * @param[in] blockSize number of input samples to process per call.   
+   * @return none.   
+   */
+
+void arm_fir_decimate_f32(
+  const arm_fir_decimate_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  float32_t sum0;                                /* Accumulator */
+  float32_t x0, c0;                              /* Temporary variables to hold state and coefficient values */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-1] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-2] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor   
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = sum0;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += x0 * c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor          
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = sum0;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last numTaps - 1 samples to the start of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy numTaps number of values */
+  i = (numTaps - 1u);
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0        */
+
+}
+
+/**   
+ * @} end of FIR_decimate group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
new file mode 100644
index 000000000..e9bc3c3d1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q15.c
@@ -0,0 +1,199 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_decimate_fast_q15.c   
+*   
+* Description:	Fast Q15 FIR Decimator.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_decimate   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.   
+ * @param[in] *S points to an instance of the Q15 FIR decimator structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return none   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * This fast version uses a 32-bit accumulator with 2.30 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around and distorts the result.   
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (log2 is read as log to the base 2).   
+ * The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.   
+ *   
+ * \par   
+ * Refer to the function arm_fir_decimate_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.   
+ * Both the slow and the fast versions use the same instance structure.   
+ * Use the function arm_fir_decimate_init_q15() to initialize the filter structure.   
+ */
+
+void arm_fir_decimate_fast_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  q31_t sum0;                                    /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /*Set sum to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
+      x0 = *__SIMD32(px)++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLAD(x0, c0, sum0);
+
+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
+      x0 = *__SIMD32(px)++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLAD(x0, c0, sum0);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLAD(x0, c0, sum0);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor   
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* Store filter output , smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) ((sum0 >> 15));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+}
+
+/**   
+ * @} end of FIR_decimate group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
new file mode 100644
index 000000000..67d90587e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_fast_q31.c
@@ -0,0 +1,220 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_decimate_fast_q31.c   
+*   
+* Description:	Fast Q31 FIR Decimator.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_decimate   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4.   
+ * @param[in] *S points to an instance of the Q31 FIR decimator structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return none   
+ *   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.   
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.   
+ * These intermediate results are added to a 2.30 accumulator.   
+ * Finally, the accumulator is saturated and converted to a 1.31 result.   
+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.   
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).   
+ *   
+ * \par   
+ * Refer to the function arm_fir_decimate_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.   
+ * Both the slow and the fast versions use the same instance structure.   
+ * Use the function arm_fir_decimate_init_q31() to initialize the filter structure.   
+ */
+
+void arm_fir_decimate_fast_q31(
+  arm_fir_decimate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  q31_t *px;                                     /* Temporary pointers for state buffer */
+  q31_t *pb;                                     /* Temporary pointers for coefficient buffer */
+  q63_t sum0;                                    /* Accumulator */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-1] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) x0 * c0) + (sum0 << 32)) >> 32);
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-2] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) x0 * c0) + (sum0 << 32)) >> 32);
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) x0 * c0) + (sum0 << 32)) >> 32);
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) x0 * c0) + (sum0 << 32)) >> 32);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 = (q31_t) ((((q63_t) x0 * c0) + (sum0 << 32)) >> 32);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor   
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = (q31_t) (sum0 << 1);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+}
+
+/**   
+ * @} end of FIR_decimate group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
new file mode 100644
index 000000000..c30af4f35
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_f32.c
@@ -0,0 +1,109 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_decimate_init_f32.c   
+*   
+* Description:  Floating-point FIR Decimator initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_decimate   
+ * @{   
+ */
+
+/**   
+ * @brief  Initialization function for the floating-point FIR decimator.   
+ * @param[in,out] *S points to an instance of the floating-point FIR decimator structure.   
+ * @param[in] numTaps  number of coefficients in the filter.   
+ * @param[in] M  decimation factor.   
+ * @param[in] *pCoeffs points to the filter coefficients.   
+ * @param[in] *pState points to the state buffer.   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if   
+ * blockSize is not a multiple of M.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples passed to arm_fir_decimate_f32().   
+ * M is the decimation factor.   
+ */
+
+arm_status arm_fir_decimate_init_f32(
+  arm_fir_decimate_instance_f32 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The size of the input block must be a multiple of the decimation factor */
+  if((blockSize % M) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+    /* Assign filter taps */
+    S->numTaps = numTaps;
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Clear state buffer and size is always (blockSize + numTaps - 1) */
+    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    /* Assign Decimation Factor */
+    S->M = M;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+/**   
+ * @} end of FIR_decimate group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
new file mode 100644
index 000000000..24b84c6ac
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q15.c
@@ -0,0 +1,111 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_decimate_init_q15.c   
+*   
+* Description:  Initialization function for the Q15 FIR Decimator.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_decimate   
+ * @{   
+ */
+
+/**   
+ * @brief  Initialization function for the Q15 FIR decimator.   
+ * @param[in,out] *S points to an instance of the Q15 FIR decimator structure.   
+ * @param[in] numTaps  number of coefficients in the filter.   
+ * @param[in] M  decimation factor.   
+ * @param[in] *pCoeffs points to the filter coefficients.   
+ * @param[in] *pState points to the state buffer.   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if   
+ * blockSize is not a multiple of M.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples   
+ * to the call arm_fir_decimate_q15().   
+ * M is the decimation factor.   
+ */
+
+arm_status arm_fir_decimate_init_q15(
+  arm_fir_decimate_instance_q15 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize)
+{
+
+  arm_status status;
+
+  /* The size of the input block must be a multiple of the decimation factor */
+  if((blockSize % M) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+    /* Assign filter taps */
+    S->numTaps = numTaps;
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Clear the state buffer.  The size of buffer is always (blockSize + numTaps - 1) */
+    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    /* Assign Decimation factor */
+    S->M = M;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+/**   
+ * @} end of FIR_decimate group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
new file mode 100644
index 000000000..55652126d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_init_q31.c
@@ -0,0 +1,109 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_decimate_init_q31.c   
+*   
+* Description:  Initialization function for Q31 FIR Decimation filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_decimate   
+ * @{   
+ */
+
+/**   
+ * @brief  Initialization function for the Q31 FIR decimator.   
+ * @param[in,out] *S points to an instance of the Q31 FIR decimator structure.   
+ * @param[in] numTaps  number of coefficients in the filter.   
+ * @param[in] M  decimation factor.   
+ * @param[in] *pCoeffs points to the filter coefficients.   
+ * @param[in] *pState points to the state buffer.   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if   
+ * blockSize is not a multiple of M.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples passed to arm_fir_decimate_q31().   
+ * M is the decimation factor.   
+ */
+
+arm_status arm_fir_decimate_init_q31(
+  arm_fir_decimate_instance_q31 * S,
+  uint16_t numTaps,
+  uint8_t M,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The size of the input block must be a multiple of the decimation factor */
+  if((blockSize % M) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+    /* Assign filter taps */
+    S->numTaps = numTaps;
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
+    memset(pState, 0, (numTaps + (blockSize - 1)) * sizeof(q31_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    /* Assign Decimation factor */
+    S->M = M;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+/**   
+ * @} end of FIR_decimate group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
new file mode 100644
index 000000000..99e91c5b1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q15.c
@@ -0,0 +1,285 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_decimate_q15.c   
+*   
+* Description:	Q15 FIR Decimator.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_decimate   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q15 FIR decimator.   
+ * @param[in] *S points to an instance of the Q15 FIR decimator structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the location where the output result is written.   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.   
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.   
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.   
+ *   
+ * \par   
+ * Refer to the function arm_fir_decimate_fast_q15() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_fir_decimate_q15(
+  const arm_fir_decimate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer coefficient buffer */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  q63_t sum0;                                    /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, blkCnt, tapCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /*Set sum to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the Read b[numTaps-1] and b[numTaps-2]  coefficients */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-1] and x[n-numTaps-2]sample */
+      x0 = *__SIMD32(px)++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLALD(x0, c0, sum0);
+
+      /* Read the b[numTaps-3] and b[numTaps-4] coefficient */
+      c0 = *__SIMD32(pb)++;
+
+      /* Read x[n-numTaps-2] and x[n-numTaps-3] sample */
+      x0 = *__SIMD32(px)++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLALD(x0, c0, sum0);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 = __SMLALD(x0, c0, sum0);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor   
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* Store filter output, smlad returns the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /*Set sum to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q31_t) x0 *c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor          
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /*Store filter output , smlad will return the values in 2.14 format */
+    /* so downsacle by 15 to get output in 1.15 */
+    *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last numTaps - 1 samples to the start of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = numTaps - 1u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR_decimate group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
new file mode 100644
index 000000000..227a4ed76
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_decimate_q31.c
@@ -0,0 +1,303 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_decimate_q31.c   
+*   
+* Description:	Q31 FIR Decimator.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_decimate   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q31 FIR decimator.   
+ * @param[in] *S points to an instance of the Q31 FIR decimator structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return none   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around rather than clip.   
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).   
+ * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.   
+ *   
+ * \par   
+ * Refer to the function arm_fir_decimate_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_fir_decimate_q31(
+  const arm_fir_decimate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  q31_t *px;                                     /* Temporary pointers for state buffer */
+  q31_t *pb;                                     /* Temporary pointers for coefficient buffer */
+  q63_t sum0;                                    /* Accumulator */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps */
+  uint32_t i, tapCnt, blkCnt, outBlockSize = blockSize / S->M;  /* Loop counters */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-1] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-2] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor   
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = (q31_t) (sum0 >> 31);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = (numTaps - 1u) % 0x04u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Total number of output samples to be computed */
+  blkCnt = outBlockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy decimation factor number of new input samples into the state buffer */
+    i = S->M;
+
+    do
+    {
+      *pStateCurnt++ = *pSrc++;
+
+    } while(--i);
+
+    /* Set accumulator to zero */
+    sum0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = pCoeffs;
+
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *pb++;
+
+      /* Fetch 1 state variable */
+      x0 = *px++;
+
+      /* Perform the multiply-accumulate */
+      sum0 += (q63_t) x0 *c0;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by the decimation factor          
+     * to process the next group of decimation factor number samples */
+    pState = pState + S->M;
+
+    /* The result is in the accumulator, store in the destination buffer. */
+    *pDst++ = (q31_t) (sum0 >> 31);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last numTaps - 1 samples to the start of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = numTaps - 1u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR_decimate group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
new file mode 100644
index 000000000..8ae71f796
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_f32.c
@@ -0,0 +1,436 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_f32.c   
+*   
+* Description:	Floating-point FIR filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup FIR Finite Impulse Response (FIR) Filters   
+ *   
+ * This set of functions implements Finite Impulse Response (FIR) filters   
+ * for Q7, Q15, Q31, and floating-point data types.   
+ * Fast versions of Q15 and Q31 are also provided on Cortex-M4 and Cortex-M3.   
+ * The functions operate on blocks of input and output data and each call to the function processes   
+ * blockSize samples through the filter.  pSrc and   
+ * pDst points to input and output arrays containing blockSize values.   
+ *   
+ * \par Algorithm:   
+ * The FIR filter algorithm is based upon a sequence of multiply-accumulate (MAC) operations.   
+ * Each filter coefficient b[n] is multiplied by a state variable which equals a previous input sample x[n].   
+ * 
       
+ *    y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]   
+ * 
       
+ * \par   
+ * \image html FIR.gif "Finite Impulse Response filter"   
+ * \par   
+ * pCoeffs points to a coefficient array of size numTaps.   
+ * Coefficients are stored in time reversed order.   
+ * \par   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to a state array of size numTaps + blockSize - 1.   
+ * Samples in the state buffer are stored in the following order.   
+ * \par   
+ * 
       
+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}   
+ * 
       
+ * \par   
+ * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1.   
+ * The increased state buffer length allows circular addressing, which is traditionally used in the FIR filters,   
+ * to be avoided and yields a significant speed improvement.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.   
+ * There are separate instance structure declarations for each of the 4 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ *   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Set the values in the state buffer to zeros before static initialization.   
+ * The code below statically initializes each of the 4 different data type filter instance structures   
+ * 
       
+ *arm_fir_instance_f32 S = {numTaps, pState, pCoeffs};   
+ *arm_fir_instance_q31 S = {numTaps, pState, pCoeffs};   
+ *arm_fir_instance_q15 S = {numTaps, pState, pCoeffs};   
+ *arm_fir_instance_q7 S =  {numTaps, pState, pCoeffs};   
+ * 
       
+ *   
+ * where numTaps is the number of filter coefficients in the filter; pState is the address of the state buffer;   
+ * pCoeffs is the address of the coefficient buffer.   
+ *   
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the FIR filter functions.   
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ *   
+ * @param[in]  *S points to an instance of the floating-point FIR filter structure.   
+ * @param[in]  *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in]  blockSize number of samples to process per call.   
+ * @return     none.   
+ *   
+ */
+
+void arm_fir_f32(
+  const arm_fir_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t acc0, acc1, acc2, acc3;              /* Accumulators */
+  float32_t x0, x1, x2, x3, c0;                  /* Temporary variables to hold state and coefficient values */
+
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.   
+   * The variables acc0 ... acc3 hold output values that are being computed:   
+   *   
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]   
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]   
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]   
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]   
+   */
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0.0f;
+    acc1 = 0.0f;
+    acc2 = 0.0f;
+    acc3 = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Read the first three samples from the state buffer:  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
+    x0 = *px++;
+    x1 = *px++;
+    x2 = *px++;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2u;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    while(tapCnt > 0u)
+    {
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x3 = *(px++);
+
+      /* acc0 +=  b[numTaps-1] * x[n-numTaps] */
+      acc0 += x0 * c0;
+
+      /* acc1 +=  b[numTaps-1] * x[n-numTaps-1] */
+      acc1 += x1 * c0;
+
+      /* acc2 +=  b[numTaps-1] * x[n-numTaps-2] */
+      acc2 += x2 * c0;
+
+      /* acc3 +=  b[numTaps-1] * x[n-numTaps-3] */
+      acc3 += x3 * c0;
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulate */
+      acc0 += x1 * c0;
+      acc1 += x2 * c0;
+      acc2 += x3 * c0;
+      acc3 += x0 * c0;
+
+      /* Read the b[numTaps-3] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-5] sample */
+      x1 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x2 * c0;
+      acc1 += x3 * c0;
+      acc2 += x0 * c0;
+      acc3 += x1 * c0;
+
+      /* Read the b[numTaps-4] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x3 * c0;
+      acc1 += x0 * c0;
+      acc2 += x1 * c0;
+      acc3 += x2 * c0;
+
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x3 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += x0 * c0;
+      acc1 += x1 * c0;
+      acc2 += x2 * c0;
+      acc3 += x3 * c0;
+
+      /* Reuse the present sample states for next sample */
+      x0 = x1;
+      x1 = x2;
+      x2 = x3;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* The results in the 4 accumulators, store in the destination buffer. */
+    *pDst++ = acc0;
+    *pDst++ = acc1;
+    *pDst++ = acc2;
+    *pDst++ = acc3;
+
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = (pCoeffs);
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      acc0 += *px++ * *pb++;
+      i--;
+
+    } while(i > 0u);
+
+    /* The result is store in the destination buffer. */
+    *pDst++ = acc0;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t acc;
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initialize blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc = 0.0f;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = pCoeffs;
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
+      acc += *px++ * *pb++;
+      i--;
+
+    } while(i > 0u);
+
+    /* The result is store in the destination buffer. */
+    *pDst++ = acc;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last numTaps - 1 samples to the starting of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy numTaps number of values */
+  tapCnt = numTaps - 1u;
+
+  /* Copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
new file mode 100644
index 000000000..ed333a7cb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q15.c
@@ -0,0 +1,279 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_fast_q15.c   
+*   
+* Description:  Q15 Fast FIR filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.9  2010/08/16    
+*    Initial version   
+*   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ * @param[in] *S points to an instance of the Q15 FIR filter structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in] blockSize number of samples to process per call.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * This fast version uses a 32-bit accumulator with 2.30 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around and distorts the result.   
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.   
+ * The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.   
+ *   
+ * \par   
+ * Refer to the function arm_fir_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion.  Both the slow and the fast versions use the same instance structure.   
+ * Use the function arm_fir_init_q15() to initialize the filter structure.   
+ */
+
+void arm_fir_fast_q15(
+  const arm_fir_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px1;                                    /* Temporary q15 pointer for state buffer */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q31_t *px2;                                    /* Temporary q31 pointer for SIMD state buffer accesses */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold SIMD state and coefficient values */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.   
+   * The variables acc0 ... acc3 hold output values that are being computed:   
+   *   
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]   
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]   
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]   
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]   
+   */
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer.   
+     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Initialize state pointer of type q15 */
+    px1 = pState;
+
+    /* Initialize coeff pointer of type q31 */
+    pb = (q31_t *) (pCoeffs);
+
+    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */
+    x0 = *(q31_t *) (px1++);
+
+    /* Read the third and forth samples from the state buffer: x[n-N-1], x[n-N-2] */
+    x1 = *(q31_t *) (px1++);
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    tapCnt = numTaps >> 2;
+    do
+    {
+      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */
+      c0 = *(pb++);
+
+      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
+      acc0 = __SMLAD(x0, c0, acc0);
+
+      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */
+      acc1 = __SMLAD(x1, c0, acc1);
+
+      /* Read state x[n-N-2], x[n-N-3] */
+      x2 = *(q31_t *) (px1++);
+
+      /* Read state x[n-N-3], x[n-N-4] */
+      x3 = *(q31_t *) (px1++);
+
+      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */
+      acc2 = __SMLAD(x2, c0, acc2);
+
+      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */
+      acc3 = __SMLAD(x3, c0, acc3);
+
+      /* Read coefficients b[N-2], b[N-3] */
+      c0 = *(pb++);
+
+      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */
+      acc0 = __SMLAD(x2, c0, acc0);
+
+      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */
+      acc1 = __SMLAD(x3, c0, acc1);
+
+      /* Read state x[n-N-4], x[n-N-5] */
+      x0 = *(q31_t *) (px1++);
+
+      /* Read state x[n-N-5], x[n-N-6] */
+      x1 = *(q31_t *) (px1++);
+
+      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */
+      acc2 = __SMLAD(x0, c0, acc2);
+
+      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */
+      acc3 = __SMLAD(x1, c0, acc3);
+      tapCnt--;
+
+    }
+    while(tapCnt > 0u);
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps.   
+     ** This is always 2 taps since the filter length is always even. */
+    if((numTaps & 0x3u) != 0u)
+    {
+      /* Read 2 coefficients */
+      c0 = *(pb++);
+      /* Fetch 4 state variables */
+      x2 = *(q31_t *) (px1++);
+      x3 = *(q31_t *) (px1++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = __SMLAD(x0, c0, acc0);
+      acc1 = __SMLAD(x1, c0, acc1);
+      acc2 = __SMLAD(x2, c0, acc2);
+      acc3 = __SMLAD(x3, c0, acc3);
+    }
+
+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.   
+     ** Then store the 4 outputs in the destination buffer. */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ = __PKHBT((acc0 >> 15), (acc1 >> 15), 16u);
+    *__SIMD32(pDst)++ = __PKHBT((acc2 >> 15), (acc3 >> 15), 16u);
+
+#else
+
+    *__SIMD32(pDst)++ = __PKHBT((acc1 >> 15), (acc0 >> 15), 16u);
+    *__SIMD32(pDst)++ = __PKHBT((acc3 >> 15), (acc2 >> 15), 16u);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+  while(blkCnt > 0u)
+  {
+    /* Copy two samples into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Use SIMD to hold states and coefficients */
+    px2 = (q31_t *) pState;
+    pb = (q31_t *) (pCoeffs);
+    tapCnt = numTaps >> 1;
+
+    do
+    {
+      acc0 = __SMLAD(*px2++, *(pb++), acc0);
+      tapCnt--;
+    }
+    while(tapCnt > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.   
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q15_t) ((acc0 >> 15));
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    tapCnt--;
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy remaining data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
new file mode 100644
index 000000000..62449352c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_fast_q31.c
@@ -0,0 +1,303 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_fast_q31.c   
+*   
+* Description:	Processing function for the Q31 Fast FIR filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.9  2010/08/27    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ * @param[in] *S points to an instance of the Q31 structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block output data.   
+ * @param[in] blockSize number of samples to process per call.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * This function is optimized for speed at the expense of fixed-point precision and overflow protection.   
+ * The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format.   
+ * These intermediate results are added to a 2.30 accumulator.   
+ * Finally, the accumulator is saturated and converted to a 1.31 result.   
+ * The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result.   
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.   
+ *   
+ * \par   
+ * Refer to the function arm_fir_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision.  Both the slow and the fast versions use the same instance structure.   
+ * Use the function arm_fir_init_q31() to initialize the filter structure.   
+ */
+
+void arm_fir_fast_q31(
+  const arm_fir_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t x0, x1, x2, x3;                          /* Temporary variables to hold state */
+  q31_t c0;                                      /* Temporary variable to hold coefficient value */
+  q31_t *px;                                     /* Temporary pointer for state */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.   
+   * The variables acc0 ... acc3 hold output values that are being computed:   
+   *   
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]   
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]   
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]   
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]   
+   */
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Read the first three samples from the state buffer:   
+     *  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
+    x0 = *(px++);
+    x1 = *(px++);
+    x2 = *(px++);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+    i = tapCnt;
+
+    while(i > 0u)
+    {
+      /* Read the b[numTaps] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x3 = *(px++);
+
+      /* acc0 +=  b[numTaps] * x[n-numTaps] */
+      acc0 = (q31_t) ((((q63_t) x0 * c0) + (acc0 << 32)) >> 32);
+
+      /* acc1 +=  b[numTaps] * x[n-numTaps-1] */
+      acc1 = (q31_t) ((((q63_t) x1 * c0) + (acc1 << 32)) >> 32);
+
+      /* acc2 +=  b[numTaps] * x[n-numTaps-2] */
+      acc2 = (q31_t) ((((q63_t) x2 * c0) + (acc2 << 32)) >> 32);
+
+      /* acc3 +=  b[numTaps] * x[n-numTaps-3] */
+      acc3 = (q31_t) ((((q63_t) x3 * c0) + (acc3 << 32)) >> 32);
+
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = (q31_t) ((((q63_t) x1 * c0) + (acc0 << 32)) >> 32);
+      acc1 = (q31_t) ((((q63_t) x2 * c0) + (acc1 << 32)) >> 32);
+      acc2 = (q31_t) ((((q63_t) x3 * c0) + (acc2 << 32)) >> 32);
+      acc3 = (q31_t) ((((q63_t) x0 * c0) + (acc3 << 32)) >> 32);
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-5] sample */
+      x1 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = (q31_t) ((((q63_t) x2 * c0) + (acc0 << 32)) >> 32);
+      acc1 = (q31_t) ((((q63_t) x3 * c0) + (acc1 << 32)) >> 32);
+      acc2 = (q31_t) ((((q63_t) x0 * c0) + (acc2 << 32)) >> 32);
+      acc3 = (q31_t) ((((q63_t) x1 * c0) + (acc3 << 32)) >> 32);
+
+      /* Read the b[numTaps-3] coefficients */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = (q31_t) ((((q63_t) x3 * c0) + (acc0 << 32)) >> 32);
+      acc1 = (q31_t) ((((q63_t) x0 * c0) + (acc1 << 32)) >> 32);
+      acc2 = (q31_t) ((((q63_t) x1 * c0) + (acc2 << 32)) >> 32);
+      acc3 = (q31_t) ((((q63_t) x2 * c0) + (acc3 << 32)) >> 32);
+      i--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+
+    i = numTaps - (tapCnt * 4u);
+    while(i > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x3 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = (q31_t) ((((q63_t) x0 * c0) + (acc0 << 32)) >> 32);
+      acc1 = (q31_t) ((((q63_t) x1 * c0) + (acc1 << 32)) >> 32);
+      acc2 = (q31_t) ((((q63_t) x2 * c0) + (acc2 << 32)) >> 32);
+      acc3 = (q31_t) ((((q63_t) x3 * c0) + (acc3 << 32)) >> 32);
+
+      /* Reuse the present sample states for next sample */
+      x0 = x1;
+      x1 = x2;
+      x2 = x3;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.31   
+     ** Then store the 4 outputs in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 << 1);
+    *pDst++ = (q31_t) (acc1 << 1);
+    *pDst++ = (q31_t) (acc2 << 1);
+    *pDst++ = (q31_t) (acc3 << 1);
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = (pCoeffs);
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      acc0 = (q31_t) ((((q63_t) * (px++) * (*(pb++))) + (acc0 << 32)) >> 32);
+      i--;
+    } while(i > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.31   
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 << 1);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
new file mode 100644
index 000000000..a06ab0523
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_f32.c
@@ -0,0 +1,91 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_init_f32.c   
+*   
+* Description:  Floating-point FIR filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ * @details   
+ *   
+ * @param[in,out] *S points to an instance of the floating-point FIR filter structure.   
+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.   
+ * @param[in]     *pCoeffs points to the filter coefficients buffer.   
+ * @param[in]     *pState points to the state buffer.   
+ * @param[in] 	  blockSize number of samples that are processed per call.   
+ * @return 		  none.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_f32().   
+ */
+
+void arm_fir_init_f32(
+  arm_fir_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and the size of state buffer is (blockSize + numTaps - 1) */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
new file mode 100644
index 000000000..a160b83aa
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q15.c
@@ -0,0 +1,149 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_init_q15.c   
+*   
+* Description:  Q15 FIR filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ * @param[in,out]  *S points to an instance of the Q15 FIR filter structure.   
+ * @param[in] 	   numTaps  Number of filter coefficients in the filter. Must be even and greater than or equal to 4.   
+ * @param[in]      *pCoeffs points to the filter coefficients buffer.   
+ * @param[in]      *pState points to the state buffer.   
+ * @param[in]      blockSize is number of samples processed per call.   
+ * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if   
+ * numTaps is not greater than or equal to 4 and even.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * Note that numTaps must be even and greater than or equal to 4.   
+ * To implement an odd length filter simply increase numTaps by 1 and set the last coefficient to zero.   
+ * For example, to implement a filter with numTaps=3 and coefficients   
+ * 
       
+ *     {0.3, -0.8, 0.3}   
+ * 
       
+ * set numTaps=4 and use the coefficients:   
+ * 
       
+ *     {0.3, -0.8, 0.3, 0}.   
+ * 
       
+ * Similarly, to implement a two point filter   
+ * 
       
+ *     {0.3, -0.3}   
+ * 
       
+ * set numTaps=4 and use the coefficients:   
+ * 
       
+ *     {0.3, -0.3, 0, 0}.   
+ * 
       
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length numTaps+blockSize-1, where blockSize is the number of input samples processed by each call to arm_fir_q15().   
+ */
+
+arm_status arm_fir_init_q15(
+  arm_fir_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* The Number of filter coefficients in the filter must be even and at least 4 */
+  if((numTaps < 4u) || (numTaps & 0x1u))
+  {
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+  else
+  {
+    /* Assign filter taps */
+    S->numTaps = numTaps;
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
+    memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  status = ARM_MATH_SUCCESS;
+
+  return (status);
+
+#endif /*  #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
new file mode 100644
index 000000000..c9204946b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q31.c
@@ -0,0 +1,91 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_init_q31.c   
+*   
+* Description:	Q31 FIR filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ * @details   
+ *   
+ * @param[in,out] *S points to an instance of the Q31 FIR filter structure.   
+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.   
+ * @param[in] 	  *pCoeffs points to the filter coefficients buffer.   
+ * @param[in] 	  *pState points to the state buffer.   
+ * @param[in] 	  blockSize number of samples that are processed per call.   
+ * @return        none.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q31().   
+ */
+
+void arm_fir_init_q31(
+  arm_fir_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and state array size is (blockSize + numTaps - 1) */
+  memset(pState, 0, (blockSize + ((uint32_t) numTaps - 1u)) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
new file mode 100644
index 000000000..e4db89fc1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_init_q7.c
@@ -0,0 +1,89 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_init_q7.c   
+*   
+* Description:  Q7 FIR filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+/**   
+ * @param[in,out] *S points to an instance of the Q7 FIR filter structure.   
+ * @param[in] 	  numTaps  Number of filter coefficients in the filter.   
+ * @param[in] 	  *pCoeffs points to the filter coefficients buffer.   
+ * @param[in]     *pState points to the state buffer.   
+ * @param[in]     blockSize number of samples that are processed per call.   
+ * @return     	  none   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q7().   
+ */
+
+void arm_fir_init_q7(
+  arm_fir_instance_q7 * S,
+  uint16_t numTaps,
+  q7_t * pCoeffs,
+  q7_t * pState,
+  uint32_t blockSize)
+{
+
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear the state buffer.  The size is always (blockSize + numTaps - 1) */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q7_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
new file mode 100644
index 000000000..adcf4eec0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_f32.c
@@ -0,0 +1,399 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_interpolate_f32.c   
+*   
+* Description:	FIR interpolation for floating-point sequences.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @defgroup FIR_Interpolate Finite Impulse Response (FIR) Interpolator   
+ *   
+ * These functions combine an upsampler (zero stuffer) and an FIR filter.   
+ * They are used in multirate systems for increasing the sample rate of a signal without introducing high frequency images.   
+ * Conceptually, the functions are equivalent to the block diagram below:   
+ * \image html FIRInterpolator.gif "Components included in the FIR Interpolator functions"   
+ * After upsampling by a factor of L, the signal should be filtered by a lowpass filter with a normalized   
+ * cutoff frequency of 1/L in order to eliminate high frequency copies of the spectrum.   
+ * The user of the function is responsible for providing the filter coefficients.   
+ *   
+ * The FIR interpolator functions provided in the CMSIS DSP Library combine the upsampler and FIR filter in an efficient manner.   
+ * The upsampler inserts L-1 zeros between each sample.   
+ * Instead of multiplying by these zero values, the FIR filter is designed to skip them.   
+ * This leads to an efficient implementation without any wasted effort.   
+ * The functions operate on blocks of input and output data.   
+ * pSrc points to an array of blockSize input values and   
+ * pDst points to an array of blockSize*L output values.   
+ *   
+ * The library provides separate functions for Q15, Q31, and floating-point data types.   
+ *   
+ * \par Algorithm:   
+ * The functions use a polyphase filter structure:   
+ * 
       
+ *    y[n] = b[0] * x[n] + b[L]   * x[n-1] + ... + b[L*(phaseLength-1)] * x[n-phaseLength+1]   
+ *    y[n+1] = b[1] * x[n] + b[L+1] * x[n-1] + ... + b[L*(phaseLength-1)+1] * x[n-phaseLength+1]   
+ *    ...   
+ *    y[n+(L-1)] = b[L-1] * x[n] + b[2*L-1] * x[n-1] + ....+ b[L*(phaseLength-1)+(L-1)] * x[n-phaseLength+1]   
+ * 
       
+ * This approach is more efficient than straightforward upsample-then-filter algorithms.   
+ * With this method the computation is reduced by a factor of 1/L when compared to using a standard FIR filter.   
+ * \par   
+ * pCoeffs points to a coefficient array of size numTaps.   
+ * numTaps must be a multiple of the interpolation factor L and this is checked by the   
+ * initialization functions.   
+ * Internally, the function divides the FIR filter's impulse response into shorter filters of length   
+ * phaseLength=numTaps/L.   
+ * Coefficients are stored in time reversed order.   
+ * \par   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to a state array of size blockSize + phaseLength - 1.   
+ * Samples in the state buffer are stored in the order:   
+ * \par   
+ * 
       
+ *    {x[n-phaseLength+1], x[n-phaseLength], x[n-phaseLength-1], x[n-phaseLength-2]....x[0], x[1], ..., x[blockSize-1]}   
+ * 
       
+ * The state variables are updated after each block of data is processed, the coefficients are untouched.   
+ *   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient arrays may be shared among several instances while state variable array should be allocated separately.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ * - Checks to make sure that the length of the filter is a multiple of the interpolation factor.   
+ *   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * The code below statically initializes each of the 3 different data type filter instance structures   
+ * 
       
+ * arm_fir_interpolate_instance_f32 S = {L, phaseLength, pCoeffs, pState};   
+ * arm_fir_interpolate_instance_q31 S = {L, phaseLength, pCoeffs, pState};   
+ * arm_fir_interpolate_instance_q15 S = {L, phaseLength, pCoeffs, pState};   
+ * 
       
+ * where L is the interpolation factor; phaseLength=numTaps/L is the   
+ * length of each of the shorter FIR filters used internally,   
+ * pCoeffs is the address of the coefficient buffer;   
+ * pState is the address of the state buffer.   
+ * Be sure to set the values in the state buffer to zeros when doing static initialization.   
+ *   
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the FIR interpolate filter functions.   
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+/**   
+ * @addtogroup FIR_Interpolate   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the floating-point FIR interpolator.   
+ * @param[in] *S        points to an instance of the floating-point FIR interpolator structure.   
+ * @param[in] *pSrc     points to the block of input data.   
+ * @param[out] *pDst    points to the block of output data.   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return none.   
+ */
+
+void arm_fir_interpolate_f32(
+  const arm_fir_interpolate_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *ptr1, *ptr2;                        /* Temporary pointers for state and coefficient buffers */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t sum0;                                /* Accumulators */
+  float32_t x0, c0;                              /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt, j;                         /* Loop counters */
+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (phaseLen - 1u);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum0 = 0.0f;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.   
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = phaseLen >> 2u;
+      while(tapCnt > 0u)
+      {
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.   
+         * So instead of multiplying zeros with coefficients,   
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += x0 * c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += x0 * c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += x0 * c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += x0 * c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = phaseLen % 0x4u;
+
+      while(tapCnt > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum0 += *(ptr1++) * (*ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = sum0;
+
+      /* Increment the address modifier index of coefficient buffer */
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1   
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (phaseLen - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  tapCnt = (phaseLen - 1u) % 0x04u;
+
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t sum;                                 /* Accumulator */
+  uint32_t i, blkCnt;                            /* Loop counters */
+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (phaseLen - 1u);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum = 0.0f;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (i - 1u);
+
+      /* Loop over the polyPhase length */
+      tapCnt = phaseLen;
+
+      while(tapCnt > 0u)
+      {
+        /* Perform the multiply-accumulate */
+        sum += *ptr1++ * *ptr2;
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = sum;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1          
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last phaseLen - 1 samples to the start of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = phaseLen - 1u;
+
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+ /**   
+  * @} end of FIR_Interpolate group   
+  */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
new file mode 100644
index 000000000..bfdc734bd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_f32.c
@@ -0,0 +1,113 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_interpolate_init_f32.c   
+*   
+* Description:  Floating-point FIR interpolator initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Interpolate   
+ * @{   
+ */
+
+/**   
+ * @brief  Initialization function for the floating-point FIR interpolator.   
+ * @param[in,out] *S        points to an instance of the floating-point FIR interpolator structure.   
+ * @param[in]     L         upsample factor.   
+ * @param[in]     numTaps   number of filter coefficients in the filter.   
+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.   
+ * @param[in]     *pState   points to the state buffer.   
+ * @param[in]     blockSize number of input samples to process per call.   
+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if   
+ * the filter length numTaps is not a multiple of the interpolation factor L.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}   
+ * 
       
+ * The length of the filter numTaps must be a multiple of the interpolation factor L.   
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length (numTaps/L)+blockSize-1 words   
+ * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_f32().   
+ */
+
+arm_status arm_fir_interpolate_init_f32(
+  arm_fir_interpolate_instance_f32 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The filter length must be a multiple of the interpolation factor */
+  if((numTaps % L) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Assign Interpolation factor */
+    S->L = L;
+
+    /* Assign polyPhaseLength */
+    S->phaseLength = numTaps / L;
+
+    /* Clear state buffer and size of state array is always phaseLength + blockSize - 1 */
+    memset(pState, 0,
+           (blockSize +
+            ((uint32_t) S->phaseLength - 1u)) * sizeof(float32_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+ /**   
+  * @} end of FIR_Interpolate group   
+  */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
new file mode 100644
index 000000000..3995f73cd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q15.c
@@ -0,0 +1,112 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_interpolate_init_q15.c   
+*   
+* Description:  Q15 FIR interpolator initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Interpolate   
+ * @{   
+ */
+
+/**   
+ * @brief  Initialization function for the Q15 FIR interpolator.   
+ * @param[in,out] *S        points to an instance of the Q15 FIR interpolator structure.   
+ * @param[in]     L         upsample factor.   
+ * @param[in]     numTaps   number of filter coefficients in the filter.   
+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.   
+ * @param[in]     *pState   points to the state buffer.   
+ * @param[in]     blockSize number of input samples to process per call.   
+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if   
+ * the filter length numTaps is not a multiple of the interpolation factor L.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}   
+ * 
       
+ * The length of the filter numTaps must be a multiple of the interpolation factor L.   
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length (numTaps/L)+blockSize-1 words   
+ * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_q15().   
+ */
+
+arm_status arm_fir_interpolate_init_q15(
+  arm_fir_interpolate_instance_q15 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The filter length must be a multiple of the interpolation factor */
+  if((numTaps % L) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Assign Interpolation factor */
+    S->L = L;
+
+    /* Assign polyPhaseLength */
+    S->phaseLength = numTaps / L;
+
+    /* Clear state buffer and size of buffer is always phaseLength + blockSize - 1 */
+    memset(pState, 0,
+           (blockSize + ((uint32_t) S->phaseLength - 1u)) * sizeof(q15_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+ /**   
+  * @} end of FIR_Interpolate group   
+  */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
new file mode 100644
index 000000000..ade6b071c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_init_q31.c
@@ -0,0 +1,113 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_interpolate_init_q31.c   
+*   
+* Description:  Q31 FIR interpolator initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Interpolate   
+ * @{   
+ */
+
+
+/**   
+ * @brief  Initialization function for the Q31 FIR interpolator.   
+ * @param[in,out] *S        points to an instance of the Q31 FIR interpolator structure.   
+ * @param[in]     L         upsample factor.   
+ * @param[in]     numTaps   number of filter coefficients in the filter.   
+ * @param[in]     *pCoeffs  points to the filter coefficient buffer.   
+ * @param[in]     *pState   points to the state buffer.   
+ * @param[in]     blockSize number of input samples to process per call.   
+ * @return        The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if   
+ * the filter length numTaps is not a multiple of the interpolation factor L.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}   
+ * 
       
+ * The length of the filter numTaps must be a multiple of the interpolation factor L.   
+ * \par   
+ * pState points to the array of state variables.   
+ * pState is of length (numTaps/L)+blockSize-1 words   
+ * where blockSize is the number of input samples processed by each call to arm_fir_interpolate_q31().   
+ */
+
+arm_status arm_fir_interpolate_init_q31(
+  arm_fir_interpolate_instance_q31 * S,
+  uint8_t L,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  uint32_t blockSize)
+{
+  arm_status status;
+
+  /* The filter length must be a multiple of the interpolation factor */
+  if((numTaps % L) != 0u)
+  {
+    /* Set status as ARM_MATH_LENGTH_ERROR */
+    status = ARM_MATH_LENGTH_ERROR;
+  }
+  else
+  {
+
+    /* Assign coefficient pointer */
+    S->pCoeffs = pCoeffs;
+
+    /* Assign Interpolation factor */
+    S->L = L;
+
+    /* Assign polyPhaseLength */
+    S->phaseLength = numTaps / L;
+
+    /* Clear state buffer and size of buffer is always phaseLength + blockSize - 1 */
+    memset(pState, 0,
+           (blockSize + ((uint32_t) S->phaseLength - 1u)) * sizeof(q31_t));
+
+    /* Assign state pointer */
+    S->pState = pState;
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  return (status);
+
+}
+
+ /**   
+  * @} end of FIR_Interpolate group   
+  */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
new file mode 100644
index 000000000..6403d7f39
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q15.c
@@ -0,0 +1,349 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_fir_interpolate_q15.c   
+*   
+* Description:	Q15 FIR interpolation.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Interpolate   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q15 FIR interpolator.   
+ * @param[in] *S        points to an instance of the Q15 FIR interpolator structure.   
+ * @param[in] *pSrc     points to the block of input data.   
+ * @param[out] *pDst    points to the block of output data.   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.   
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.   
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.   
+ */
+
+void arm_fir_interpolate_q15(
+  const arm_fir_interpolate_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer                                            */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer                                      */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state                */
+  q15_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers     */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q63_t sum0;                                    /* Accumulators                                             */
+  q15_t x0, c0, c1;                              /* Temporary variables to hold state and coefficient values */
+  q31_t c, x;
+  uint32_t i, blkCnt, j, tapCnt;                 /* Loop counters                                            */
+  uint16_t phaseLen = S->phaseLength;            /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (phaseLen - 1u);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum0 = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.   
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = (uint32_t) phaseLen >> 2u;
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.   
+         * So instead of multiplying zeros with coefficients,   
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the coefficient */
+        c1 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Pack the coefficients */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+        c = __PKHBT(c0, c1, 16);
+
+#else
+
+        c = __PKHBT(c1, c0, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+        /* Read twp consecutive input samples */
+        x = *__SIMD32(ptr1)++;
+
+        /* Perform the multiply-accumulate */
+        sum0 = __SMLALD(x, c, sum0);
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.   
+         * So insted of multiplying zeros with coefficients,   
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the coefficient */
+        c1 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Pack the coefficients */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+        c = __PKHBT(c0, c1, 16);
+
+#else
+
+        c = __PKHBT(c1, c0, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN            */
+
+        /* Read twp consecutive input samples */
+        x = *__SIMD32(ptr1)++;
+
+        /* Perform the multiply-accumulate */
+        sum0 = __SMLALD(x, c, sum0);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = (uint32_t) phaseLen & 0x3u;
+
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 = __SMLALD(x0, c0, sum0);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = (q15_t) (__SSAT((sum0 >> 15), 16));
+
+      /* Increment the address modifier index of coefficient buffer */
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1   
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = ((uint32_t) phaseLen - 1u) >> 2u;
+
+  /* copy data */
+  while(i > 0u)
+  {
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+  i = ((uint32_t) phaseLen - 1u) % 0x04u;
+
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q63_t sum;                                     /* Accumulator */
+  q15_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt, tapCnt;                    /* Loop counters                                            */
+  uint16_t phaseLen = S->phaseLength;            /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (phaseLen - 1u);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (i - 1u);
+
+      /* Loop over the polyPhase length */
+      tapCnt = (uint32_t) phaseLen;
+
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *ptr2;
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *ptr1++;
+
+        /* Perform the multiply-accumulate */
+        sum += ((q31_t) x0 * c0);
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* Store the result after converting to 1.15 format in the destination buffer */
+      *pDst++ = (q15_t) (__SSAT((sum >> 15), 16));
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1          
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last phaseLen - 1 samples to the start of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  i = (uint32_t) phaseLen - 1u;
+
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+ /**   
+  * @} end of FIR_Interpolate group   
+  */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
new file mode 100644
index 000000000..466dccf1d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_interpolate_q31.c
@@ -0,0 +1,340 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_fir_interpolate_q31.c   
+*   
+* Description:	Q31 FIR interpolation.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Interpolate   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q31 FIR interpolator.   
+ * @param[in] *S        points to an instance of the Q31 FIR interpolator structure.   
+ * @param[in] *pSrc     points to the block of input data.   
+ * @param[out] *pDst    points to the block of output data.   
+ * @param[in] blockSize number of input samples to process per call.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around rather than clip.   
+ * In order to avoid overflows completely the input signal must be scaled down by 1/(numTaps/L).   
+ * since numTaps/L additions occur per output sample.   
+ * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.   
+ */
+
+
+void arm_fir_interpolate_q31(
+  const arm_fir_interpolate_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t *ptr1, *ptr2;                            /* Temporary pointers for state and coefficient buffers */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q63_t sum0;                                    /* Accumulators */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt, j;                         /* Loop counters */
+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Address modifier index of coefficient buffer */
+    j = 1u;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum0 = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (S->L - j);
+
+      /* Loop over the polyPhase length. Unroll by a factor of 4.   
+       ** Repeat until we've computed numTaps-(4*S->L) coefficients. */
+      tapCnt = phaseLen >> 2;
+      while(tapCnt > 0u)
+      {
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Upsampling is done by stuffing L-1 zeros between each sample.   
+         * So instead of multiplying zeros with coefficients,   
+         * Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* If the polyPhase length is not a multiple of 4, compute the remaining filter taps */
+      tapCnt = phaseLen & 0x3u;
+
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *(ptr1++);
+
+        /* Perform the multiply-accumulate */
+        sum0 += (q63_t) x0 *c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = (q31_t) (sum0 >> 31);
+
+      /* Increment the address modifier index of coefficient buffer */
+      j++;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1   
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (phaseLen - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  tapCnt = (phaseLen - 1u) % 0x04u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q63_t sum;                                     /* Accumulator */
+  q31_t x0, c0;                                  /* Temporary variables to hold state and coefficient values */
+  uint32_t i, blkCnt;                            /* Loop counters */
+  uint16_t phaseLen = S->phaseLength, tapCnt;    /* Length of each polyphase filter component */
+
+
+  /* S->pState buffer contains previous frame (phaseLen - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + ((q31_t) phaseLen - 1);
+
+  /* Total number of intput samples */
+  blkCnt = blockSize;
+
+  /* Loop over the blockSize. */
+  while(blkCnt > 0u)
+  {
+    /* Copy new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Loop over the Interpolation factor. */
+    i = S->L;
+
+    while(i > 0u)
+    {
+      /* Set accumulator to zero */
+      sum = 0;
+
+      /* Initialize state pointer */
+      ptr1 = pState;
+
+      /* Initialize coefficient pointer */
+      ptr2 = pCoeffs + (i - 1u);
+
+      tapCnt = phaseLen;
+
+      while(tapCnt > 0u)
+      {
+        /* Read the coefficient */
+        c0 = *(ptr2);
+
+        /* Increment the coefficient pointer by interpolation factor times. */
+        ptr2 += S->L;
+
+        /* Read the input sample */
+        x0 = *ptr1++;
+
+        /* Perform the multiply-accumulate */
+        sum += (q63_t) x0 *c0;
+
+        /* Decrement the loop counter */
+        tapCnt--;
+      }
+
+      /* The result is in the accumulator, store in the destination buffer. */
+      *pDst++ = (q31_t) (sum >> 31);
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 1          
+     * to process the next group of interpolation factor number samples */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last phaseLen - 1 samples to the satrt of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = phaseLen - 1u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+ /**   
+  * @} end of FIR_Interpolate group   
+  */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
new file mode 100644
index 000000000..90486acb6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_f32.c
@@ -0,0 +1,496 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_lattice_f32.c   
+*   
+* Description:	Processing function for the floating-point FIR Lattice filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup FIR_Lattice Finite Impulse Response (FIR) Lattice Filters   
+ *   
+ * This set of functions implements Finite Impulse Response (FIR) lattice filters   
+ * for Q15, Q31 and floating-point data types.  Lattice filters are used in a    
+ * variety of adaptive filter applications.  The filter structure is feedforward and   
+ * the net impulse response is finite length.   
+ * The functions operate on blocks   
+ * of input and output data and each call to the function processes   
+ * blockSize samples through the filter.  pSrc and   
+ * pDst point to input and output arrays containing blockSize values.   
+ *   
+ * \par Algorithm:   
+ * \image html FIRLattice.gif "Finite Impulse Response Lattice filter"   
+ * The following difference equation is implemented:   
+ * 
       
+ *    f0[n] = g0[n] = x[n]   
+ *    fm[n] = fm-1[n] + km * gm-1[n-1] for m = 1, 2, ...M   
+ *    gm[n] = km * fm-1[n] + gm-1[n-1] for m = 1, 2, ...M   
+ *    y[n] = fM[n]   
+ * 
       
+ * \par   
+ * pCoeffs points to tha array of reflection coefficients of size numStages.   
+ * Reflection Coefficients are stored in the following order.   
+ * \par   
+ * 
       
+ *    {k1, k2, ..., kM}   
+ * 
       
+ * where M is number of stages   
+ * \par   
+ * pState points to a state array of size numStages.   
+ * The state variables (g values) hold previous inputs and are stored in the following order.   
+ * 
       
+ *    {g0[n], g1[n], g2[n] ...gM-1[n]}   
+ * 
       
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ *   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Set the values in the state buffer to zeros and then manually initialize the instance structure as follows:   
+ * 
       
+ *arm_fir_lattice_instance_f32 S = {numStages, pState, pCoeffs};   
+ *arm_fir_lattice_instance_q31 S = {numStages, pState, pCoeffs};   
+ *arm_fir_lattice_instance_q15 S = {numStages, pState, pCoeffs};   
+ * 
       
+ * \par   
+ * where numStages is the number of stages in the filter; pState is the address of the state buffer;   
+ * pCoeffs is the address of the coefficient buffer.   
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the FIR Lattice filter functions.   
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+/**   
+ * @addtogroup FIR_Lattice   
+ * @{   
+ */
+
+
+  /**   
+   * @brief Processing function for the floating-point FIR lattice filter.   
+   * @param[in]  *S        points to an instance of the floating-point FIR lattice structure.   
+   * @param[in]  *pSrc     points to the block of input data.   
+   * @param[out] *pDst     points to the block of output data   
+   * @param[in]  blockSize number of samples to process.   
+   * @return none.   
+   */
+
+void arm_fir_lattice_f32(
+  const arm_fir_lattice_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pState;                             /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *px;                                 /* temporary state pointer */
+  float32_t *pk;                                 /* temporary coefficient pointer */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t fcurr1, fnext1, gcurr1, gnext1;      /* temporary variables for first sample in loop unrolling */
+  float32_t fcurr2, fnext2, gnext2;              /* temporary variables for second sample in loop unrolling */
+  float32_t fcurr3, fnext3, gnext3;              /* temporary variables for third sample in loop unrolling */
+  float32_t fcurr4, fnext4, gnext4;              /* temporary variables for fourth sample in loop unrolling */
+  uint32_t numStages = S->numStages;             /* Number of stages in the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  gcurr1 = 0.0f;
+  pState = &S->pState[0];
+
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* Read two samples from input buffer */
+    /* f0(n) = x(n) */
+    fcurr1 = *pSrc++;
+    fcurr2 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Read g0(n-1) from state */
+    gcurr1 = *px;
+
+    /* Process first sample for first tap */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = fcurr1 + ((*pk) * gcurr1);
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (fcurr1 * (*pk)) + gcurr1;
+
+    /* Process second sample for first tap */
+    /* for sample 2 processing */
+    fnext2 = fcurr2 + ((*pk) * fcurr1);
+    gnext2 = (fcurr2 * (*pk)) + fcurr1;
+
+    /* Read next two samples from input buffer */
+    /* f0(n+2) = x(n+2) */
+    fcurr3 = *pSrc++;
+    fcurr4 = *pSrc++;
+
+    /* Copy only last input samples into the state buffer   
+       which will be used for next four samples processing */
+    *px++ = fcurr4;
+
+    /* Process third sample for first tap */
+    fnext3 = fcurr3 + ((*pk) * fcurr2);
+    gnext3 = (fcurr3 * (*pk)) + fcurr2;
+
+    /* Process fourth sample for first tap */
+    fnext4 = fcurr4 + ((*pk) * fcurr3);
+    gnext4 = (fcurr4 * (*pk++)) + fcurr3;
+
+    /* Update of f values for next coefficient set processing */
+    fcurr1 = fnext1;
+    fcurr2 = fnext2;
+    fcurr3 = fnext3;
+    fcurr4 = fnext4;
+
+    /* Loop unrolling.  Process 4 taps at a time . */
+    stageCnt = (numStages - 1u) >> 2u;
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numStages-3 coefficients. */
+
+    /* Process 2nd, 3rd, 4th and 5th taps ... here */
+    while(stageCnt > 0u)
+    {
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext4;
+
+      /* Process first sample for 2nd, 6th .. tap */
+      /* Sample processing for K2, K6.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = fcurr1 + ((*pk) * gcurr1);
+      /* Process second sample for 2nd, 6th .. tap */
+      /* for sample 2 processing */
+      fnext2 = fcurr2 + ((*pk) * gnext1);
+      /* Process third sample for 2nd, 6th .. tap */
+      fnext3 = fcurr3 + ((*pk) * gnext2);
+      /* Process fourth sample for 2nd, 6th .. tap */
+      fnext4 = fcurr4 + ((*pk) * gnext3);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (fcurr4 * (*pk)) + gnext3;
+      gnext3 = (fcurr3 * (*pk)) + gnext2;
+      gnext2 = (fcurr2 * (*pk)) + gnext1;
+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g2(n) in state buffer */
+      *px++ = gnext4;
+
+      /* Sample processing for K3, K7.... */
+      /* Process first sample for 3rd, 7th .. tap */
+      /* f3(n) = f2(n) +  K3 * g2(n-1) */
+      fcurr1 = fnext1 + ((*pk) * gcurr1);
+      /* Process second sample for 3rd, 7th .. tap */
+      fcurr2 = fnext2 + ((*pk) * gnext1);
+      /* Process third sample for 3rd, 7th .. tap */
+      fcurr3 = fnext3 + ((*pk) * gnext2);
+      /* Process fourth sample for 3rd, 7th .. tap */
+      fcurr4 = fnext4 + ((*pk) * gnext3);
+
+      /* Calculation of state values for next stage */
+      /* g3(n) = f2(n) * K3  +  g2(n-1) */
+      gnext4 = (fnext4 * (*pk)) + gnext3;
+      gnext3 = (fnext3 * (*pk)) + gnext2;
+      gnext2 = (fnext2 * (*pk)) + gnext1;
+      gnext1 = (fnext1 * (*pk++)) + gcurr1;
+
+
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g3(n) in state buffer */
+      *px++ = gnext4;
+
+      /* Sample processing for K4, K8.... */
+      /* Process first sample for 4th, 8th .. tap */
+      /* f4(n) = f3(n) +  K4 * g3(n-1) */
+      fnext1 = fcurr1 + ((*pk) * gcurr1);
+      /* Process second sample for 4th, 8th .. tap */
+      /* for sample 2 processing */
+      fnext2 = fcurr2 + ((*pk) * gnext1);
+      /* Process third sample for 4th, 8th .. tap */
+      fnext3 = fcurr3 + ((*pk) * gnext2);
+      /* Process fourth sample for 4th, 8th .. tap */
+      fnext4 = fcurr4 + ((*pk) * gnext3);
+
+      /* g4(n) = f3(n) * K4  +  g3(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (fcurr4 * (*pk)) + gnext3;
+      gnext3 = (fcurr3 * (*pk)) + gnext2;
+      gnext2 = (fcurr2 * (*pk)) + gnext1;
+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g4(n) in state buffer */
+      *px++ = gnext4;
+
+      /* Sample processing for K5, K9.... */
+      /* Process first sample for 5th, 9th .. tap */
+      /* f5(n) = f4(n) +  K5 * g4(n-1) */
+      fcurr1 = fnext1 + ((*pk) * gcurr1);
+      /* Process second sample for 5th, 9th .. tap */
+      fcurr2 = fnext2 + ((*pk) * gnext1);
+      /* Process third sample for 5th, 9th .. tap */
+      fcurr3 = fnext3 + ((*pk) * gnext2);
+      /* Process fourth sample for 5th, 9th .. tap */
+      fcurr4 = fnext4 + ((*pk) * gnext3);
+
+      /* Calculation of state values for next stage */
+      /* g5(n) = f4(n) * K5  +  g4(n-1) */
+      gnext4 = (fnext4 * (*pk)) + gnext3;
+      gnext3 = (fnext3 * (*pk)) + gnext2;
+      gnext2 = (fnext2 * (*pk)) + gnext1;
+      gnext1 = (fnext1 * (*pk++)) + gcurr1;
+
+      stageCnt--;
+    }
+
+    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */
+    stageCnt = (numStages - 1u) % 0x4u;
+
+    while(stageCnt > 0u)
+    {
+      gcurr1 = *px;
+
+      /* save g value in state buffer */
+      *px++ = gnext4;
+
+      /* Process four samples for last three taps here */
+      fnext1 = fcurr1 + ((*pk) * gcurr1);
+      fnext2 = fcurr2 + ((*pk) * gnext1);
+      fnext3 = fcurr3 + ((*pk) * gnext2);
+      fnext4 = fcurr4 + ((*pk) * gnext3);
+
+      /* g1(n) = f0(n) * K1  +  g0(n-1) */
+      gnext4 = (fcurr4 * (*pk)) + gnext3;
+      gnext3 = (fcurr3 * (*pk)) + gnext2;
+      gnext2 = (fcurr2 * (*pk)) + gnext1;
+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+      /* Update of f values for next coefficient set processing */
+      fcurr1 = fnext1;
+      fcurr2 = fnext2;
+      fcurr3 = fnext3;
+      fcurr4 = fnext4;
+
+      stageCnt--;
+
+    }
+
+    /* The results in the 4 accumulators, store in the destination buffer. */
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr1;
+    *pDst++ = fcurr2;
+    *pDst++ = fcurr3;
+    *pDst++ = fcurr4;
+
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr1 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g2(n) from state buffer */
+    gcurr1 = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = fcurr1 + ((*pk) * gcurr1);
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+    /* save g1(n) in state buffer */
+    *px++ = fcurr1;
+
+    /* f1(n) is saved in fcurr1   
+       for next stage processing */
+    fcurr1 = fnext1;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext1;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = fcurr1 + ((*pk) * gcurr1);
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext1 = (fcurr1 * (*pk++)) + gcurr1;
+
+      /* f1(n) is saved in fcurr1   
+         for next stage processing */
+      fcurr1 = fnext1;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr1;
+
+    blkCnt--;
+
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t fcurr, fnext, gcurr, gnext;          /* temporary variables */
+  uint32_t numStages = S->numStages;             /* Length of the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = pCoeffs;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g0(n-1) from state buffer */
+    gcurr = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext = fcurr + ((*pk) * gcurr);
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext = (fcurr * (*pk++)) + gcurr;
+
+    /* save f0(n) in state buffer */
+    *px++ = fcurr;
+
+    /* f1(n) is saved in fcurr           
+       for next stage processing */
+    fcurr = fnext;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurr = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext = fcurr + ((*pk) * gcurr);
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext = (fcurr * (*pk++)) + gcurr;
+
+      /* f1(n) is saved in fcurr1           
+         for next stage processing */
+      fcurr = fnext;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr;
+
+    blkCnt--;
+
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
new file mode 100644
index 000000000..ab8da7fab
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_f32.c
@@ -0,0 +1,75 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_lattice_init_f32.c   
+*   
+* Description:  Floating-point FIR Lattice filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Lattice   
+ * @{   
+ */
+
+/**   
+ * @brief Initialization function for the floating-point FIR lattice filter.   
+ * @param[in] *S points to an instance of the floating-point FIR lattice structure.   
+ * @param[in] numStages  number of filter stages.   
+ * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.   
+ * @param[in] *pState points to the state buffer.  The array is of length numStages.   
+ * @return none.   
+ */
+
+void arm_fir_lattice_init_f32(
+  arm_fir_lattice_instance_f32 * S,
+  uint16_t numStages,
+  float32_t * pCoeffs,
+  float32_t * pState)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always numStages */
+  memset(pState, 0, (numStages) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
new file mode 100644
index 000000000..7e34c93ee
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q15.c
@@ -0,0 +1,75 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_lattice_init_q15.c   
+*   
+* Description:  Q15 FIR Lattice filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Lattice   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for the Q15 FIR lattice filter.   
+   * @param[in] *S points to an instance of the Q15 FIR lattice structure.   
+   * @param[in] numStages  number of filter stages.   
+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.    
+   * @param[in] *pState points to the state buffer.  The array is of length numStages.    
+   * @return none.   
+   */
+
+void arm_fir_lattice_init_q15(
+  arm_fir_lattice_instance_q15 * S,
+  uint16_t numStages,
+  q15_t * pCoeffs,
+  q15_t * pState)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always numStages */
+  memset(pState, 0, (numStages) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
new file mode 100644
index 000000000..31e32cf18
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_init_q31.c
@@ -0,0 +1,75 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_lattice_init_q31.c   
+*   
+* Description:  Q31 FIR lattice filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Lattice   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for the Q31 FIR lattice filter.   
+   * @param[in] *S points to an instance of the Q31 FIR lattice structure.   
+   * @param[in] numStages  number of filter stages.   
+   * @param[in] *pCoeffs points to the coefficient buffer.  The array is of length numStages.   
+   * @param[in] *pState points to the state buffer.   The array is of length numStages.   
+   * @return none.   
+   */
+
+void arm_fir_lattice_init_q31(
+  arm_fir_lattice_instance_q31 * S,
+  uint16_t numStages,
+  q31_t * pCoeffs,
+  q31_t * pState)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always numStages */
+  memset(pState, 0, (numStages) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
new file mode 100644
index 000000000..350f29d15
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q15.c
@@ -0,0 +1,528 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_lattice_q15.c   
+*   
+* Description:	Q15 FIR lattice filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Lattice   
+ * @{   
+ */
+
+
+/**   
+ * @brief Processing function for the Q15 FIR lattice filter.   
+ * @param[in]  *S        points to an instance of the Q15 FIR lattice structure.   
+ * @param[in]  *pSrc     points to the block of input data.   
+ * @param[out] *pDst     points to the block of output data   
+ * @param[in]  blockSize number of samples to process.   
+ * @return none.   
+ */
+
+void arm_fir_lattice_q15(
+  const arm_fir_lattice_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState;                                 /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *px;                                     /* temporary state pointer */
+  q15_t *pk;                                     /* temporary coefficient pointer */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t fcurnt1, fnext1, gcurnt1 = 0, gnext1;    /* temporary variables for first sample in loop unrolling */
+  q31_t fcurnt2, fnext2, gnext2;                 /* temporary variables for second sample in loop unrolling */
+  q31_t fcurnt3, fnext3, gnext3;                 /* temporary variables for third sample in loop unrolling */
+  q31_t fcurnt4, fnext4, gnext4;                 /* temporary variables for fourth sample in loop unrolling */
+  uint32_t numStages = S->numStages;             /* Number of stages in the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* Read two samples from input buffer */
+    /* f0(n) = x(n) */
+    fcurnt1 = *pSrc++;
+    fcurnt2 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Read g0(n-1) from state */
+    gcurnt1 = *px;
+
+    /* Process first sample for first tap */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+    fnext1 = __SSAT(fnext1, 16);
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (q31_t) ((fcurnt1 * (*pk)) >> 15u) + gcurnt1;
+    gnext1 = __SSAT(gnext1, 16);
+
+    /* Process second sample for first tap */
+    /* for sample 2 processing */
+    fnext2 = (q31_t) ((fcurnt1 * (*pk)) >> 15u) + fcurnt2;
+    fnext2 = __SSAT(fnext2, 16);
+
+    gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + fcurnt1;
+    gnext2 = __SSAT(gnext2, 16);
+
+
+    /* Read next two samples from input buffer */
+    /* f0(n+2) = x(n+2) */
+    fcurnt3 = *pSrc++;
+    fcurnt4 = *pSrc++;
+
+    /* Copy only last input samples into the state buffer   
+       which is used for next four samples processing */
+    *px++ = (q15_t) fcurnt4;
+
+    /* Process third sample for first tap */
+    fnext3 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + fcurnt3;
+    fnext3 = __SSAT(fnext3, 16);
+    gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + fcurnt2;
+    gnext3 = __SSAT(gnext3, 16);
+
+    /* Process fourth sample for first tap */
+    fnext4 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + fcurnt4;
+    fnext4 = __SSAT(fnext4, 16);
+    gnext4 = (q31_t) ((fcurnt4 * (*pk++)) >> 15u) + fcurnt3;
+    gnext4 = __SSAT(gnext4, 16);
+
+    /* Update of f values for next coefficient set processing */
+    fcurnt1 = fnext1;
+    fcurnt2 = fnext2;
+    fcurnt3 = fnext3;
+    fcurnt4 = fnext4;
+
+
+    /* Loop unrolling.  Process 4 taps at a time . */
+    stageCnt = (numStages - 1u) >> 2;
+
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numStages-3 coefficients. */
+
+    /* Process 2nd, 3rd, 4th and 5th taps ... here */
+    while(stageCnt > 0u)
+    {
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurnt1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Process first sample for 2nd, 6th .. tap */
+      /* Sample processing for K2, K6.... */
+      /* f1(n) = f0(n) +  K1 * g0(n-1) */
+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+      fnext1 = __SSAT(fnext1, 16);
+
+
+      /* Process second sample for 2nd, 6th .. tap */
+      /* for sample 2 processing */
+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
+      fnext2 = __SSAT(fnext2, 16);
+      /* Process third sample for 2nd, 6th .. tap */
+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
+      fnext3 = __SSAT(fnext3, 16);
+      /* Process fourth sample for 2nd, 6th .. tap */
+      /* fnext4 = fcurnt4 + (*pk) * gnext3; */
+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
+      fnext4 = __SSAT(fnext4, 16);
+
+      /* g1(n) = f0(n) * K1  +  g0(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+
+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+
+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurnt1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Sample processing for K3, K7.... */
+      /* Process first sample for 3rd, 7th .. tap */
+      /* f3(n) = f2(n) +  K3 * g2(n-1) */
+      fcurnt1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fnext1;
+      fcurnt1 = __SSAT(fcurnt1, 16);
+
+      /* Process second sample for 3rd, 7th .. tap */
+      fcurnt2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fnext2;
+      fcurnt2 = __SSAT(fcurnt2, 16);
+
+      /* Process third sample for 3rd, 7th .. tap */
+      fcurnt3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fnext3;
+      fcurnt3 = __SSAT(fcurnt3, 16);
+
+      /* Process fourth sample for 3rd, 7th .. tap */
+      fcurnt4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fnext4;
+      fcurnt4 = __SSAT(fcurnt4, 16);
+
+      /* Calculation of state values for next stage */
+      /* g3(n) = f2(n) * K3  +  g2(n-1) */
+      gnext4 = (q31_t) ((fnext4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+
+      gnext3 = (q31_t) ((fnext3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+
+      gnext2 = (q31_t) ((fnext2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+
+      gnext1 = (q31_t) ((fnext1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurnt1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Sample processing for K4, K8.... */
+      /* Process first sample for 4th, 8th .. tap */
+      /* f4(n) = f3(n) +  K4 * g3(n-1) */
+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+      fnext1 = __SSAT(fnext1, 16);
+
+      /* Process second sample for 4th, 8th .. tap */
+      /* for sample 2 processing */
+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
+      fnext2 = __SSAT(fnext2, 16);
+
+      /* Process third sample for 4th, 8th .. tap */
+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
+      fnext3 = __SSAT(fnext3, 16);
+
+      /* Process fourth sample for 4th, 8th .. tap */
+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
+      fnext4 = __SSAT(fnext4, 16);
+
+      /* g4(n) = f3(n) * K4  +  g3(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+
+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+
+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurnt1 = *px;
+
+      /* save g4(n) in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Sample processing for K5, K9.... */
+      /* Process first sample for 5th, 9th .. tap */
+      /* f5(n) = f4(n) +  K5 * g4(n-1) */
+      fcurnt1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fnext1;
+      fcurnt1 = __SSAT(fcurnt1, 16);
+
+      /* Process second sample for 5th, 9th .. tap */
+      fcurnt2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fnext2;
+      fcurnt2 = __SSAT(fcurnt2, 16);
+
+      /* Process third sample for 5th, 9th .. tap */
+      fcurnt3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fnext3;
+      fcurnt3 = __SSAT(fcurnt3, 16);
+
+      /* Process fourth sample for 5th, 9th .. tap */
+      fcurnt4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fnext4;
+      fcurnt4 = __SSAT(fcurnt4, 16);
+
+      /* Calculation of state values for next stage */
+      /* g5(n) = f4(n) * K5  +  g4(n-1) */
+      gnext4 = (q31_t) ((fnext4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+      gnext3 = (q31_t) ((fnext3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+      gnext2 = (q31_t) ((fnext2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+      gnext1 = (q31_t) ((fnext1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+      stageCnt--;
+    }
+
+    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */
+    stageCnt = (numStages - 1u) % 0x4u;
+
+    while(stageCnt > 0u)
+    {
+      gcurnt1 = *px;
+
+      /* save g value in state buffer */
+      *px++ = (q15_t) gnext4;
+
+      /* Process four samples for last three taps here */
+      fnext1 = (q31_t) ((gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+      fnext1 = __SSAT(fnext1, 16);
+      fnext2 = (q31_t) ((gnext1 * (*pk)) >> 15u) + fcurnt2;
+      fnext2 = __SSAT(fnext2, 16);
+
+      fnext3 = (q31_t) ((gnext2 * (*pk)) >> 15u) + fcurnt3;
+      fnext3 = __SSAT(fnext3, 16);
+
+      fnext4 = (q31_t) ((gnext3 * (*pk)) >> 15u) + fcurnt4;
+      fnext4 = __SSAT(fnext4, 16);
+
+      /* g1(n) = f0(n) * K1  +  g0(n-1) */
+      gnext4 = (q31_t) ((fcurnt4 * (*pk)) >> 15u) + gnext3;
+      gnext4 = __SSAT(gnext4, 16);
+      gnext3 = (q31_t) ((fcurnt3 * (*pk)) >> 15u) + gnext2;
+      gnext3 = __SSAT(gnext3, 16);
+      gnext2 = (q31_t) ((fcurnt2 * (*pk)) >> 15u) + gnext1;
+      gnext2 = __SSAT(gnext2, 16);
+      gnext1 = (q31_t) ((fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+      /* Update of f values for next coefficient set processing */
+      fcurnt1 = fnext1;
+      fcurnt2 = fnext2;
+      fcurnt3 = fnext3;
+      fcurnt4 = fnext4;
+
+      stageCnt--;
+
+    }
+
+    /* The results in the 4 accumulators, store in the destination buffer. */
+    /* y(n) = fN(n) */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ = __PKHBT(fcurnt1, fcurnt2, 16);
+    *__SIMD32(pDst)++ = __PKHBT(fcurnt3, fcurnt4, 16);
+
+#else
+
+    *__SIMD32(pDst)++ = __PKHBT(fcurnt2, fcurnt1, 16);
+    *__SIMD32(pDst)++ = __PKHBT(fcurnt4, fcurnt3, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurnt1 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g2(n) from state buffer */
+    gcurnt1 = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = (((q31_t) gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+    fnext1 = __SSAT(fnext1, 16);
+
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (((q31_t) fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+    gnext1 = __SSAT(gnext1, 16);
+
+    /* save g1(n) in state buffer */
+    *px++ = (q15_t) fcurnt1;
+
+    /* f1(n) is saved in fcurnt1   
+       for next stage processing */
+    fcurnt1 = fnext1;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurnt1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q15_t) gnext1;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = (((q31_t) gcurnt1 * (*pk)) >> 15u) + fcurnt1;
+      fnext1 = __SSAT(fnext1, 16);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext1 = (((q31_t) fcurnt1 * (*pk++)) >> 15u) + gcurnt1;
+      gnext1 = __SSAT(gnext1, 16);
+
+
+      /* f1(n) is saved in fcurnt1   
+         for next stage processing */
+      fcurnt1 = fnext1;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = __SSAT(fcurnt1, 16);
+
+
+    blkCnt--;
+
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t fcurnt, fnext, gcurnt, gnext;            /* temporary variables */
+  uint32_t numStages = S->numStages;             /* Length of the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurnt = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g0(n-1) from state buffer */
+    gcurnt = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext = ((gcurnt * (*pk)) >> 15u) + fcurnt;
+    fnext = __SSAT(fnext, 16);
+
+
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext = ((fcurnt * (*pk++)) >> 15u) + gcurnt;
+    gnext = __SSAT(gnext, 16);
+
+    /* save f0(n) in state buffer */
+    *px++ = (q15_t) fcurnt;
+
+    /* f1(n) is saved in fcurnt           
+       for next stage processing */
+    fcurnt = fnext;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g1(n-1) from state buffer */
+      gcurnt = *px;
+
+      /* save g0(n-1) in state buffer */
+      *px++ = (q15_t) gnext;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext = ((gcurnt * (*pk)) >> 15u) + fcurnt;
+      fnext = __SSAT(fnext, 16);
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext = ((fcurnt * (*pk++)) >> 15u) + gcurnt;
+      gnext = __SSAT(gnext, 16);
+
+
+      /* f1(n) is saved in fcurnt           
+         for next stage processing */
+      fcurnt = fnext;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = __SSAT(fcurnt, 16);
+
+
+    blkCnt--;
+
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
new file mode 100644
index 000000000..2f4c22a50
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_lattice_q31.c
@@ -0,0 +1,440 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_lattice_q31.c   
+*   
+* Description:	Q31 FIR lattice filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Lattice   
+ * @{   
+ */
+
+
+/**   
+ * @brief Processing function for the Q31 FIR lattice filter.   
+ * @param[in]  *S        points to an instance of the Q31 FIR lattice structure.   
+ * @param[in]  *pSrc     points to the block of input data.   
+ * @param[out] *pDst     points to the block of output data   
+ * @param[in]  blockSize number of samples to process.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ * In order to avoid overflows the input signal must be scaled down by 2*log2(numStages) bits.   
+ */
+
+void arm_fir_lattice_q31(
+  const arm_fir_lattice_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState;                                 /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *px;                                     /* temporary state pointer */
+  q31_t *pk;                                     /* temporary coefficient pointer */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t fcurr1, fnext1, gcurr1 = 0, gnext1;      /* temporary variables for first sample in loop unrolling */
+  q63_t fcurr2, fnext2, gnext2;                  /* temporary variables for second sample in loop unrolling */
+  q63_t fcurr3, fnext3, gnext3;                  /* temporary variables for third sample in loop unrolling */
+  q63_t fcurr4, fnext4, gnext4;                  /* temporary variables for fourth sample in loop unrolling */
+  uint32_t numStages = S->numStages;             /* Length of the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+    /* Read two samples from input buffer */
+    /* f0(n) = x(n) */
+    fcurr1 = *pSrc++;
+    /* f0(n) = x(n) */
+    fcurr2 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Read g0(n-1) from state */
+    gcurr1 = *px;
+
+    /* Process first sample for first tap */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = (q31_t) (((q63_t) gcurr1 * (*pk)) >> 31) + fcurr1;
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (q31_t) (((q63_t) fcurr1 * (*pk)) >> 31) + gcurr1;
+
+    /* Process second sample for first tap */
+    /* for sample 2 processing */
+    fnext2 = (q31_t) (((q63_t) fcurr1 * (*pk)) >> 31) + fcurr2;
+    gnext2 = (q31_t) (((q63_t) fcurr2 * (*pk)) >> 31) + fcurr1;
+
+
+    /* Read next two samples from input buffer */
+    /* f0(n+2) = x(n+2) */
+    fcurr3 = *pSrc++;
+    fcurr4 = *pSrc++;
+
+    /* Copy only last input samples into the state buffer   
+       which will be used for next four samples processing */
+    *px++ = (q31_t) fcurr4;
+
+    /* Process third sample for first tap */
+    fnext3 = (q31_t) (((q63_t) fcurr2 * (*pk)) >> 31) + fcurr3;
+    gnext3 = (q31_t) (((q63_t) fcurr3 * (*pk)) >> 31) + fcurr2;
+
+    /* Process fourth sample for first tap */
+    fnext4 = (q31_t) (((q63_t) fcurr3 * (*pk)) >> 31) + fcurr4;
+    gnext4 = (q31_t) (((q63_t) fcurr4 * (*pk++)) >> 31) + fcurr3;
+
+    /* save g1(n) in state buffer for next sample processing */
+    /* *px++ = gnext4;       */
+
+    /* Update of f values for next coefficient set processing */
+    fcurr1 = fnext1;
+    fcurr2 = fnext2;
+    fcurr3 = fnext3;
+    fcurr4 = fnext4;
+
+
+    /* Loop unrolling.  Process 4 taps at a time . */
+    stageCnt = (numStages - 1u) >> 2u;
+
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numStages-3 coefficients. */
+
+    /* Process 2nd, 3rd, 4th and 5th taps ... here */
+    while(stageCnt > 0u)
+    {
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q31_t) gnext4;
+
+      /* Process first sample for 2nd, 6th .. tap */
+      /* Sample processing for K2, K6.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = (q31_t) (((q63_t) gcurr1 * (*pk)) >> 31) + fcurr1;
+      /* Process second sample for 2nd, 6th .. tap */
+      /* for sample 2 processing */
+      fnext2 = (q31_t) (((q63_t) gnext1 * (*pk)) >> 31) + fcurr2;
+      /* Process third sample for 2nd, 6th .. tap */
+      fnext3 = (q31_t) (((q63_t) gnext2 * (*pk)) >> 31) + fcurr3;
+      /* Process fourth sample for 2nd, 6th .. tap */
+      fnext4 = (q31_t) (((q63_t) gnext3 * (*pk)) >> 31) + fcurr4;
+
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (q31_t) (((q63_t) fcurr4 * (*pk)) >> 31) + gnext3;
+      gnext3 = (q31_t) (((q63_t) fcurr3 * (*pk)) >> 31) + gnext2;
+      gnext2 = (q31_t) (((q63_t) fcurr2 * (*pk)) >> 31) + gnext1;
+      gnext1 = (q31_t) (((q63_t) fcurr1 * (*pk++)) >> 31) + gcurr1;
+
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g2(n) in state buffer */
+      *px++ = (q31_t) gnext4;
+
+      /* Sample processing for K3, K7.... */
+      /* Process first sample for 3rd, 7th .. tap */
+      /* f3(n) = f2(n) +  K3 * g2(n-1) */
+      fcurr1 = (q31_t) (((q63_t) gcurr1 * (*pk)) >> 31) + fnext1;
+      /* Process second sample for 3rd, 7th .. tap */
+      fcurr2 = (q31_t) (((q63_t) gnext1 * (*pk)) >> 31) + fnext2;
+      /* Process third sample for 3rd, 7th .. tap */
+      fcurr3 = (q31_t) (((q63_t) gnext2 * (*pk)) >> 31) + fnext3;
+      /* Process fourth sample for 3rd, 7th .. tap */
+      fcurr4 = (q31_t) (((q63_t) gnext3 * (*pk)) >> 31) + fnext4;
+
+      /* Calculation of state values for next stage */
+      /*  gnext4 = fnext4 * (*pk) +  gnext3; */
+      gnext4 = (q31_t) (((q63_t) fnext4 * (*pk)) >> 31) + gnext3;
+      gnext3 = (q31_t) (((q63_t) fnext3 * (*pk)) >> 31) + gnext2;
+      /*  gnext2 = fnext2 * (*pk) +  gnext1; */
+      gnext2 = (q31_t) (((q63_t) fnext2 * (*pk)) >> 31) + gnext1;
+
+      /* g1(n) = f0(n) * K1  +  g0(n-1) */
+      /*  gnext1 = fnext1 * (*pk++) +  gcurr1; */
+      gnext1 = (q31_t) (((q63_t) fnext1 * (*pk++)) >> 31) + gcurr1;
+
+      /* Read g1(n-1), g3(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = (q31_t) gnext4;
+
+      /* Sample processing for K4, K8.... */
+      /* Process first sample for 4th, 8th .. tap */
+      /* f4(n) = f3(n) +  K4 * g3(n-1) */
+      fnext1 = (q31_t) (((q63_t) gcurr1 * (*pk)) >> 31) + fcurr1;
+      /* Process second sample for 4th, 8th .. tap */
+      /* for sample 2 processing */
+      fnext2 = (q31_t) (((q63_t) gnext1 * (*pk)) >> 31) + fcurr2;
+      /* Process third sample for 4th, 8th .. tap */
+      fnext3 = (q31_t) (((q63_t) gnext2 * (*pk)) >> 31) + fcurr3;
+      /* Process fourth sample for 4th, 8th .. tap */
+      fnext4 = (q31_t) (((q63_t) gnext3 * (*pk)) >> 31) + fcurr4;
+
+      /* g4(n) = f3(n) * K4  +  g3(n-1) */
+      /* Calculation of state values for next stage */
+      gnext4 = (q31_t) (((q63_t) fcurr4 * (*pk)) >> 31) + gnext3;
+      gnext3 = (q31_t) (((q63_t) fcurr3 * (*pk)) >> 31) + gnext2;
+      gnext2 = (q31_t) (((q63_t) fcurr2 * (*pk)) >> 31) + gnext1;
+      gnext1 = (q31_t) (((q63_t) fcurr1 * (*pk++)) >> 31) + gcurr1;
+
+      /* Read g2(n-1), g4(n-1) .... from state */
+      gcurr1 = *px;
+
+      /* save g4(n) in state buffer */
+      *px++ = (q31_t) gnext4;
+
+      /* Sample processing for K5, K9.... */
+      /* Process first sample for 5th, 9th .. tap */
+      /* f5(n) = f4(n) +  K5 * g4(n-1) */
+      fcurr1 = (q31_t) (((q63_t) gcurr1 * (*pk)) >> 31) + fnext1;
+      /* Process second sample for 5th, 9th .. tap */
+      fcurr2 = (q31_t) (((q63_t) gnext1 * (*pk)) >> 31) + fnext2;
+      /* Process third sample for 5th, 9th .. tap */
+      fcurr3 = (q31_t) (((q63_t) gnext2 * (*pk)) >> 31) + fnext3;
+      /* Process fourth sample for 5th, 9th .. tap */
+      fcurr4 = (q31_t) (((q63_t) gnext3 * (*pk)) >> 31) + fnext4;
+
+      /* Calculation of state values for next stage */
+      /* g5(n) = f4(n) * K5  +  g4(n-1) */
+      gnext4 = (q31_t) (((q63_t) fnext4 * (*pk)) >> 31) + gnext3;
+      gnext3 = (q31_t) (((q63_t) fnext3 * (*pk)) >> 31) + gnext2;
+      gnext2 = (q31_t) (((q63_t) fnext2 * (*pk)) >> 31) + gnext1;
+      gnext1 = (q31_t) (((q63_t) fnext1 * (*pk++)) >> 31) + gcurr1;
+
+      stageCnt--;
+    }
+
+    /* If the (filter length -1) is not a multiple of 4, compute the remaining filter taps */
+    stageCnt = (numStages - 1u) % 0x4u;
+
+    while(stageCnt > 0u)
+    {
+      gcurr1 = *px;
+
+      /* save g value in state buffer */
+      *px++ = (q31_t) gnext4;
+
+      /* Process four samples for last three taps here */
+      fnext1 = (q31_t) (((q63_t) gcurr1 * (*pk)) >> 31) + fcurr1;
+      fnext2 = (q31_t) (((q63_t) gnext1 * (*pk)) >> 31) + fcurr2;
+      fnext3 = (q31_t) (((q63_t) gnext2 * (*pk)) >> 31) + fcurr3;
+      fnext4 = (q31_t) (((q63_t) gnext3 * (*pk)) >> 31) + fcurr4;
+
+      /* g1(n) = f0(n) * K1  +  g0(n-1) */
+      gnext4 = (q31_t) (((q63_t) fcurr4 * (*pk)) >> 31) + gnext3;
+      gnext3 = (q31_t) (((q63_t) fcurr3 * (*pk)) >> 31) + gnext2;
+      gnext2 = (q31_t) (((q63_t) fcurr2 * (*pk)) >> 31) + gnext1;
+      gnext1 = (q31_t) (((q63_t) fcurr1 * (*pk++)) >> 31) + gcurr1;
+
+      /* Update of f values for next coefficient set processing */
+      fcurr1 = fnext1;
+      fcurr2 = fnext2;
+      fcurr3 = fnext3;
+      fcurr4 = fnext4;
+
+      stageCnt--;
+
+    }
+
+    /* The results in the 4 accumulators, store in the destination buffer. */
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr1;
+    *pDst++ = (q31_t) fcurr2;
+    *pDst++ = (q31_t) fcurr3;
+    *pDst++ = (q31_t) fcurr4;
+
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr1 = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g2(n) from state buffer */
+    gcurr1 = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext1 = (q31_t) (((q63_t) gcurr1 * (*pk)) >> 31) + fcurr1;
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext1 = (q31_t) (((q63_t) fcurr1 * (*pk++)) >> 31) + gcurr1;
+    /* save g1(n) in state buffer */
+    *px++ = fcurr1;
+
+    /* f1(n) is saved in fcurr1   
+       for next stage processing */
+    fcurr1 = fnext1;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurr1 = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext1;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext1 = (q31_t) (((q63_t) gcurr1 * (*pk)) >> 31) + fcurr1;
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext1 = (q31_t) (((q63_t) fcurr1 * (*pk++)) >> 31) + gcurr1;
+
+      /* f1(n) is saved in fcurr1   
+         for next stage processing */
+      fcurr1 = fnext1;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr1;
+
+    blkCnt--;
+
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q31_t fcurr, fnext, gcurr, gnext;              /* temporary variables */
+  uint32_t numStages = S->numStages;             /* Length of the filter */
+  uint32_t blkCnt, stageCnt;                     /* temporary variables for counts */
+
+  pState = &S->pState[0];
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* f0(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize coeff pointer */
+    pk = (pCoeffs);
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* read g0(n-1) from state buffer */
+    gcurr = *px;
+
+    /* for sample 1 processing */
+    /* f1(n) = f0(n) +  K1 * g0(n-1) */
+    fnext = (q31_t) (((q63_t) gcurr * (*pk)) >> 31) + fcurr;
+    /* g1(n) = f0(n) * K1  +  g0(n-1) */
+    gnext = (q31_t) (((q63_t) fcurr * (*pk++)) >> 31) + gcurr;
+    /* save g1(n) in state buffer */
+    *px++ = fcurr;
+
+    /* f1(n) is saved in fcurr1           
+       for next stage processing */
+    fcurr = fnext;
+
+    stageCnt = (numStages - 1u);
+
+    /* stage loop */
+    while(stageCnt > 0u)
+    {
+      /* read g2(n) from state buffer */
+      gcurr = *px;
+
+      /* save g1(n) in state buffer */
+      *px++ = gnext;
+
+      /* Sample processing for K2, K3.... */
+      /* f2(n) = f1(n) +  K2 * g1(n-1) */
+      fnext = (q31_t) (((q63_t) gcurr * (*pk)) >> 31) + fcurr;
+      /* g2(n) = f1(n) * K2  +  g1(n-1) */
+      gnext = (q31_t) (((q63_t) fcurr * (*pk++)) >> 31) + gcurr;
+
+      /* f1(n) is saved in fcurr1           
+         for next stage processing */
+      fcurr = fnext;
+
+      stageCnt--;
+
+    }
+
+    /* y(n) = fN(n) */
+    *pDst++ = fcurr;
+
+    blkCnt--;
+
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
new file mode 100644
index 000000000..28214d11e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q15.c
@@ -0,0 +1,368 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_q15.c   
+*   
+* Description:  Q15 FIR filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q15 FIR filter.   
+ * @param[in] *S points to an instance of the Q15 FIR structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in]  blockSize number of samples to process per call.   
+ * @return none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.   
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.   
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.   
+ *   
+ * \par   
+ * Refer to the function arm_fir_fast_q15() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_fir_q15(
+  const arm_fir_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *px1;                                    /* Temporary q15 pointer for state buffer */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q31_t *px2;                                    /* Temporary q31 pointer for SIMD state buffer accesses */
+  q31_t x0, x1, x2, x3, c0;                      /* Temporary variables to hold SIMD state and coefficient values */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.   
+   * The variables acc0 ... acc3 hold output values that are being computed:   
+   *   
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]   
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]   
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]   
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]   
+   */
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer.   
+     ** Use 32-bit SIMD to move the 16-bit data.  Only requires two copies. */
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pSrc)++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Initialize state pointer of type q15 */
+    px1 = pState;
+
+    /* Initialize coeff pointer of type q31 */
+    pb = (q31_t *) (pCoeffs);
+
+    /* Read the first two samples from the state buffer:  x[n-N], x[n-N-1] */
+    x0 = *(q31_t *) (px1++);
+
+    /* Read the third and forth samples from the state buffer: x[n-N-1], x[n-N-2] */
+    x1 = *(q31_t *) (px1++);
+
+    /* Loop over the number of taps.  Unroll by a factor of 4.   
+     ** Repeat until we've computed numTaps-4 coefficients. */
+    tapCnt = numTaps >> 2;
+    do
+    {
+      /* Read the first two coefficients using SIMD:  b[N] and b[N-1] coefficients */
+      c0 = *(pb++);
+
+      /* acc0 +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
+      acc0 = __SMLALD(x0, c0, acc0);
+
+      /* acc1 +=  b[N] * x[n-N-1] + b[N-1] * x[n-N-2] */
+      acc1 = __SMLALD(x1, c0, acc1);
+
+      /* Read state x[n-N-2], x[n-N-3] */
+      x2 = *(q31_t *) (px1++);
+
+      /* Read state x[n-N-3], x[n-N-4] */
+      x3 = *(q31_t *) (px1++);
+
+      /* acc2 +=  b[N] * x[n-N-2] + b[N-1] * x[n-N-3] */
+      acc2 = __SMLALD(x2, c0, acc2);
+
+      /* acc3 +=  b[N] * x[n-N-3] + b[N-1] * x[n-N-4] */
+      acc3 = __SMLALD(x3, c0, acc3);
+
+      /* Read coefficients b[N-2], b[N-3] */
+      c0 = *(pb++);
+
+      /* acc0 +=  b[N-2] * x[n-N-2] + b[N-3] * x[n-N-3] */
+      acc0 = __SMLALD(x2, c0, acc0);
+
+      /* acc1 +=  b[N-2] * x[n-N-3] + b[N-3] * x[n-N-4] */
+      acc1 = __SMLALD(x3, c0, acc1);
+
+      /* Read state x[n-N-4], x[n-N-5] */
+      x0 = *(q31_t *) (px1++);
+
+      /* Read state x[n-N-5], x[n-N-6] */
+      x1 = *(q31_t *) (px1++);
+
+      /* acc2 +=  b[N-2] * x[n-N-4] + b[N-3] * x[n-N-5] */
+      acc2 = __SMLALD(x0, c0, acc2);
+
+      /* acc3 +=  b[N-2] * x[n-N-5] + b[N-3] * x[n-N-6] */
+      acc3 = __SMLALD(x1, c0, acc3);
+      tapCnt--;
+
+    }
+    while(tapCnt > 0u);
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps.   
+     ** This is always be 2 taps since the filter length is even. */
+    if((numTaps & 0x3u) != 0u)
+    {
+      /* Read 2 coefficients */
+      c0 = *(pb++);
+      /* Fetch 4 state variables */
+      x2 = *(q31_t *) (px1++);
+      x3 = *(q31_t *) (px1++);
+
+      /* Perform the multiply-accumulates */
+      acc0 = __SMLALD(x0, c0, acc0);
+      acc1 = __SMLALD(x1, c0, acc1);
+      acc2 = __SMLALD(x2, c0, acc2);
+      acc3 = __SMLALD(x3, c0, acc3);
+    }
+
+    /* The results in the 4 accumulators are in 2.30 format.  Convert to 1.15 with saturation.   
+     ** Then store the 4 outputs in the destination buffer. */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc0 >> 15), 16), __SSAT((acc1 >> 15), 16), 16);
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc2 >> 15), 16), __SSAT((acc3 >> 15), 16), 16);
+
+#else
+
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc1 >> 15), 16), __SSAT((acc0 >> 15), 16), 16);
+    *__SIMD32(pDst)++ =
+      __PKHBT(__SSAT((acc3 >> 15), 16), __SSAT((acc2 >> 15), 16), 16);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN       */
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+  while(blkCnt > 0u)
+  {
+    /* Copy two samples into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Use SIMD to hold states and coefficients */
+    px2 = (q31_t *) pState;
+    pb = (q31_t *) (pCoeffs);
+    tapCnt = numTaps >> 1;
+
+    do
+    {
+      acc0 = __SMLALD(*px2++, *(pb++), acc0);
+      tapCnt--;
+    }
+    while(tapCnt > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.15 with saturation.   
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q15_t) (__SSAT((acc0 >> 15), 16));
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    tapCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy remaining data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t *px;                                     /* Temporary pointer for state buffer */
+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q63_t acc;                                     /* Accumulator */
+  uint32_t numTaps = S->numTaps;                 /* Number of nTaps in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initialize blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = pCoeffs;
+
+    tapCnt = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
+      acc += (q31_t) * px++ * *pb++;
+      tapCnt--;
+    } while(tapCnt > 0u);
+
+    /* The result is in 2.30 format.  Convert to 1.15        
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q15_t) __SSAT((acc >> 15u), 16);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy numTaps number of values */
+  tapCnt = (numTaps - 1u);
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
new file mode 100644
index 000000000..adabf8458
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q31.c
@@ -0,0 +1,383 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_q31.c   
+*   
+* Description:	Q31 FIR filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ * @param[in] *S points to an instance of the Q31 FIR filter structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in] blockSize number of samples to process per call.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around rather than clip.   
+ * In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.   
+ * After all multiply-accumulates are performed, the 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result. 
+ *   
+ * \par   
+ * Refer to the function arm_fir_fast_q31() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4.   
+ */
+
+void arm_fir_q31(
+  const arm_fir_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t x0, x1, x2, x3;                          /* Temporary variables to hold state */
+  q31_t c0;                                      /* Temporary variable to hold coefficient value */
+  q31_t *px;                                     /* Temporary pointer for state */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q63_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.   
+   * The variables acc0 ... acc3 hold output values that are being computed:   
+   *   
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]   
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]   
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]   
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]   
+   */
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Read the first three samples from the state buffer:   
+     *  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
+    x0 = *(px++);
+    x1 = *(px++);
+    x2 = *(px++);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+    i = tapCnt;
+
+    while(i > 0u)
+    {
+      /* Read the b[numTaps] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x3 = *(px++);
+
+      /* acc0 +=  b[numTaps] * x[n-numTaps] */
+      acc0 += ((q63_t) x0 * c0);
+
+      /* acc1 +=  b[numTaps] * x[n-numTaps-1] */
+      acc1 += ((q63_t) x1 * c0);
+
+      /* acc2 +=  b[numTaps] * x[n-numTaps-2] */
+      acc2 += ((q63_t) x2 * c0);
+
+      /* acc3 +=  b[numTaps] * x[n-numTaps-3] */
+      acc3 += ((q63_t) x3 * c0);
+
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q63_t) x1 * c0);
+      acc1 += ((q63_t) x2 * c0);
+      acc2 += ((q63_t) x3 * c0);
+      acc3 += ((q63_t) x0 * c0);
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-5] sample */
+      x1 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q63_t) x2 * c0);
+      acc1 += ((q63_t) x3 * c0);
+      acc2 += ((q63_t) x0 * c0);
+      acc3 += ((q63_t) x1 * c0);
+      /* Read the b[numTaps-3] coefficients */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q63_t) x3 * c0);
+      acc1 += ((q63_t) x0 * c0);
+      acc2 += ((q63_t) x1 * c0);
+      acc3 += ((q63_t) x2 * c0);
+      i--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+
+    i = numTaps - (tapCnt * 4u);
+    while(i > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x3 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q63_t) x0 * c0);
+      acc1 += ((q63_t) x1 * c0);
+      acc2 += ((q63_t) x2 * c0);
+      acc3 += ((q63_t) x3 * c0);
+
+      /* Reuse the present sample states for next sample */
+      x0 = x1;
+      x1 = x2;
+      x2 = x3;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* The results in the 4 accumulators are in 2.62 format.  Convert to 1.31   
+     ** Then store the 4 outputs in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 >> 31u);
+    *pDst++ = (q31_t) (acc1 >> 31u);
+    *pDst++ = (q31_t) (acc2 >> 31u);
+    *pDst++ = (q31_t) (acc3 >> 31u);
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = (pCoeffs);
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      acc0 += (q63_t) * (px++) * (*(pb++));
+      i--;
+    } while(i > 0u);
+
+    /* The result is in 2.62 format.  Convert to 1.31   
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q31_t) (acc0 >> 31u);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  q31_t *px;                                     /* Temporary pointer for state */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  q63_t acc;                                     /* Accumulator */
+  uint32_t numTaps = S->numTaps;                 /* Length of the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* S->pState buffer contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initialize blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = pCoeffs;
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
+      acc += (q63_t) * px++ * *pb++;
+      i--;
+    } while(i > 0u);
+
+    /* The result is in 2.62 format.  Convert to 1.31        
+     ** Then store the output in the destination buffer. */
+    *pDst++ = (q31_t) (acc >> 31u);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last numTaps - 1 samples to the starting of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy numTaps number of values */
+  tapCnt = numTaps - 1u;
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+
+#endif /*  #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
new file mode 100644
index 000000000..c2d70c290
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_q7.c
@@ -0,0 +1,385 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_q7.c   
+*   
+* Description:  Q7 FIR filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR   
+ * @{   
+ */
+
+/**   
+ * @param[in]   *S points to an instance of the Q7 FIR filter structure.   
+ * @param[in]   *pSrc points to the block of input data.   
+ * @param[out]  *pDst points to the block of output data.   
+ * @param[in]   blockSize number of samples to process per call.   
+ * @return 	none.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.   
+ * Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result.   
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.   
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.   
+ * The accumulator is converted to 18.7 format by discarding the low 7 bits.   
+ * Finally, the result is truncated to 1.7 format.   
+ */
+
+void arm_fir_q7(
+  const arm_fir_instance_q7 * S,
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t *pState = S->pState;                      /* State pointer */
+  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
+  q7_t *pStateCurnt;                             /* Points to the current sample of the state */
+  q7_t x0, x1, x2, x3;                           /* Temporary variables to hold state */
+  q7_t c0;                                       /* Temporary variable to hold coefficient value */
+  q7_t *px;                                      /* Temporary pointer for state */
+  q7_t *pb;                                      /* Temporary pointer for coefficient buffer */
+  q31_t acc0, acc1, acc2, acc3;                  /* Accumulators */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t i, tapCnt, blkCnt;                    /* Loop counters */
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Apply loop unrolling and compute 4 output values simultaneously.   
+   * The variables acc0 ... acc3 hold output values that are being computed:   
+   *   
+   *    acc0 =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0]   
+   *    acc1 =  b[numTaps-1] * x[n-numTaps] +   b[numTaps-2] * x[n-numTaps-1] + b[numTaps-3] * x[n-numTaps-2] +...+ b[0] * x[1]   
+   *    acc2 =  b[numTaps-1] * x[n-numTaps+1] + b[numTaps-2] * x[n-numTaps] +   b[numTaps-3] * x[n-numTaps-1] +...+ b[0] * x[2]   
+   *    acc3 =  b[numTaps-1] * x[n-numTaps+2] + b[numTaps-2] * x[n-numTaps+1] + b[numTaps-3] * x[n-numTaps]   +...+ b[0] * x[3]   
+   */
+  blkCnt = blockSize >> 2;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Copy four new input samples into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set all accumulators to zero */
+    acc0 = 0;
+    acc1 = 0;
+    acc2 = 0;
+    acc3 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Read the first three samples from the state buffer:   
+     *  x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2] */
+    x0 = *(px++);
+    x1 = *(px++);
+    x2 = *(px++);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+    i = tapCnt;
+
+    while(i > 0u)
+    {
+      /* Read the b[numTaps] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-3] sample */
+      x3 = *(px++);
+
+      /* acc0 +=  b[numTaps] * x[n-numTaps] */
+      acc0 += ((q15_t) x0 * c0);
+
+      /* acc1 +=  b[numTaps] * x[n-numTaps-1] */
+      acc1 += ((q15_t) x1 * c0);
+
+      /* acc2 +=  b[numTaps] * x[n-numTaps-2] */
+      acc2 += ((q15_t) x2 * c0);
+
+      /* acc3 +=  b[numTaps] * x[n-numTaps-3] */
+      acc3 += ((q15_t) x3 * c0);
+
+      /* Read the b[numTaps-1] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-4] sample */
+      x0 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q15_t) x1 * c0);
+      acc1 += ((q15_t) x2 * c0);
+      acc2 += ((q15_t) x3 * c0);
+      acc3 += ((q15_t) x0 * c0);
+
+      /* Read the b[numTaps-2] coefficient */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-5] sample */
+      x1 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q15_t) x2 * c0);
+      acc1 += ((q15_t) x3 * c0);
+      acc2 += ((q15_t) x0 * c0);
+      acc3 += ((q15_t) x1 * c0);
+      /* Read the b[numTaps-3] coefficients */
+      c0 = *(pb++);
+
+      /* Read x[n-numTaps-6] sample */
+      x2 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q15_t) x3 * c0);
+      acc1 += ((q15_t) x0 * c0);
+      acc2 += ((q15_t) x1 * c0);
+      acc3 += ((q15_t) x2 * c0);
+      i--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+
+    i = numTaps - (tapCnt * 4u);
+    while(i > 0u)
+    {
+      /* Read coefficients */
+      c0 = *(pb++);
+
+      /* Fetch 1 state variable */
+      x3 = *(px++);
+
+      /* Perform the multiply-accumulates */
+      acc0 += ((q15_t) x0 * c0);
+      acc1 += ((q15_t) x1 * c0);
+      acc2 += ((q15_t) x2 * c0);
+      acc3 += ((q15_t) x3 * c0);
+
+      /* Reuse the present sample states for next sample */
+      x0 = x1;
+      x1 = x2;
+      x2 = x3;
+
+      /* Decrement the loop counter */
+      i--;
+    }
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 4;
+
+    /* The results in the 4 accumulators are in 2.62 format.  Convert to 1.31   
+     ** Then store the 4 outputs in the destination buffer. */
+    acc0 = __SSAT((acc0 >> 7u), 8);
+    *pDst++ = acc0;
+    acc1 = __SSAT((acc1 >> 7u), 8);
+    *pDst++ = acc1;
+    acc2 = __SSAT((acc2 >> 7u), 8);
+    *pDst++ = acc2;
+    acc3 = __SSAT((acc3 >> 7u), 8);
+    *pDst++ = acc3;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set the accumulator to zero */
+    acc0 = 0;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize Coefficient pointer */
+    pb = (pCoeffs);
+
+    i = numTaps;
+
+    /* Perform the multiply-accumulates */
+    do
+    {
+      acc0 += (q15_t) * (px++) * (*(pb++));
+      i--;
+    } while(i > 0u);
+
+    /* The result is in 2.14 format.  Convert to 1.7   
+     ** Then store the output in the destination buffer. */
+    *pDst++ = __SSAT((acc0 >> 7u), 8);
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the samples loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.   
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.   
+   ** This prepares the state buffer for the next function call. */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  uint32_t numTaps = S->numTaps;                 /* Number of taps in the filter */
+  uint32_t i, blkCnt;                            /* Loop counters */
+  q7_t *pState = S->pState;                      /* State pointer */
+  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
+  q7_t *px, *pb;                                 /* Temporary pointers to state and coeff */
+  q31_t acc = 0;                                 /* Accumlator */
+  q7_t *pStateCurnt;                             /* Points to the current sample of the state */
+
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = S->pState + (numTaps - 1u);
+
+  /* Initialize blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  /* Perform filtering upto BlockSize - BlockSize%4  */
+  while(blkCnt > 0u)
+  {
+    /* Copy one sample at a time into state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Set accumulator to zero */
+    acc = 0;
+
+    /* Initialize state pointer of type q7 */
+    px = pState;
+
+    /* Initialize coeff pointer of type q7 */
+    pb = pCoeffs;
+
+
+    i = numTaps;
+
+    while(i > 0u)
+    {
+      /* acc =  b[numTaps-1] * x[n-numTaps-1] + b[numTaps-2] * x[n-numTaps-2] + b[numTaps-3] * x[n-numTaps-3] +...+ b[0] * x[0] */
+      acc += (q15_t) * px++ * *pb++;
+      i--;
+    }
+
+    /* Store the 1.7 format filter output in destination buffer */
+    *pDst++ = (q7_t) __SSAT((acc >> 7), 8);
+
+    /* Advance the state pointer by 1 to process the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete.        
+   ** Now copy the last numTaps - 1 samples to the satrt of the state buffer.      
+   ** This prepares the state buffer for the next function call. */
+
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = S->pState;
+
+
+  /* Copy numTaps number of values */
+  i = (numTaps - 1u);
+
+  /* Copy q7_t data */
+  while(i > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    i--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
new file mode 100644
index 000000000..c83965b18
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_f32.c
@@ -0,0 +1,362 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_sparse_f32.c   
+*   
+* Description:	Floating-point sparse FIR filter processing function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup FIR_Sparse Finite Impulse Response (FIR) Sparse Filters   
+ *   
+ * This group of functions implements sparse FIR filters.    
+ * Sparse FIR filters are equivalent to standard FIR filters except that most of the coefficients are equal to zero.  
+ * Sparse filters are used for simulating reflections in communications and audio applications.  
+ *  
+ * There are separate functions for Q7, Q15, Q31, and floating-point data types.   
+ * The functions operate on blocks  of input and output data and each call to the function processes   
+ * blockSize samples through the filter.  pSrc and   
+ * pDst points to input and output arrays respectively containing blockSize values.   
+ *   
+ * \par Algorithm:   
+ * The sparse filter instant structure contains an array of tap indices pTapDelay which specifies the locations of the non-zero coefficients.  
+ * This is in addition to the coefficient array b.  
+ * The implementation essentially skips the multiplications by zero and leads to an efficient realization.  
+ * 
      
+ *     y[n] = b[0] * x[n-pTapDelay[0]] + b[1] * x[n-pTapDelay[1]] + b[2] * x[n-pTapDelay[2]] + ...+ b[numTaps-1] * x[n-pTapDelay[numTaps-1]]   
+ * 
       
+ * \par   
+ * \image html FIRSparse.gif "Sparse FIR filter.  b[n] represents the filter coefficients"  
+ * \par   
+ * pCoeffs points to a coefficient array of size numTaps;   
+ * pTapDelay points to an array of nonzero indices and is also of size numTaps;  
+ * pState points to a state array of size maxDelay + blockSize, where  
+ * maxDelay is the largest offset value that is ever used in the pTapDelay array.  
+ * Some of the processing functions also require temporary working buffers.  
+ *  
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient and offset arrays may be shared among several instances while state variable arrays cannot be shared.   
+ * There are separate instance structure declarations for each of the 4 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ *   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Set the values in the state buffer to zeros before static initialization.   
+ * The code below statically initializes each of the 4 different data type filter instance structures   
+ * 
       
+ *arm_fir_sparse_instance_f32 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};   
+ *arm_fir_sparse_instance_q31 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};   
+ *arm_fir_sparse_instance_q15 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};   
+ *arm_fir_sparse_instance_q7 S =  {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};   
+ * 
       
+ * \par   
+ *   
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the sparse FIR filter functions.   
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+/**   
+ * @addtogroup FIR_Sparse   
+ * @{   
+ */
+
+/**  
+ * @brief Processing function for the floating-point sparse FIR filter.  
+ * @param[in]  *S          points to an instance of the floating-point sparse FIR structure.  
+ * @param[in]  *pSrc       points to the block of input data.  
+ * @param[out] *pDst       points to the block of output data  
+ * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.  
+ * @param[in]  blockSize   number of input samples to process per call.  
+ * @return none.  
+ */
+
+void arm_fir_sparse_f32(
+  arm_fir_sparse_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  float32_t * pScratchIn,
+  uint32_t blockSize)
+{
+
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *px;                                 /* Scratch buffer pointer */
+  float32_t *py = pState;                        /* Temporary pointers for state buffer */
+  float32_t *pb = pScratchIn;                    /* Temporary pointers for scratch buffer */
+  float32_t *pOut;                               /* Destination pointer */
+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
+  uint16_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter  */
+  int32_t readIndex;                             /* Read index of the state buffer */
+  uint32_t tapCnt, blkCnt;                       /* loop counters */
+  float32_t coeff = *pCoeffs++;                  /* Read the first coefficient value */
+
+
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_f32((int32_t *) py, delaySize, &S->stateIndex, 1,
+                        (int32_t *) pSrc, 1, blockSize);
+
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                       (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                       blockSize);
+
+  /* Working pointer for the scratch buffer */
+  px = pb;
+
+  /* Working pointer for destination buffer */
+  pOut = pDst;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Loop over the blockSize. Unroll by a factor of 4.   
+   * Compute 4 Multiplications at a time. */
+  blkCnt = blockSize >> 2u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in destination buffer */
+    *pOut++ = *px++ * coeff;
+    *pOut++ = *px++ * coeff;
+    *pOut++ = *px++ * coeff;
+    *pOut++ = *px++ * coeff;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,   
+   * compute the remaining samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in destination buffer */
+    *pOut++ = *px++ * coeff;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and   
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                         blockSize);
+
+    /* Working pointer for the scratch buffer */
+    px = pb;
+
+    /* Working pointer for destination buffer */
+    pOut = pDst;
+
+    /* Loop over the blockSize. Unroll by a factor of 4.   
+     * Compute 4 MACS at a time. */
+    blkCnt = blockSize >> 2u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pOut++ += *px++ * coeff;
+      *pOut++ += *px++ * coeff;
+      *pOut++ += *px++ * coeff;
+      *pOut++ += *px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4,   
+     * compute the remaining samples */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pOut++ += *px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and   
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = ((int32_t) S->stateIndex -
+                 (int32_t) blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+#else
+
+/* Run the below code for Cortex-M0 */
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in destination buffer */
+    *pOut++ = *px++ * coeff;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and          
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                         blockSize);
+
+    /* Working pointer for the scratch buffer */
+    px = pb;
+
+    /* Working pointer for destination buffer */
+    pOut = pDst;
+
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pOut++ += *px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and          
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex =
+      ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0        */
+
+}
+
+/**   
+ * @} end of FIR_Sparse group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
new file mode 100644
index 000000000..1ac9f71d7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_f32.c
@@ -0,0 +1,99 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_sparse_init_f32.c   
+*   
+* Description:	Floating-point sparse FIR filter initialization function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Sparse   
+ * @{   
+ */
+
+/**  
+ * @brief  Initialization function for the floating-point sparse FIR filter.  
+ * @param[in,out] *S         points to an instance of the floating-point sparse FIR structure.  
+ * @param[in]     numTaps    number of nonzero coefficients in the filter.  
+ * @param[in]     *pCoeffs   points to the array of filter coefficients.  
+ * @param[in]     *pState    points to the state buffer.  
+ * @param[in]     *pTapDelay points to the array of offset times.  
+ * @param[in]     maxDelay   maximum offset time supported.  
+ * @param[in]     blockSize  number of samples that will be processed per block.  
+ * @return none  
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs holds the filter coefficients and has length numTaps.   
+ * pState holds the filter's state variables and must be of length   
+ * maxDelay + blockSize, where maxDelay   
+ * is the maximum number of delay line values.   
+ * blockSize is the   
+ * number of samples processed by the arm_fir_sparse_f32() function.   
+ */
+
+void arm_fir_sparse_init_f32(
+  arm_fir_sparse_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Assign TapDelay pointer */
+  S->pTapDelay = pTapDelay;
+
+  /* Assign MaxDelay */
+  S->maxDelay = maxDelay;
+
+  /* reset the stateIndex to 0 */
+  S->stateIndex = 0u;
+
+  /* Clear state buffer and size is always maxDelay + blockSize */
+  memset(pState, 0, (maxDelay + blockSize) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR_Sparse group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
new file mode 100644
index 000000000..a74842dff
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q15.c
@@ -0,0 +1,99 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_sparse_init_q15.c   
+*   
+* Description:	Q15 sparse FIR filter initialization function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Sparse   
+ * @{   
+ */
+
+/**  
+ * @brief  Initialization function for the Q15 sparse FIR filter.  
+ * @param[in,out] *S         points to an instance of the Q15 sparse FIR structure.  
+ * @param[in]     numTaps    number of nonzero coefficients in the filter.  
+ * @param[in]     *pCoeffs   points to the array of filter coefficients.  
+ * @param[in]     *pState    points to the state buffer.  
+ * @param[in]     *pTapDelay points to the array of offset times.  
+ * @param[in]     maxDelay   maximum offset time supported.  
+ * @param[in]     blockSize  number of samples that will be processed per block.  
+ * @return none  
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs holds the filter coefficients and has length numTaps.   
+ * pState holds the filter's state variables and must be of length   
+ * maxDelay + blockSize, where maxDelay   
+ * is the maximum number of delay line values.   
+ * blockSize is the   
+ * number of words processed by arm_fir_sparse_q15() function.   
+ */
+
+void arm_fir_sparse_init_q15(
+  arm_fir_sparse_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Assign TapDelay pointer */
+  S->pTapDelay = pTapDelay;
+
+  /* Assign MaxDelay */
+  S->maxDelay = maxDelay;
+
+  /* reset the stateIndex to 0 */
+  S->stateIndex = 0u;
+
+  /* Clear state buffer and size is always maxDelay + blockSize */
+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR_Sparse group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
new file mode 100644
index 000000000..fc71bc06e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q31.c
@@ -0,0 +1,98 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_sparse_init_q31.c   
+*   
+* Description:	Q31 sparse FIR filter initialization function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Sparse   
+ * @{   
+ */
+
+/**  
+ * @brief  Initialization function for the Q31 sparse FIR filter.  
+ * @param[in,out] *S         points to an instance of the Q31 sparse FIR structure.  
+ * @param[in]     numTaps    number of nonzero coefficients in the filter.  
+ * @param[in]     *pCoeffs   points to the array of filter coefficients.  
+ * @param[in]     *pState    points to the state buffer.  
+ * @param[in]     *pTapDelay points to the array of offset times.  
+ * @param[in]     maxDelay   maximum offset time supported.  
+ * @param[in]     blockSize  number of samples that will be processed per block.  
+ * @return none  
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs holds the filter coefficients and has length numTaps.   
+ * pState holds the filter's state variables and must be of length   
+ * maxDelay + blockSize, where maxDelay   
+ * is the maximum number of delay line values.   
+ * blockSize is the number of words processed by arm_fir_sparse_q31() function.   
+ */
+
+void arm_fir_sparse_init_q31(
+  arm_fir_sparse_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Assign TapDelay pointer */
+  S->pTapDelay = pTapDelay;
+
+  /* Assign MaxDelay */
+  S->maxDelay = maxDelay;
+
+  /* reset the stateIndex to 0 */
+  S->stateIndex = 0u;
+
+  /* Clear state buffer and size is always maxDelay + blockSize */
+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR_Sparse group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
new file mode 100644
index 000000000..f6223ac71
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_init_q7.c
@@ -0,0 +1,99 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_fir_sparse_init_q7.c   
+*   
+* Description:	Q7 sparse FIR filter initialization function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Sparse   
+ * @{   
+ */
+
+/**  
+ * @brief  Initialization function for the Q7 sparse FIR filter.  
+ * @param[in,out] *S         points to an instance of the Q7 sparse FIR structure.  
+ * @param[in]     numTaps    number of nonzero coefficients in the filter.  
+ * @param[in]     *pCoeffs   points to the array of filter coefficients.  
+ * @param[in]     *pState    points to the state buffer.  
+ * @param[in]     *pTapDelay points to the array of offset times.  
+ * @param[in]     maxDelay   maximum offset time supported.  
+ * @param[in]     blockSize  number of samples that will be processed per block.  
+ * @return none  
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs holds the filter coefficients and has length numTaps.   
+ * pState holds the filter's state variables and must be of length   
+ * maxDelay + blockSize, where maxDelay   
+ * is the maximum number of delay line values.   
+ * blockSize is the   
+ * number of samples processed by the arm_fir_sparse_q7() function.   
+ */
+
+void arm_fir_sparse_init_q7(
+  arm_fir_sparse_instance_q7 * S,
+  uint16_t numTaps,
+  q7_t * pCoeffs,
+  q7_t * pState,
+  int32_t * pTapDelay,
+  uint16_t maxDelay,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Assign TapDelay pointer */
+  S->pTapDelay = pTapDelay;
+
+  /* Assign MaxDelay */
+  S->maxDelay = maxDelay;
+
+  /* reset the stateIndex to 0 */
+  S->stateIndex = 0u;
+
+  /* Clear state buffer and size is always maxDelay + blockSize */
+  memset(pState, 0, (maxDelay + blockSize) * sizeof(q7_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+}
+
+/**   
+ * @} end of FIR_Sparse group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
new file mode 100644
index 000000000..c71c1f8bc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q15.c
@@ -0,0 +1,403 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_sparse_q15.c   
+*   
+* Description:	Q15 sparse FIR filter processing function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ------------------------------------------------------------------- */
+#include "arm_math.h"
+
+/**   
+ * @addtogroup FIR_Sparse   
+ * @{   
+ */
+
+/**  
+ * @brief Processing function for the Q15 sparse FIR filter.  
+ * @param[in]  *S           points to an instance of the Q15 sparse FIR structure.  
+ * @param[in]  *pSrc        points to the block of input data.  
+ * @param[out] *pDst        points to the block of output data  
+ * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.  
+ * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.  
+ * @param[in]  blockSize    number of input samples to process per call.  
+ * @return none.  
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 32-bit accumulator.  
+ * The 1.15 x 1.15 multiplications yield a 2.30 result and these are added to a 2.30 accumulator.  
+ * Thus the full precision of the multiplications is maintained but there is only a single guard bit in the accumulator.  
+ * If the accumulator result overflows it will wrap around rather than saturate.  
+ * After all multiply-accumulates are performed, the 2.30 accumulator is truncated to 2.15 format and then saturated to 1.15 format.   
+ * In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits.  
+ */
+
+
+void arm_fir_sparse_q15(
+  arm_fir_sparse_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  q15_t * pScratchIn,
+  q31_t * pScratchOut,
+  uint32_t blockSize)
+{
+
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pIn = pSrc;                             /* Working pointer for input */
+  q15_t *pOut = pDst;                            /* Working pointer for output */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *px;                                     /* Temporary pointers for scratch buffer */
+  q15_t *pb = pScratchIn;                        /* Temporary pointers for scratch buffer */
+  q15_t *py = pState;                            /* Temporary pointers for state buffer */
+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
+  uint16_t numTaps = S->numTaps;                 /* Filter order */
+  int32_t readIndex;                             /* Read index of the state buffer */
+  uint32_t tapCnt, blkCnt;                       /* loop counters */
+  q15_t coeff = *pCoeffs++;                      /* Read the first coefficient value */
+  q31_t *pScr2 = pScratchOut;                    /* Working pointer for pScratchOut */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in1, in2;                                /* Temporary variables */
+
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_q15(py, delaySize, &S->stateIndex, 1, pIn, 1, blockSize);
+
+  /* Loop over the number of taps. */
+  tapCnt = numTaps;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_q15(py, delaySize, &readIndex, 1,
+                       pb, pb, blockSize, 1, blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pScratchOut = pScr2;
+
+  /* Loop over the blockSize. Unroll by a factor of 4.   
+   * Compute 4 multiplications at a time. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,   
+   * compute the remaining samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and   
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_q15(py, delaySize, &readIndex, 1,
+                         pb, pb, blockSize, 1, blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pScratchOut = pScr2;
+
+    /* Loop over the blockSize. Unroll by a factor of 4.   
+     * Compute 4 MACS at a time. */
+    blkCnt = blockSize >> 2;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4,   
+     * compute the remaining samples */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and   
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* All the output values are in pScratchOut buffer.   
+     Convert them into 1.15 format, saturate and store in the destination buffer. */
+  /* Loop over the blockSize. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    in1 = *pScr2++;
+    in2 = *pScr2++;
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pOut)++ =
+      __PKHBT((q15_t) __SSAT(in1 >> 15, 16), (q15_t) __SSAT(in2 >> 15, 16),
+              16);
+
+#else
+    *__SIMD32(pOut)++ =
+      __PKHBT((q15_t) __SSAT(in2 >> 15, 16), (q15_t) __SSAT(in1 >> 15, 16),
+              16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+    in1 = *pScr2++;
+
+    in2 = *pScr2++;
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pOut)++ =
+      __PKHBT((q15_t) __SSAT(in1 >> 15, 16), (q15_t) __SSAT(in2 >> 15, 16),
+              16);
+
+#else
+
+    *__SIMD32(pOut)++ =
+      __PKHBT((q15_t) __SSAT(in2 >> 15, 16), (q15_t) __SSAT(in1 >> 15, 16),
+              16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+
+    blkCnt--;
+
+  }
+
+  /* If the blockSize is not a multiple of 4,   
+     remaining samples are processed in the below loop */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    *pOut++ = (q15_t) __SSAT(*pScr2++ >> 15, 16);
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_q15(py, delaySize, &S->stateIndex, 1, pIn, 1, blockSize);
+
+  /* Loop over the number of taps. */
+  tapCnt = numTaps;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_q15(py, delaySize, &readIndex, 1,
+                       pb, pb, blockSize, 1, blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pScratchOut = pScr2;
+
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and          
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_q15(py, delaySize, &readIndex, 1,
+                         pb, pb, blockSize, 1, blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pScratchOut = pScr2;
+
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      *pScratchOut++ += (q31_t) * px++ * coeff;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and          
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = (S->stateIndex - blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* All the output values are in pScratchOut buffer.      
+     Convert them into 1.15 format, saturate and store in the destination buffer. */
+  /* Loop over the blockSize. */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    *pOut++ = (q15_t) __SSAT(*pScr2++ >> 15, 16);
+    blkCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR_Sparse group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
new file mode 100644
index 000000000..82808ecb0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q31.c
@@ -0,0 +1,367 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_sparse_q31.c   
+*   
+* Description:	Q31 sparse FIR filter processing function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ------------------------------------------------------------------- */
+#include "arm_math.h"
+
+
+/**   
+ * @addtogroup FIR_Sparse   
+ * @{   
+ */
+
+/**  
+ * @brief Processing function for the Q31 sparse FIR filter.  
+ * @param[in]  *S          points to an instance of the Q31 sparse FIR structure.  
+ * @param[in]  *pSrc       points to the block of input data.  
+ * @param[out] *pDst       points to the block of output data  
+ * @param[in]  *pScratchIn points to a temporary buffer of size blockSize.  
+ * @param[in]  blockSize   number of input samples to process per call.  
+ * @return none.  
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 32-bit accumulator.  
+ * The 1.31 x 1.31 multiplications are truncated to 2.30 format.  
+ * This leads to loss of precision on the intermediate multiplications and provides only a single guard bit.   
+ * If the accumulator result overflows, it wraps around rather than saturate.  
+ * In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits.  
+ */
+
+void arm_fir_sparse_q31(
+  arm_fir_sparse_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  q31_t * pScratchIn,
+  uint32_t blockSize)
+{
+
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *px;                                     /* Scratch buffer pointer */
+  q31_t *py = pState;                            /* Temporary pointers for state buffer */
+  q31_t *pb = pScratchIn;                        /* Temporary pointers for scratch buffer */
+  q31_t *pOut;                                   /* Destination pointer */
+  q63_t out;                                     /* Temporary output variable */
+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
+  uint16_t numTaps = S->numTaps;                 /* Filter order */
+  int32_t readIndex;                             /* Read index of the state buffer */
+  uint32_t tapCnt, blkCnt;                       /* loop counters */
+  q31_t coeff = *pCoeffs++;                      /* Read the first coefficient value */
+  q31_t in;
+
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_f32((int32_t *) py, delaySize, &S->stateIndex, 1,
+                        (int32_t *) pSrc, 1, blockSize);
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                       (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                       blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pOut = pDst;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Loop over the blockSize. Unroll by a factor of 4.   
+   * Compute 4 Multiplications at a time. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in the destination buffer */
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,   
+   * compute the remaining samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in the destination buffer */
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and   
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                         blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pOut = pDst;
+
+    /* Loop over the blockSize. Unroll by a factor of 4.   
+     * Compute 4 MACS at a time. */
+    blkCnt = blockSize >> 2;
+
+    while(blkCnt > 0u)
+    {
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4,   
+     * compute the remaining samples */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and   
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* Working output pointer is updated */
+  pOut = pDst;
+
+  /* Output is converted into 1.31 format. */
+  /* Loop over the blockSize. Unroll by a factor of 4.   
+   * process 4 output samples at a time. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    in = *pOut << 1;
+    *pOut++ = in;
+    in = *pOut << 1;
+    *pOut++ = in;
+    in = *pOut << 1;
+    *pOut++ = in;
+    in = *pOut << 1;
+    *pOut++ = in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,   
+   * process the remaining output samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    in = *pOut << 1;
+    *pOut++ = in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform Multiplications and store in the destination buffer */
+    *pOut++ = (q31_t) (((q63_t) * px++ * coeff) >> 32);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and          
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_f32((int32_t *) py, delaySize, &readIndex, 1,
+                         (int32_t *) pb, (int32_t *) pb, blockSize, 1,
+                         blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pOut = pDst;
+
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      out = *pOut;
+      out += ((q63_t) * px++ * coeff) >> 32;
+      *pOut++ = (q31_t) (out);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and          
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = (int32_t) (S->stateIndex - blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* Working output pointer is updated */
+  pOut = pDst;
+
+  /* Output is converted into 1.31 format. */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    in = *pOut << 1;
+    *pOut++ = in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR_Sparse group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
new file mode 100644
index 000000000..a7dbdb60b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_fir_sparse_q7.c
@@ -0,0 +1,395 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_fir_sparse_q7.c   
+*   
+* Description:	Q7 sparse FIR filter processing function.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ------------------------------------------------------------------- */
+#include "arm_math.h"
+
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup FIR_Sparse   
+ * @{   
+ */
+
+
+/**  
+ * @brief Processing function for the Q7 sparse FIR filter.  
+ * @param[in]  *S           points to an instance of the Q7 sparse FIR structure.  
+ * @param[in]  *pSrc        points to the block of input data.  
+ * @param[out] *pDst        points to the block of output data  
+ * @param[in]  *pScratchIn  points to a temporary buffer of size blockSize.  
+ * @param[in]  *pScratchOut points to a temporary buffer of size blockSize.  
+ * @param[in]  blockSize    number of input samples to process per call.  
+ * @return none.  
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.   
+ * Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result.   
+ * The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format.   
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.   
+ * The accumulator is then converted to 18.7 format by discarding the low 7 bits.  
+ * Finally, the result is truncated to 1.7 format.  
+ */
+
+void arm_fir_sparse_q7(
+  arm_fir_sparse_instance_q7 * S,
+  q7_t * pSrc,
+  q7_t * pDst,
+  q7_t * pScratchIn,
+  q31_t * pScratchOut,
+  uint32_t blockSize)
+{
+
+  q7_t *pState = S->pState;                      /* State pointer */
+  q7_t *pCoeffs = S->pCoeffs;                    /* Coefficient pointer */
+  q7_t *px;                                      /* Scratch buffer pointer */
+  q7_t *py = pState;                             /* Temporary pointers for state buffer */
+  q7_t *pb = pScratchIn;                         /* Temporary pointers for scratch buffer */
+  q7_t *pOut = pDst;                             /* Destination pointer */
+  int32_t *pTapDelay = S->pTapDelay;             /* Pointer to the array containing offset of the non-zero tap values. */
+  uint32_t delaySize = S->maxDelay + blockSize;  /* state length */
+  uint16_t numTaps = S->numTaps;                 /* Filter order */
+  int32_t readIndex;                             /* Read index of the state buffer */
+  uint32_t tapCnt, blkCnt;                       /* loop counters */
+  q7_t coeff = *pCoeffs++;                       /* Read the coefficient value */
+  q31_t *pScr2 = pScratchOut;                    /* Working pointer for scratch buffer of output values */
+  q31_t in;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t in1, in2, in3, in4;
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_q7(py, (int32_t) delaySize, &S->stateIndex, 1, pSrc, 1,
+                       blockSize);
+
+  /* Loop over the number of taps. */
+  tapCnt = numTaps;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
+                      (int32_t) blockSize, 1, blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pScratchOut = pScr2;
+
+  /* Loop over the blockSize. Unroll by a factor of 4.   
+   * Compute 4 multiplications at a time. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,   
+   * compute the remaining samples */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and   
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
+                        (int32_t) blockSize, 1, blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pScratchOut = pScr2;
+
+    /* Loop over the blockSize. Unroll by a factor of 4.   
+     * Compute 4 MACS at a time. */
+    blkCnt = blockSize >> 2;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4,   
+     * compute the remaining samples */
+    blkCnt = blockSize % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and   
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex = ((int32_t) S->stateIndex -
+                 (int32_t) blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* All the output values are in pScratchOut buffer.   
+     Convert them into 1.15 format, saturate and store in the destination buffer. */
+  /* Loop over the blockSize. */
+  blkCnt = blockSize >> 2;
+
+  while(blkCnt > 0u)
+  {
+    in1 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+    in2 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+    in3 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+    in4 = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+
+    *__SIMD32(pOut)++ = __PACKq7(in1, in2, in3, in4);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4,   
+     remaining samples are processed in the below loop */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    *pOut++ = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* BlockSize of Input samples are copied into the state buffer */
+  /* StateIndex points to the starting position to write in the state buffer */
+  arm_circularWrite_q7(py, (int32_t) delaySize, &S->stateIndex, 1, pSrc, 1,
+                       blockSize);
+
+  /* Loop over the number of taps. */
+  tapCnt = numTaps;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Working pointer for state buffer is updated */
+  py = pState;
+
+  /* blockSize samples are read from the state buffer */
+  arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
+                      (int32_t) blockSize, 1, blockSize);
+
+  /* Working pointer for the scratch buffer of state values */
+  px = pb;
+
+  /* Working pointer for scratch buffer of output values */
+  pScratchOut = pScr2;
+
+  /* Loop over the blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Perform multiplication and store in the scratch buffer */
+    *pScratchOut++ = ((q31_t) * px++ * coeff);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Load the coefficient value and          
+   * increment the coefficient buffer for the next set of state values */
+  coeff = *pCoeffs++;
+
+  /* Read Index, from where the state buffer should be read, is calculated. */
+  readIndex = ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+  /* Wraparound of readIndex */
+  if(readIndex < 0)
+  {
+    readIndex += (int32_t) delaySize;
+  }
+
+  /* Loop over the number of taps. */
+  tapCnt = (uint32_t) numTaps - 1u;
+
+  while(tapCnt > 0u)
+  {
+    /* Working pointer for state buffer is updated */
+    py = pState;
+
+    /* blockSize samples are read from the state buffer */
+    arm_circularRead_q7(py, (int32_t) delaySize, &readIndex, 1, pb, pb,
+                        (int32_t) blockSize, 1, blockSize);
+
+    /* Working pointer for the scratch buffer of state values */
+    px = pb;
+
+    /* Working pointer for scratch buffer of output values */
+    pScratchOut = pScr2;
+
+    /* Loop over the blockSize */
+    blkCnt = blockSize;
+
+    while(blkCnt > 0u)
+    {
+      /* Perform Multiply-Accumulate */
+      in = *pScratchOut + ((q31_t) * px++ * coeff);
+      *pScratchOut++ = in;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Load the coefficient value and          
+     * increment the coefficient buffer for the next set of state values */
+    coeff = *pCoeffs++;
+
+    /* Read Index, from where the state buffer should be read, is calculated. */
+    readIndex =
+      ((int32_t) S->stateIndex - (int32_t) blockSize) - *pTapDelay++;
+
+    /* Wraparound of readIndex */
+    if(readIndex < 0)
+    {
+      readIndex += (int32_t) delaySize;
+    }
+
+    /* Decrement the tap loop counter */
+    tapCnt--;
+  }
+
+  /* All the output values are in pScratchOut buffer.      
+     Convert them into 1.15 format, saturate and store in the destination buffer. */
+  /* Loop over the blockSize. */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    *pOut++ = (q7_t) __SSAT(*pScr2++ >> 7, 8);
+
+    /* Decrement the blockSize loop counter */
+    blkCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of FIR_Sparse group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
new file mode 100644
index 000000000..c140c0e73
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_f32.c
@@ -0,0 +1,402 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_iir_lattice_f32.c   
+*   
+* Description:	Floating-point IIR Lattice filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup IIR_Lattice Infinite Impulse Response (IIR) Lattice Filters   
+ *   
+ * This set of functions implements lattice filters   
+ * for Q15, Q31 and floating-point data types.  Lattice filters are used in a    
+ * variety of adaptive filter applications.  The filter structure has feedforward and   
+ * feedback components and the net impulse response is infinite length.   
+ * The functions operate on blocks   
+ * of input and output data and each call to the function processes   
+ * blockSize samples through the filter.  pSrc and   
+ * pDst point to input and output arrays containing blockSize values.   
+   
+ * \par Algorithm:   
+ * \image html IIRLattice.gif "Infinite Impulse Response Lattice filter"   
+ * 
       
+ *    fN(n)   =  x(n)   
+ *    fm-1(n) = fm(n) - km * gm-1(n-1)   for m = N, N-1, ...1   
+ *    gm(n)   = km * fm-1(n) + gm-1(n-1) for m = N, N-1, ...1   
+ *    y(n)    = vN * gN(n) + vN-1 * gN-1(n) + ...+ v0 * g0(n)   
+ * 
       
+ * \par   
+ * pkCoeffs points to array of reflection coefficients of size numStages.    
+ * Reflection coefficients are stored in time-reversed order.   
+ * \par   
+ * 
       
+ *    {kN, kN-1, ....k1}   
+ * 
       
+ * pvCoeffs points to the array of ladder coefficients of size (numStages+1).    
+ * Ladder coefficients are stored in time-reversed order.   
+ * \par   
+ * 
       
+ *    {vN, vN-1, ...v0}   
+ * 
       
+ * pState points to a state array of size numStages + blockSize.   
+ * The state variables shown in the figure above (the g values) are stored in the pState array.   
+ * The state variables are updated after each block of data is processed; the coefficients are untouched.   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter.   
+ * Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+  *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ *   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Set the values in the state buffer to zeros and then manually initialize the instance structure as follows:   
+ * 
       
+ *arm_iir_lattice_instance_f32 S = {numStages, pState, pkCoeffs, pvCoeffs};   
+ *arm_iir_lattice_instance_q31 S = {numStages, pState, pkCoeffs, pvCoeffs};   
+ *arm_iir_lattice_instance_q15 S = {numStages, pState, pkCoeffs, pvCoeffs};   
+ * 
       
+ * \par   
+ * where numStages is the number of stages in the filter; pState points to the state buffer array;   
+ * pkCoeffs points to array of the reflection coefficients; pvCoeffs points to the array of ladder coefficients.   
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the IIR lattice filter functions.   
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+/**   
+ * @addtogroup IIR_Lattice   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the floating-point IIR lattice filter.   
+ * @param[in] *S points to an instance of the floating-point IIR lattice structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in] blockSize number of samples to process.   
+ * @return none.   
+ */
+
+void arm_iir_lattice_f32(
+  const arm_iir_lattice_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t fcurr, fnext = 0, gcurr, gnext;      /* Temporary variables for lattice stages */
+  float32_t acc;                                 /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* temporary variables for counts */
+  float32_t *px1, *px2, *pk, *pv;                /* temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  float32_t *pState;                             /* State pointer */
+  float32_t *pStateCurnt;                        /* State current pointer */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  gcurr = 0.0f;
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0.0f;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+
+    /* Process sample for first tap */
+    gcurr = *px1++;
+    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+    fnext = fcurr - ((*pk) * gcurr);
+    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+    gnext = (fnext * (*pk++)) + gcurr;
+    /* write gN(n) into state for next sample processing */
+    *px2++ = gnext;
+    /* y(n) += gN(n) * vN  */
+    acc += (gnext * (*pv++));
+
+    /* Update f values for next coefficient processing */
+    fcurr = fnext;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = (numStages - 1u) >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Process sample for 2nd, 6th ...taps */
+      /* Read gN-2(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 2nd, 6th .. taps */
+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
+      fnext = fcurr - ((*pk) * gcurr);
+      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */
+      gnext = (fnext * (*pk++)) + gcurr;
+      /* y(n) += gN-1(n) * vN-1  */
+      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */
+      acc += (gnext * (*pv++));
+      /* write gN-1(n) into state for next sample processing */
+      *px2++ = gnext;
+
+
+      /* Process sample for 3nd, 7th ...taps */
+      /* Read gN-3(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 3rd, 7th .. taps */
+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
+      fcurr = fnext - ((*pk) * gcurr);
+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
+      gnext = (fcurr * (*pk++)) + gcurr;
+      /* y(n) += gN-2(n) * vN-2  */
+      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */
+      acc += (gnext * (*pv++));
+      /* write gN-2(n) into state for next sample processing */
+      *px2++ = gnext;
+
+
+      /* Process sample for 4th, 8th ...taps */
+      /* Read gN-4(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 4th, 8th .. taps */
+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
+      fnext = fcurr - ((*pk) * gcurr);
+      /* gN-3(n) = kN-3 * fN-4(n) + gN-4(n-1) */
+      gnext = (fnext * (*pk++)) + gcurr;
+      /* y(n) += gN-3(n) * vN-3  */
+      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */
+      acc += (gnext * (*pv++));
+      /* write gN-3(n) into state for next sample processing */
+      *px2++ = gnext;
+
+
+      /* Process sample for 5th, 9th ...taps */
+      /* Read gN-5(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 5th, 9th .. taps */
+      /* fN-5(n) = fN-4(n) - kN-4 * gN-1(n-1) */
+      fcurr = fnext - ((*pk) * gcurr);
+      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */
+      gnext = (fcurr * (*pk++)) + gcurr;
+      /* y(n) += gN-4(n) * vN-4  */
+      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */
+      acc += (gnext * (*pv++));
+      /* write gN-4(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      tapCnt--;
+
+    }
+
+    fnext = fcurr;
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = (numStages - 1u) % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample for last taps */
+      fnext = fcurr - ((*pk) * gcurr);
+      gnext = (fnext * (*pk++)) + gcurr;
+      /* Output samples for last taps */
+      acc += (gnext * (*pv++));
+      *px2++ = gnext;
+      fcurr = fnext;
+
+      tapCnt--;
+
+    }
+
+
+    /* y(n) += g0(n) * v0 */
+    acc += (fnext * (*pv));
+
+    *px2++ = fnext;
+
+    /* write out into pDst */
+    *pDst++ = acc;
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer   
+     for the preperation of next frame process */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  tapCnt = numStages >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numStages) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0.0f;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+
+    /* Process sample for numStages */
+    tapCnt = numStages;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample for last taps */
+      fnext = fcurr - ((*pk) * gcurr);
+      gnext = (fnext * (*pk++)) + gcurr;
+
+      /* Output samples for last taps */
+      acc += (gnext * (*pv++));
+      *px2++ = gnext;
+      fcurr = fnext;
+
+      /* Decrementing loop counter */
+      tapCnt--;
+
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (fnext * (*pv));
+
+    *px2++ = fnext;
+
+    /* write out into pDst */
+    *pDst++ = acc;
+
+    /* Advance the state pointer by 1 to process the next group of samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer          
+     for the preperation of next frame process */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  tapCnt = numStages;
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+
+
+
+/**   
+ * @} end of IIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
new file mode 100644
index 000000000..5c78fc134
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_f32.c
@@ -0,0 +1,83 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_iir_lattice_init_f32.c   
+*   
+* Description:  Floating-point IIR lattice filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup IIR_Lattice   
+ * @{   
+ */
+
+/**   
+ * @brief Initialization function for the floating-point IIR lattice filter.   
+ * @param[in] *S points to an instance of the floating-point IIR lattice structure.   
+ * @param[in] numStages number of stages in the filter.   
+ * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.   
+ * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.   
+ * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.   
+ * @param[in] blockSize number of samples to process.   
+ * @return none.   
+ */
+
+void arm_iir_lattice_init_f32(
+  arm_iir_lattice_instance_f32 * S,
+  uint16_t numStages,
+  float32_t * pkCoeffs,
+  float32_t * pvCoeffs,
+  float32_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign reflection coefficient pointer */
+  S->pkCoeffs = pkCoeffs;
+
+  /* Assign ladder coefficient pointer */
+  S->pvCoeffs = pvCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numStages */
+  memset(pState, 0, (numStages + blockSize) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+
+}
+
+  /**   
+   * @} end of IIR_Lattice group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
new file mode 100644
index 000000000..da4068cbe
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q15.c
@@ -0,0 +1,83 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_iir_lattice_init_q15.c   
+*   
+* Description:  Q15 IIR lattice filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup IIR_Lattice   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for the Q15 IIR lattice filter.   
+   * @param[in] *S points to an instance of the Q15 IIR lattice structure.   
+   * @param[in] numStages  number of stages in the filter.   
+   * @param[in] *pkCoeffs points to reflection coefficient buffer.  The array is of length numStages.   
+   * @param[in] *pvCoeffs points to ladder coefficient buffer.  The array is of length numStages+1.   
+   * @param[in] *pState points to state buffer.  The array is of length numStages+blockSize.   
+   * @param[in] blockSize number of samples to process per call.   
+   * @return none.   
+   */
+
+void arm_iir_lattice_init_q15(
+  arm_iir_lattice_instance_q15 * S,
+  uint16_t numStages,
+  q15_t * pkCoeffs,
+  q15_t * pvCoeffs,
+  q15_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign reflection coefficient pointer */
+  S->pkCoeffs = pkCoeffs;
+
+  /* Assign ladder coefficient pointer */
+  S->pvCoeffs = pvCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numStages */
+  memset(pState, 0, (numStages + blockSize) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+
+}
+
+/**   
+ * @} end of IIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
new file mode 100644
index 000000000..8bbc51902
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_init_q31.c
@@ -0,0 +1,83 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_iir_lattice_init_q31.c   
+*   
+* Description:  Initialization function for the Q31 IIR lattice filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup IIR_Lattice   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for the Q31 IIR lattice filter.   
+   * @param[in] *S points to an instance of the Q31 IIR lattice structure.   
+   * @param[in] numStages number of stages in the filter.   
+   * @param[in] *pkCoeffs points to the reflection coefficient buffer.  The array is of length numStages.   
+   * @param[in] *pvCoeffs points to the ladder coefficient buffer.  The array is of length numStages+1.   
+   * @param[in] *pState points to the state buffer.  The array is of length numStages+blockSize.   
+   * @param[in] blockSize number of samples to process.   
+   * @return none.   
+   */
+
+void arm_iir_lattice_init_q31(
+  arm_iir_lattice_instance_q31 * S,
+  uint16_t numStages,
+  q31_t * pkCoeffs,
+  q31_t * pvCoeffs,
+  q31_t * pState,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numStages = numStages;
+
+  /* Assign reflection coefficient pointer */
+  S->pkCoeffs = pkCoeffs;
+
+  /* Assign ladder coefficient pointer */
+  S->pvCoeffs = pvCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numStages */
+  memset(pState, 0, (numStages + blockSize) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+
+}
+
+/**   
+ * @} end of IIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
new file mode 100644
index 000000000..e8bbc60b0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q15.c
@@ -0,0 +1,403 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_iir_lattice_q15.c   
+*   
+* Description:	Q15 IIR lattice filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup IIR_Lattice   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q15 IIR lattice filter.   
+ * @param[in] *S points to an instance of the Q15 IIR lattice structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in] blockSize number of samples to process.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.   
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.   
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.   
+ */
+
+void arm_iir_lattice_q15(
+  const arm_iir_lattice_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t fcurr, fnext, gcurr = 0, gnext;          /* Temporary variables for lattice stages */
+  q15_t gnext1, gnext2;                          /* Temporary variables for lattice stages */
+  uint32_t stgCnt;                               /* Temporary variables for counts */
+  q63_t acc;                                     /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
+  q15_t *px1, *px2, *pk, *pv;                    /* temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  q15_t *pState;                                 /* State pointer */
+  q15_t *pStateCurnt;                            /* State current pointer */
+  q15_t out;                                     /* Temporary variable for output */
+  q31_t v;                                       /* Temporary variable for ladder coefficient */
+
+
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+
+    /* Process sample for first tap */
+    gcurr = *px1++;
+    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+    fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
+    fnext = __SSAT(fnext, 16);
+    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+    gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
+    gnext = __SSAT(gnext, 16);
+    /* write gN(n) into state for next sample processing */
+    *px2++ = (q15_t) gnext;
+    /* y(n) += gN(n) * vN  */
+    acc += (q31_t) ((gnext * (*pv++)));
+
+
+    /* Update f values for next coefficient processing */
+    fcurr = fnext;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = (numStages - 1u) >> 2;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Process sample for 2nd, 6th ...taps */
+      /* Read gN-2(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 2nd, 6th .. taps */
+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
+      fnext = __SSAT(fnext, 16);
+      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */
+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
+      gnext1 = (q15_t) __SSAT(gnext, 16);
+      /* write gN-1(n) into state */
+      *px2++ = (q15_t) gnext1;
+
+
+      /* Process sample for 3nd, 7th ...taps */
+      /* Read gN-3(n-1) from state */
+      gcurr = *px1++;
+      /* Process sample for 3rd, 7th .. taps */
+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
+      fcurr = fnext - (((q31_t) gcurr * (*pk)) >> 15);
+      fcurr = __SSAT(fcurr, 16);
+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
+      gnext = (((q31_t) fcurr * (*pk++)) >> 15) + gcurr;
+      gnext2 = (q15_t) __SSAT(gnext, 16);
+      /* write gN-2(n) into state */
+      *px2++ = (q15_t) gnext2;
+
+      /* Read vN-1 and vN-2 at a time */
+      v = *__SIMD32(pv)++;
+
+
+      /* Pack gN-1(n) and gN-2(n) */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      gnext = __PKHBT(gnext1, gnext2, 16);
+
+#else
+
+      gnext = __PKHBT(gnext2, gnext1, 16);
+
+#endif /*   #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* y(n) += gN-1(n) * vN-1  */
+      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */
+      /* y(n) += gN-2(n) * vN-2  */
+      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */
+      acc = __SMLALD(gnext, v, acc);
+
+
+      /* Process sample for 4th, 8th ...taps */
+      /* Read gN-4(n-1) from state */
+      gcurr = *px1++;
+      /* Process sample for 4th, 8th .. taps */
+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
+      fnext = __SSAT(fnext, 16);
+      /* gN-3(n) = kN-3 * fN-1(n) + gN-1(n-1) */
+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
+      gnext1 = (q15_t) __SSAT(gnext, 16);
+      /* write  gN-3(n) for the next sample process */
+      *px2++ = (q15_t) gnext1;
+
+
+      /* Process sample for 5th, 9th ...taps */
+      /* Read gN-5(n-1) from state */
+      gcurr = *px1++;
+      /* Process sample for 5th, 9th .. taps */
+      /* fN-5(n) = fN-4(n) - kN-4 * gN-5(n-1) */
+      fcurr = fnext - (((q31_t) gcurr * (*pk)) >> 15);
+      fcurr = __SSAT(fcurr, 16);
+      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */
+      gnext = (((q31_t) fcurr * (*pk++)) >> 15) + gcurr;
+      gnext2 = (q15_t) __SSAT(gnext, 16);
+      /* write      gN-4(n) for the next sample process */
+      *px2++ = (q15_t) gnext2;
+
+      /* Read vN-3 and vN-4 at a time */
+      v = *__SIMD32(pv)++;
+
+      /* Pack gN-3(n) and gN-4(n) */
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+      gnext = __PKHBT(gnext1, gnext2, 16);
+
+#else
+
+      gnext = __PKHBT(gnext2, gnext1, 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+      /* y(n) += gN-4(n) * vN-4  */
+      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */
+      /* y(n) += gN-3(n) * vN-3  */
+      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */
+      acc = __SMLALD(gnext, v, acc);
+
+      tapCnt--;
+
+    }
+
+    fnext = fcurr;
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = (numStages - 1u) % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample for last taps */
+      fnext = fcurr - (((q31_t) gcurr * (*pk)) >> 15);
+      fnext = __SSAT(fnext, 16);
+      gnext = (((q31_t) fnext * (*pk++)) >> 15) + gcurr;
+      gnext = __SSAT(gnext, 16);
+      /* Output samples for last taps */
+      acc += (q31_t) (((q31_t) gnext * (*pv++)));
+      *px2++ = (q15_t) gnext;
+      fcurr = fnext;
+
+      tapCnt--;
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (q31_t) (((q31_t) fnext * (*pv++)));
+
+    out = (q15_t) __SSAT(acc >> 15, 16);
+    *px2++ = (q15_t) fnext;
+
+    /* write out into pDst */
+    *pDst++ = out;
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer   
+     for the preperation of next frame process */
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  stgCnt = (numStages >> 2u);
+
+  /* copy data */
+  while(stgCnt > 0u)
+  {
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    /* Decrement the loop counter */
+    stgCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  stgCnt = (numStages) % 0x4u;
+
+  /* copy data */
+  while(stgCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    stgCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t fcurr, fnext = 0, gcurr = 0, gnext;      /* Temporary variables for lattice stages */
+  uint32_t stgCnt;                               /* Temporary variables for counts */
+  q63_t acc;                                     /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
+  q15_t *px1, *px2, *pk, *pv;                    /* temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  q15_t *pState;                                 /* State pointer */
+  q15_t *pStateCurnt;                            /* State current pointer */
+  q15_t out;                                     /* Temporary variable for output */
+
+
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+    tapCnt = numStages;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample */
+      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+      fnext = fcurr - ((gcurr * (*pk)) >> 15);
+      fnext = __SSAT(fnext, 16);
+      /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+      gnext = ((fnext * (*pk++)) >> 15) + gcurr;
+      gnext = __SSAT(gnext, 16);
+      /* Output samples */
+      /* y(n) += gN(n) * vN */
+      acc += (q31_t) ((gnext * (*pv++)));
+      /* write gN(n) into state for next sample processing */
+      *px2++ = (q15_t) gnext;
+      /* Update f values for next coefficient processing */
+      fcurr = fnext;
+
+      tapCnt--;
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (q31_t) ((fnext * (*pv++)));
+
+    out = (q15_t) __SSAT(acc >> 15, 16);
+    *px2++ = (q15_t) fnext;
+
+    /* write out into pDst */
+    *pDst++ = out;
+
+    /* Advance the state pointer by 1 to process the next group of samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer          
+     for the preperation of next frame process */
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  stgCnt = numStages;
+
+  /* copy data */
+  while(stgCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    stgCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+
+
+
+/**   
+ * @} end of IIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
new file mode 100644
index 000000000..04e70386c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_iir_lattice_q31.c
@@ -0,0 +1,342 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_iir_lattice_q31.c   
+*   
+* Description:	Q31 IIR lattice filter processing function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup IIR_Lattice   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q31 IIR lattice filter.   
+ * @param[in] *S points to an instance of the Q31 IIR lattice structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[out] *pDst points to the block of output data.   
+ * @param[in] blockSize number of samples to process.   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit.   
+ * Thus, if the accumulator result overflows it wraps around rather than clip.   
+ * In order to avoid overflows completely the input signal must be scaled down by 2*log2(numStages) bits.   
+ * After all multiply-accumulates are performed, the 2.62 accumulator is saturated to 1.32 format and then truncated to 1.31 format.   
+ */
+
+void arm_iir_lattice_q31(
+  const arm_iir_lattice_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t fcurr, fnext = 0, gcurr = 0, gnext;      /* Temporary variables for lattice stages */
+  q63_t acc;                                     /* Accumlator */
+  uint32_t blkCnt, tapCnt;                       /* Temporary variables for counts */
+  q31_t *px1, *px2, *pk, *pv;                    /* Temporary pointers for state and coef */
+  uint32_t numStages = S->numStages;             /* number of stages */
+  q31_t *pState;                                 /* State pointer */
+  q31_t *pStateCurnt;                            /* State current pointer */
+
+  blkCnt = blockSize;
+
+  pState = &S->pState[0];
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+
+    /* Process sample for first tap */
+    gcurr = *px1++;
+    /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+    fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+    /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+    gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
+    /* write gN-1(n-1) into state for next sample processing */
+    *px2++ = gnext;
+    /* y(n) += gN(n) * vN  */
+    acc += ((q63_t) gnext * *pv++);
+
+    /* Update f values for next coefficient processing */
+    fcurr = fnext;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = (numStages - 1u) >> 2;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Process sample for 2nd, 6th .. taps */
+      /* Read gN-2(n-1) from state buffer */
+      gcurr = *px1++;
+      /* fN-2(n) = fN-1(n) - kN-1 * gN-2(n-1) */
+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      /* gN-1(n) = kN-1 * fN-2(n) + gN-2(n-1) */
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
+      /* y(n) += gN-1(n) * vN-1  */
+      /* process for gN-5(n) * vN-5, gN-9(n) * vN-9 ... */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-1(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      /* Process sample for 3nd, 7th ...taps */
+      /* Read gN-3(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 3rd, 7th .. taps */
+      /* fN-3(n) = fN-2(n) - kN-2 * gN-3(n-1) */
+      fcurr = __QSUB(fnext, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      /* gN-2(n) = kN-2 * fN-3(n) + gN-3(n-1) */
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fcurr * (*pk++)) >> 31));
+      /* y(n) += gN-2(n) * vN-2  */
+      /* process for gN-6(n) * vN-6, gN-10(n) * vN-10 ... */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-2(n) into state for next sample processing */
+      *px2++ = gnext;
+
+
+      /* Process sample for 4th, 8th ...taps */
+      /* Read gN-4(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 4th, 8th .. taps */
+      /* fN-4(n) = fN-3(n) - kN-3 * gN-4(n-1) */
+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      /* gN-3(n) = kN-3 * fN-4(n) + gN-4(n-1) */
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
+      /* y(n) += gN-3(n) * vN-3  */
+      /* process for gN-7(n) * vN-7, gN-11(n) * vN-11 ... */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-3(n) into state for next sample processing */
+      *px2++ = gnext;
+
+
+      /* Process sample for 5th, 9th ...taps */
+      /* Read gN-5(n-1) from state buffer */
+      gcurr = *px1++;
+      /* Process sample for 5th, 9th .. taps */
+      /* fN-5(n) = fN-4(n) - kN-4 * gN-1(n-1) */
+      fcurr = __QSUB(fnext, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      /* gN-4(n) = kN-4 * fN-5(n) + gN-5(n-1) */
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fcurr * (*pk++)) >> 31));
+      /* y(n) += gN-4(n) * vN-4  */
+      /* process for gN-8(n) * vN-8, gN-12(n) * vN-12 ... */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-4(n) into state for next sample processing */
+      *px2++ = gnext;
+
+      tapCnt--;
+
+    }
+
+    fnext = fcurr;
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = (numStages - 1u) % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample for last taps */
+      fnext = __QSUB(fcurr, (q31_t) (((q63_t) gcurr * (*pk)) >> 31));
+      gnext = __QADD(gcurr, (q31_t) (((q63_t) fnext * (*pk++)) >> 31));
+      /* Output samples for last taps */
+      acc += ((q63_t) gnext * *pv++);
+      *px2++ = gnext;
+      fcurr = fnext;
+
+      tapCnt--;
+
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (q63_t) fnext *(
+  *pv++);
+
+    *px2++ = fnext;
+
+    /* write out into pDst */
+    *pDst++ = (q31_t) (acc >> 31u);
+
+    /* Advance the state pointer by 4 to process the next group of 4 samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer   
+     for the preperation of next frame process */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  tapCnt = numStages >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numStages) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  };
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  /* Sample processing */
+  while(blkCnt > 0u)
+  {
+    /* Read Sample from input buffer */
+    /* fN(n) = x(n) */
+    fcurr = *pSrc++;
+
+    /* Initialize state read pointer */
+    px1 = pState;
+    /* Initialize state write pointer */
+    px2 = pState;
+    /* Set accumulator to zero */
+    acc = 0;
+    /* Initialize Ladder coeff pointer */
+    pv = &S->pvCoeffs[0];
+    /* Initialize Reflection coeff pointer */
+    pk = &S->pkCoeffs[0];
+
+    tapCnt = numStages;
+
+    while(tapCnt > 0u)
+    {
+      gcurr = *px1++;
+      /* Process sample */
+      /* fN-1(n) = fN(n) - kN * gN-1(n-1) */
+      fnext =
+        clip_q63_to_q31(((q63_t) fcurr -
+                         ((q31_t) (((q63_t) gcurr * (*pk)) >> 31))));
+      /* gN(n) = kN * fN-1(n) + gN-1(n-1) */
+      gnext =
+        clip_q63_to_q31(((q63_t) gcurr +
+                         ((q31_t) (((q63_t) fnext * (*pk++)) >> 31))));
+      /* Output samples */
+      /* y(n) += gN(n) * vN  */
+      acc += ((q63_t) gnext * *pv++);
+      /* write gN-1(n-1) into state for next sample processing */
+      *px2++ = gnext;
+      /* Update f values for next coefficient processing */
+      fcurr = fnext;
+
+      tapCnt--;
+    }
+
+    /* y(n) += g0(n) * v0 */
+    acc += (q63_t) fnext *(
+  *pv++);
+
+    *px2++ = fnext;
+
+    /* write out into pDst */
+    *pDst++ = (q31_t) (acc >> 31u);
+
+    /* Advance the state pointer by 1 to process the next group of samples */
+    pState = pState + 1u;
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy last S->numStages samples to start of the buffer          
+     for the preperation of next frame process */
+
+  /* Points to the start of the state buffer */
+  pStateCurnt = &S->pState[0];
+  pState = &S->pState[blockSize];
+
+  tapCnt = numStages;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+
+
+
+/**   
+ * @} end of IIR_Lattice group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
new file mode 100644
index 000000000..e3e1347a1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_f32.c
@@ -0,0 +1,431 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_lms_f32.c   
+*   
+* Description:	Processing function for the floating-point LMS filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup LMS Least Mean Square (LMS) Filters   
+ *   
+ * LMS filters are a class of adaptive filters that are able to "learn" an unknown transfer functions.   
+ * LMS filters use a gradient descent method in which the filter coefficients are updated based on the instantaneous error signal.   
+ * Adaptive filters are often used in communication systems, equalizers, and noise removal.   
+ * The CMSIS DSP Library contains LMS filter functions that operate on Q15, Q31, and floating-point data types.   
+ * The library also contains normalized LMS filters in which the filter coefficient adaptation is indepedent of the level of the input signal.   
+ *   
+ * An LMS filter consists of two components as shown below.   
+ * The first component is a standard transversal or FIR filter.   
+ * The second component is a coefficient update mechanism.   
+ * The LMS filter has two input signals.   
+ * The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter.   
+ * That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input.   
+ * The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input.   
+ * This "error signal" tends towards zero as the filter adapts.   
+ * The LMS processing functions accept the input and reference input signals and generate the filter output and error signal.   
+ * \image html LMS.gif "Internal structure of the Least Mean Square filter"   
+ *   
+ * The functions operate on blocks of data and each call to the function processes   
+ * blockSize samples through the filter.   
+ * pSrc points to input signal, pRef points to reference signal,   
+ * pOut points to output signal and pErr points to error signal.   
+ * All arrays contain blockSize values.   
+ *   
+ * The functions operate on a block-by-block basis.   
+ * Internally, the filter coefficients b[n] are updated on a sample-by-sample basis.   
+ * The convergence of the LMS filter is slower compared to the normalized LMS algorithm.   
+ *   
+ * \par Algorithm:   
+ * The output signal y[n] is computed by a standard FIR filter:   
+ * 
       
+ *     y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]   
+ * 
       
+ *   
+ * \par   
+ * The error signal equals the difference between the reference signal d[n] and the filter output:   
+ * 
       
+ *     e[n] = d[n] - y[n].   
+ * 
       
+ *   
+ * \par   
+ * After each sample of the error signal is computed, the filter coefficients b[k] are updated on a sample-by-sample basis:   
+ * 
       
+ *     b[k] = b[k] + e[n] * mu * x[n-k],  for k=0, 1, ..., numTaps-1   
+ * 
       
+ * where mu is the step size and controls the rate of coefficient convergence.   
+ *\par   
+ * In the APIs, pCoeffs points to a coefficient array of size numTaps.   
+ * Coefficients are stored in time reversed order.   
+ * \par   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to a state array of size numTaps + blockSize - 1.   
+ * Samples in the state buffer are stored in the order:   
+ * \par   
+ * 
       
+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}   
+ * 
       
+ * \par   
+ * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1 samples.   
+ * The increased state buffer length allows circular addressing, which is traditionally used in FIR filters,   
+ * to be avoided and yields a significant speed improvement.   
+ * The state variables are updated after each block of data is processed.   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter and   
+ * coefficient and state arrays cannot be shared among instances.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Set the values in the state buffer to zeros before static initialization.   
+ * The code below statically initializes each of the 3 different data type filter instance structures   
+ * 
       
+ *    arm_lms_instance_f32 S = {numTaps, pState, pCoeffs, mu};   
+ *    arm_lms_instance_q31 S = {numTaps, pState, pCoeffs, mu, postShift};   
+ *    arm_lms_instance_q15 S = {numTaps, pState, pCoeffs, mu, postShift};   
+ * 
       
+ * where numTaps is the number of filter coefficients in the filter; pState is the address of the state buffer;   
+ * pCoeffs is the address of the coefficient buffer; mu is the step size parameter; and postShift is the shift applied to coefficients.   
+ *   
+ * \par Fixed-Point Behavior:   
+ * Care must be taken when using the Q15 and Q31 versions of the LMS filter.   
+ * The following issues must be considered:   
+ * - Scaling of coefficients   
+ * - Overflow and saturation   
+ *   
+ * \par Scaling of Coefficients:   
+ * Filter coefficients are represented as fractional values and   
+ * coefficients are restricted to lie in the range [-1 +1).   
+ * The fixed-point functions have an additional scaling parameter postShift.   
+ * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.   
+ * This essentially scales the filter coefficients by 2^postShift and   
+ * allows the filter coefficients to exceed the range [+1 -1).   
+ * The value of postShift is set by the user based on the expected gain through the system being modeled.   
+ *   
+ * \par Overflow and Saturation:   
+ * Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are   
+ * described separately as part of the function specific documentation below.   
+ */
+
+/**   
+ * @addtogroup LMS   
+ * @{   
+ */
+
+/**          
+ * @details          
+ * This function operates on floating-point data types.      
+ *   
+ * @brief Processing function for floating-point LMS filter.   
+ * @param[in]  *S points to an instance of the floating-point LMS filter structure.   
+ * @param[in]  *pSrc points to the block of input data.   
+ * @param[in]  *pRef points to the block of reference data.   
+ * @param[out] *pOut points to the block of output data.   
+ * @param[out] *pErr points to the block of error data.   
+ * @param[in]  blockSize number of samples to process.   
+ * @return     none.   
+ */
+
+void arm_lms_f32(
+  const arm_lms_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pRef,
+  float32_t * pOut,
+  float32_t * pErr,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  float32_t mu = S->mu;                          /* Adaptive factor */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  float32_t sum, e, d;                           /* accumulator, error, reference data sample */
+  float32_t w = 0.0f;                            /* weight factor */
+
+  e = 0.0f;
+  d = 0.0f;
+
+  /* S->pState points to state array which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Set the accumulator to zero */
+    sum = 0.0f;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* The result in the accumulator, store in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Compute and store error */
+    d = (float32_t) (*pRef++);
+    e = d - sum;
+    *pErr++ = e;
+
+    /* Calculation of Weighting factor for the updating filter coefficients */
+    w = e * mu;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the   
+     satrt of the state buffer. This prepares the state buffer for the   
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop unrolling for (numTaps - 1u) samples copy */
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    sum = 0.0f;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* The result is stored in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Compute and store error */
+    d = (float32_t) (*pRef++);
+    e = d - sum;
+    *pErr++ = e;
+
+    /* Weighting factor for the LMS version */
+    w = e * mu;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb = *pb + (w * (*px++));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the       
+   * start of the state buffer. This prepares the state buffer for the       
+   * next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /*  Copy (numTaps - 1u) samples  */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+   * @} end of LMS group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
new file mode 100644
index 000000000..9b08cdf72
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_f32.c
@@ -0,0 +1,87 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_lms_init_f32.c   
+*   
+* Description:  Floating-point LMS filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @addtogroup LMS   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for floating-point LMS filter.   
+   * @param[in] *S points to an instance of the floating-point LMS filter structure.   
+   * @param[in] numTaps  number of filter coefficients.   
+   * @param[in] *pCoeffs points to the coefficient buffer.   
+   * @param[in] *pState points to state buffer.   
+   * @param[in] mu step size that controls filter coefficient updates.   
+   * @param[in] blockSize number of samples to process.   
+   * @return none.   
+   */
+
+/**   
+ * \par Description:   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * The initial filter coefficients serve as a starting point for the adaptive filter.   
+ * pState points to an array of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_f32().   
+ */
+
+void arm_lms_init_f32(
+  arm_lms_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  float32_t mu,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps */
+  memset(pState, 0, (numTaps + (blockSize - 1)) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+}
+
+/**   
+ * @} end of LMS group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
new file mode 100644
index 000000000..3a2a9948e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q15.c
@@ -0,0 +1,97 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_lms_init_q15.c   
+*   
+* Description:  Q15 LMS filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup LMS   
+ * @{   
+ */
+
+/**   
+* @brief Initialization function for the Q15 LMS filter.   
+* @param[in] *S points to an instance of the Q15 LMS filter structure.   
+* @param[in] numTaps  number of filter coefficients.   
+* @param[in] *pCoeffs points to the coefficient buffer.   
+* @param[in] *pState points to the state buffer.   
+* @param[in] mu step size that controls filter coefficient updates.   
+* @param[in] blockSize number of samples to process.   
+* @param[in] postShift bit shift applied to coefficients.   
+* @return    none.   
+*   
+* \par Description:   
+* pCoeffs points to the array of filter coefficients stored in time reversed order:   
+* 
       
+*    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+* 
       
+* The initial filter coefficients serve as a starting point for the adaptive filter.   
+* pState points to the array of state variables and size of array is   
+* numTaps+blockSize-1 samples, where blockSize is the number of   
+* input samples processed by each call to arm_lms_q15().   
+*/
+
+void arm_lms_init_q15(
+  arm_lms_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  q15_t mu,
+  uint32_t blockSize,
+  uint32_t postShift)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1 */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Assign postShift value to be applied */
+  S->postShift = postShift;
+
+}
+
+/**   
+ * @} end of LMS group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
new file mode 100644
index 000000000..b846be73a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_init_q31.c
@@ -0,0 +1,97 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_lms_init_q31.c   
+*   
+* Description:  Q31 LMS filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup LMS   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for Q31 LMS filter.   
+   * @param[in] *S points to an instance of the Q31 LMS filter structure.   
+   * @param[in] numTaps  number of filter coefficients.   
+   * @param[in] *pCoeffs points to coefficient buffer.   
+   * @param[in] *pState points to state buffer.   
+   * @param[in] mu step size that controls filter coefficient updates.   
+   * @param[in] blockSize number of samples to process.   
+   * @param[in] postShift bit shift applied to coefficients.   
+   * @return none.   
+ *   
+ * \par Description:   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * The initial filter coefficients serve as a starting point for the adaptive filter.   
+ * pState points to an array of length numTaps+blockSize-1 samples,   
+ * where blockSize is the number of input samples processed by each call to   
+ * arm_lms_q31().   
+ */
+
+void arm_lms_init_q31(
+  arm_lms_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  q31_t mu,
+  uint32_t blockSize,
+  uint32_t postShift)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1 */
+  memset(pState, 0, ((uint32_t) numTaps + (blockSize - 1u)) * sizeof(q31_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Assign postShift value to be applied */
+  S->postShift = postShift;
+
+}
+
+/**   
+ * @} end of LMS group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
new file mode 100644
index 000000000..2cc304778
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_f32.c
@@ -0,0 +1,453 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_lms_norm_f32.c   
+*   
+* Description:	Processing function for the floating-point Normalised LMS.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @defgroup LMS_NORM Normalized LMS Filters   
+ *   
+ * This set of functions implements a commonly used adaptive filter.   
+ * It is related to the Least Mean Square (LMS) adaptive filter and includes an additional normalization   
+ * factor which increases the adaptation rate of the filter.   
+ * The CMSIS DSP Library contains normalized LMS filter functions that operate on Q15, Q31, and floating-point data types.   
+ *   
+ * A normalized least mean square (NLMS) filter consists of two components as shown below.   
+ * The first component is a standard transversal or FIR filter.   
+ * The second component is a coefficient update mechanism.   
+ * The NLMS filter has two input signals.   
+ * The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter.   
+ * That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input.   
+ * The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input.   
+ * This "error signal" tends towards zero as the filter adapts.   
+ * The NLMS processing functions accept the input and reference input signals and generate the filter output and error signal.   
+ * \image html LMS.gif "Internal structure of the NLMS adaptive filter"   
+ *   
+ * The functions operate on blocks of data and each call to the function processes   
+ * blockSize samples through the filter.   
+ * pSrc points to input signal, pRef points to reference signal,   
+ * pOut points to output signal and pErr points to error signal.   
+ * All arrays contain blockSize values.   
+ *   
+ * The functions operate on a block-by-block basis.   
+ * Internally, the filter coefficients b[n] are updated on a sample-by-sample basis.   
+ * The convergence of the LMS filter is slower compared to the normalized LMS algorithm.   
+ *   
+ * \par Algorithm:   
+ * The output signal y[n] is computed by a standard FIR filter:   
+ * 
       
+ *     y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]   
+ * 
       
+ *   
+ * \par   
+ * The error signal equals the difference between the reference signal d[n] and the filter output:   
+ * 
       
+ *     e[n] = d[n] - y[n].   
+ * 
       
+ *   
+ * \par   
+ * After each sample of the error signal is computed the instanteous energy of the filter state variables is calculated:   
+ * 
       
+ *    E = x[n]^2 + x[n-1]^2 + ... + x[n-numTaps+1]^2.   
+ * 
       
+ * The filter coefficients b[k] are then updated on a sample-by-sample basis:   
+ * 
       
+ *     b[k] = b[k] + e[n] * (mu/E) * x[n-k],  for k=0, 1, ..., numTaps-1   
+ * 
       
+ * where mu is the step size and controls the rate of coefficient convergence.   
+ *\par   
+ * In the APIs, pCoeffs points to a coefficient array of size numTaps.   
+ * Coefficients are stored in time reversed order.   
+ * \par   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * \par   
+ * pState points to a state array of size numTaps + blockSize - 1.   
+ * Samples in the state buffer are stored in the order:   
+ * \par   
+ * 
       
+ *    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}   
+ * 
       
+ * \par   
+ * Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1 samples.   
+ * The increased state buffer length allows circular addressing, which is traditionally used in FIR filters,   
+ * to be avoided and yields a significant speed improvement.   
+ * The state variables are updated after each block of data is processed.   
+ * \par Instance Structure   
+ * The coefficients and state variables for a filter are stored together in an instance data structure.   
+ * A separate instance structure must be defined for each filter and   
+ * coefficient and state arrays cannot be shared among instances.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Zeros out the values in the state buffer.   
+ * \par   
+ * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function.   
+ * \par Fixed-Point Behavior:   
+ * Care must be taken when using the Q15 and Q31 versions of the normalised LMS filter.   
+ * The following issues must be considered:   
+ * - Scaling of coefficients   
+ * - Overflow and saturation   
+ *   
+ * \par Scaling of Coefficients:   
+ * Filter coefficients are represented as fractional values and   
+ * coefficients are restricted to lie in the range [-1 +1).   
+ * The fixed-point functions have an additional scaling parameter postShift.   
+ * At the output of the filter's accumulator is a shift register which shifts the result by postShift bits.   
+ * This essentially scales the filter coefficients by 2^postShift and   
+ * allows the filter coefficients to exceed the range [+1 -1).   
+ * The value of postShift is set by the user based on the expected gain through the system being modeled.   
+ *   
+ * \par Overflow and Saturation:   
+ * Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are   
+ * described separately as part of the function specific documentation below.   
+ */
+
+
+/**   
+ * @addtogroup LMS_NORM   
+ * @{   
+ */
+
+
+  /**   
+   * @brief Processing function for floating-point normalized LMS filter.   
+   * @param[in] *S points to an instance of the floating-point normalized LMS filter structure.   
+   * @param[in] *pSrc points to the block of input data.   
+   * @param[in] *pRef points to the block of reference data.   
+   * @param[out] *pOut points to the block of output data.   
+   * @param[out] *pErr points to the block of error data.   
+   * @param[in] blockSize number of samples to process.   
+   * @return none.   
+   */
+
+void arm_lms_norm_f32(
+  arm_lms_norm_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pRef,
+  float32_t * pOut,
+  float32_t * pErr,
+  uint32_t blockSize)
+{
+  float32_t *pState = S->pState;                 /* State pointer */
+  float32_t *pCoeffs = S->pCoeffs;               /* Coefficient pointer */
+  float32_t *pStateCurnt;                        /* Points to the current sample of the state */
+  float32_t *px, *pb;                            /* Temporary pointers for state and coefficient buffers */
+  float32_t mu = S->mu;                          /* Adaptive factor */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  float32_t energy;                              /* Energy of the input */
+  float32_t sum, e, d;                           /* accumulator, error, reference data sample */
+  float32_t w, x0, in;                           /* weight factor, temporary variable to hold input sample and state */
+
+  /* Initializations of error,  difference, Coefficient update */
+  e = 0.0f;
+  d = 0.0f;
+  w = 0.0f;
+
+  energy = S->energy;
+  x0 = S->x0;
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy -= x0 * x0;
+    energy += in * in;
+
+    /* Set the accumulator to zero */
+    sum = 0.0f;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* The result in the accumulator, store in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Compute and store error */
+    d = (float32_t) (*pRef++);
+    e = d - sum;
+    *pErr++ = e;
+
+    /* Calculation of Weighting factor for updating filter coefficients */
+    /* epsilon value 0.000000119209289f */
+    w = (e * mu) / (energy + 0.000000119209289f);
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb += w * (*px++);
+      pb++;
+
+      *pb += w * (*px++);
+      pb++;
+
+      *pb += w * (*px++);
+      pb++;
+
+      *pb += w * (*px++);
+      pb++;
+
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb += w * (*px++);
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  S->energy = energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the   
+     satrt of the state buffer. This prepares the state buffer for the   
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop unrolling for (numTaps - 1u)/4 samples copy */
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy -= x0 * x0;
+    energy += in * in;
+
+    /* Set the accumulator to zero */
+    sum = 0.0f;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      sum += (*px++) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* The result in the accumulator is stored in the destination buffer. */
+    *pOut++ = sum;
+
+    /* Compute and store error */
+    d = (float32_t) (*pRef++);
+    e = d - sum;
+    *pErr++ = e;
+
+    /* Calculation of Weighting factor for updating filter coefficients */
+    /* epsilon value 0.000000119209289f */
+    w = (e * mu) / (energy + 0.000000119209289f);
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCcoeffs pointer */
+    pb = pCoeffs;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb += w * (*px++);
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  S->energy = energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the       
+     satrt of the state buffer. This prepares the state buffer for the       
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Copy (numTaps - 1u) samples  */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+   * @} end of LMS_NORM group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
new file mode 100644
index 000000000..8c2423c26
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_f32.c
@@ -0,0 +1,97 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_lms_norm_init_f32.c   
+*   
+* Description:  Floating-point NLMS filter initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup LMS_NORM   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for floating-point normalized LMS filter.   
+   * @param[in] *S points to an instance of the floating-point LMS filter structure.   
+   * @param[in] numTaps  number of filter coefficients.   
+   * @param[in] *pCoeffs points to coefficient buffer.   
+   * @param[in] *pState points to state buffer.   
+   * @param[in] mu step size that controls filter coefficient updates.   
+   * @param[in] blockSize number of samples to process.   
+   * @return none.   
+   *   
+ * \par Description:   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * The initial filter coefficients serve as a starting point for the adaptive filter.   
+ * pState points to an array of length numTaps+blockSize-1 samples,   
+ * where blockSize is the number of input samples processed by each call to arm_lms_norm_f32().   
+ */
+
+void arm_lms_norm_init_f32(
+  arm_lms_norm_instance_f32 * S,
+  uint16_t numTaps,
+  float32_t * pCoeffs,
+  float32_t * pState,
+  float32_t mu,
+  uint32_t blockSize)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1 */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(float32_t));
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Initialise Energy to zero */
+  S->energy = 0.0f;
+
+  /* Initialise x0 to zero */
+  S->x0 = 0.0f;
+
+}
+
+/**   
+ * @} end of LMS_NORM group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
new file mode 100644
index 000000000..a30419d9a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q15.c
@@ -0,0 +1,104 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_lms_norm_init_q15.c   
+*   
+* Description:  Q15 NLMS initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**   
+ * @addtogroup LMS_NORM   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for Q15 normalized LMS filter.   
+   * @param[in] *S points to an instance of the Q15 normalized LMS filter structure.   
+   * @param[in] numTaps  number of filter coefficients.   
+   * @param[in] *pCoeffs points to coefficient buffer.   
+   * @param[in] *pState points to state buffer.   
+   * @param[in] mu step size that controls filter coefficient updates.   
+   * @param[in] blockSize number of samples to process.   
+   * @param[in] postShift bit shift applied to coefficients.   
+   * @return none.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * The initial filter coefficients serve as a starting point for the adaptive filter.   
+ * pState points to the array of state variables and size of array is   
+ * numTaps+blockSize-1 samples, where blockSize is the number of input samples processed   
+ * by each call to arm_lms_norm_q15().   
+ */
+
+void arm_lms_norm_init_q15(
+  arm_lms_norm_instance_q15 * S,
+  uint16_t numTaps,
+  q15_t * pCoeffs,
+  q15_t * pState,
+  q15_t mu,
+  uint32_t blockSize,
+  uint8_t postShift)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1 */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q15_t));
+
+  /* Assign post Shift value applied to coefficients */
+  S->postShift = postShift;
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Initialize reciprocal pointer table */
+  S->recipTable = armRecipTableQ15;
+
+  /* Initialise Energy to zero */
+  S->energy = 0;
+
+  /* Initialise x0 to zero */
+  S->x0 = 0;
+
+}
+
+/**   
+ * @} end of LMS_NORM group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
new file mode 100644
index 000000000..de28a767f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_init_q31.c
@@ -0,0 +1,103 @@
+/*-----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_lms_norm_init_q31.c   
+*   
+* Description:  Q31 NLMS initialization function.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------*/
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**   
+ * @addtogroup LMS_NORM   
+ * @{   
+ */
+
+  /**   
+   * @brief Initialization function for Q31 normalized LMS filter.   
+   * @param[in] *S points to an instance of the Q31 normalized LMS filter structure.   
+   * @param[in] numTaps  number of filter coefficients.   
+   * @param[in] *pCoeffs points to coefficient buffer.   
+   * @param[in] *pState points to state buffer.   
+   * @param[in] mu step size that controls filter coefficient updates.   
+   * @param[in] blockSize number of samples to process.   
+   * @param[in] postShift bit shift applied to coefficients.   
+   * @return none.   
+ *   
+ * Description:   
+ * \par   
+ * pCoeffs points to the array of filter coefficients stored in time reversed order:   
+ * 
       
+ *    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ * 
       
+ * The initial filter coefficients serve as a starting point for the adaptive filter.   
+ * pState points to an array of length numTaps+blockSize-1 samples,   
+ * where blockSize is the number of input samples processed by each call to arm_lms_norm_q31().   
+ */
+
+void arm_lms_norm_init_q31(
+  arm_lms_norm_instance_q31 * S,
+  uint16_t numTaps,
+  q31_t * pCoeffs,
+  q31_t * pState,
+  q31_t mu,
+  uint32_t blockSize,
+  uint8_t postShift)
+{
+  /* Assign filter taps */
+  S->numTaps = numTaps;
+
+  /* Assign coefficient pointer */
+  S->pCoeffs = pCoeffs;
+
+  /* Clear state buffer and size is always blockSize + numTaps - 1  */
+  memset(pState, 0, (numTaps + (blockSize - 1u)) * sizeof(q31_t));
+
+  /* Assign post Shift value applied to coefficients */
+  S->postShift = postShift;
+
+  /* Assign state pointer */
+  S->pState = pState;
+
+  /* Assign Step size value */
+  S->mu = mu;
+
+  /* Initialize reciprocal pointer table */
+  S->recipTable = armRecipTableQ31;
+
+  /* Initialise Energy to zero */
+  S->energy = 0;
+
+  /* Initialise x0 to zero */
+  S->x0 = 0;
+
+}
+
+/**   
+ * @} end of LMS_NORM group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
new file mode 100644
index 000000000..98ea8a3d7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q15.c
@@ -0,0 +1,386 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_lms_norm_q15.c   
+*   
+* Description:	Q15 NLMS filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup LMS_NORM   
+ * @{   
+ */
+
+/**   
+* @brief Processing function for Q15 normalized LMS filter.   
+* @param[in] *S points to an instance of the Q15 normalized LMS filter structure.   
+* @param[in] *pSrc points to the block of input data.   
+* @param[in] *pRef points to the block of reference data.   
+* @param[out] *pOut points to the block of output data.   
+* @param[out] *pErr points to the block of error data.   
+* @param[in] blockSize number of samples to process.   
+* @return none.   
+*   
+* Scaling and Overflow Behavior:    
+* \par    
+* The function is implemented using a 64-bit internal accumulator.    
+* Both coefficients and state variables are represented in 1.15 format and   
+* multiplications yield a 2.30 result. The 2.30 intermediate results are   
+* accumulated in a 64-bit accumulator in 34.30 format.    
+* There is no risk of internal overflow with this approach and the full   
+* precision of intermediate multiplications is preserved. After all additions   
+* have been performed, the accumulator is truncated to 34.15 format by   
+* discarding low 15 bits. Lastly, the accumulator is saturated to yield a   
+* result in 1.15 format.   
+*   
+* \par  
+* 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.   
+*   
+ */
+
+void arm_lms_norm_q15(
+  arm_lms_norm_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pRef,
+  q15_t * pOut,
+  q15_t * pErr,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t *px, *pb;                                /* Temporary pointers for state and coefficient buffers */
+  q15_t mu = S->mu;                              /* Adaptive factor */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  q31_t energy;                                  /* Energy of the input */
+  q63_t acc;                                     /* Accumulator */
+  q15_t e = 0, d = 0;                            /* error, reference data sample */
+  q15_t w = 0, in;                               /* weight factor and state */
+  q15_t x0;                                      /* temporary variable to hold input sample */
+  uint32_t shift = (uint32_t) S->postShift + 1u; /* Shift to be applied to the output */
+  q15_t errorXmu, oneByEnergy;                   /* Temporary variables to store error and mu product and reciprocal of energy */
+  q15_t postShift;                               /* Post shift to be applied to weight after reciprocal calculation */
+  q31_t coef;                                    /* Teporary variable for coefficient */
+
+  energy = S->energy;
+  x0 = S->x0;
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy -= (((q31_t) x0 * (x0)) >> 15);
+    energy += (((q31_t) in * (in)) >> 15);
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+
+      /* Perform the multiply-accumulate */
+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += (((q31_t) * px++ * (*pb++)));
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.15 format */
+    acc = __SSAT((acc >> (16u - shift)), 16u);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q15_t) acc;
+
+    /* Compute and store error */
+    d = *pRef++;
+    e = d - (q15_t) acc;
+    *pErr++ = e;
+
+    /* Calculation of 1/energy */
+    postShift = arm_recip_q15((q15_t) energy + DELTA_Q15,
+                              &oneByEnergy, S->recipTable);
+
+    /* Calculation of e * mu value */
+    errorXmu = (q15_t) (((q31_t) e * mu) >> 15);
+
+    /* Calculation of (e * mu) * (1/energy) value */
+    acc = (((q31_t) errorXmu * oneByEnergy) >> (15 - postShift));
+
+    /* Weighting factor for the normalized version */
+    w = (q15_t) __SSAT((q31_t) acc, 16);
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Read the sample from state buffer */
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Save energy and x0 values for the next frame */
+  S->energy = (q15_t) energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the   
+     satrt of the state buffer. This prepares the state buffer for the   
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    tapCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy -= (((q31_t) x0 * (x0)) >> 15);
+    energy += (((q31_t) in * (in)) >> 15);
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += (((q31_t) * px++ * (*pb++)));
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.15 format */
+    acc = __SSAT((acc >> (16u - shift)), 16u);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q15_t) acc;
+
+    /* Compute and store error */
+    d = *pRef++;
+    e = d - (q15_t) acc;
+    *pErr++ = e;
+
+    /* Calculation of 1/energy */
+    postShift = arm_recip_q15((q15_t) energy + DELTA_Q15,
+                              &oneByEnergy, S->recipTable);
+
+    /* Calculation of e * mu value */
+    errorXmu = (q15_t) (((q31_t) e * mu) >> 15);
+
+    /* Calculation of (e * mu) * (1/energy) value */
+    acc = (((q31_t) errorXmu * oneByEnergy) >> (15 - postShift));
+
+    /* Weighting factor for the normalized version */
+    w = (q15_t) __SSAT((q31_t) acc, 16);
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = *pb + (((q31_t) w * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Read the sample from state buffer */
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Save energy and x0 values for the next frame */
+  S->energy = (q15_t) energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the       
+     satrt of the state buffer. This prepares the state buffer for the       
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* copy (numTaps - 1u) data */
+  tapCnt = (numTaps - 1u);
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/**   
+   * @} end of LMS_NORM group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
new file mode 100644
index 000000000..c35a72f68
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_norm_q31.c
@@ -0,0 +1,404 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_lms_norm_q31.c   
+*   
+* Description:	Processing function for the Q31 NLMS filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup LMS_NORM   
+ * @{   
+ */
+
+/**   
+* @brief Processing function for Q31 normalized LMS filter.   
+* @param[in] *S points to an instance of the Q31 normalized LMS filter structure.   
+* @param[in] *pSrc points to the block of input data.   
+* @param[in] *pRef points to the block of reference data.   
+* @param[out] *pOut points to the block of output data.   
+* @param[out] *pErr points to the block of error data.   
+* @param[in] blockSize number of samples to process.   
+* @return none.   
+*   
+* Scaling and Overflow Behavior:    
+* \par    
+* The function is implemented using an internal 64-bit accumulator.    
+* The accumulator has a 2.62 format and maintains full precision of the intermediate  
+* multiplication results but provides only a single guard bit.    
+* Thus, if the accumulator result overflows it wraps around rather than clip.    
+* In order to avoid overflows completely the input signal must be scaled down by   
+* log2(numTaps) bits. The reference signal should not be scaled down.    
+* After all multiply-accumulates are performed, the 2.62 accumulator is shifted   
+* and saturated to 1.31 format to yield the final result.    
+* The output signal and error signal are in 1.31 format.    
+*   
+* \par   
+* 	In this filter, filter coefficients are updated for each sample and the   
+* updation of filter cofficients are saturted.   
+*    
+*/
+
+void arm_lms_norm_q31(
+  arm_lms_norm_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pRef,
+  q31_t * pOut,
+  q31_t * pErr,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t *px, *pb;                                /* Temporary pointers for state and coefficient buffers */
+  q31_t mu = S->mu;                              /* Adaptive factor */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  q63_t energy;                                  /* Energy of the input */
+  q63_t acc;                                     /* Accumulator */
+  q31_t e = 0, d = 0;                            /* error, reference data sample */
+  q31_t w = 0, in;                               /* weight factor and state */
+  q31_t x0;                                      /* temporary variable to hold input sample */
+  uint32_t shift = 32u - ((uint32_t) S->postShift + 1u);        /* Shift to be applied to the output */
+  q31_t errorXmu, oneByEnergy;                   /* Temporary variables to store error and mu product and reciprocal of energy */
+  q31_t postShift;                               /* Post shift to be applied to weight after reciprocal calculation */
+  q31_t coef;                                    /* Temporary variable for coef */
+
+  energy = S->energy;
+  x0 = S->x0;
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy = (q31_t) ((((q63_t) energy << 32) -
+                       (((q63_t) x0 * x0) << 1)) >> 32);
+    energy = (q31_t) (((((q63_t) in * in) << 1) + (energy << 32)) >> 32);
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+      acc += ((q63_t) (*px++)) * (*pb++);
+      acc += ((q63_t) (*px++)) * (*pb++);
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.31 format */
+    acc = (q31_t) (acc >> shift);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q31_t) acc;
+
+    /* Compute and store error */
+    d = *pRef++;
+    e = d - (q31_t) acc;
+    *pErr++ = e;
+
+    /* Calculates the reciprocal of energy */
+    postShift = arm_recip_q31(energy + DELTA_Q31,
+                              &oneByEnergy, &S->recipTable[0]);
+
+    /* Calculation of product of (e * mu) */
+    errorXmu = (q31_t) (((q63_t) e * mu) >> 31);
+
+    /* Weighting factor for the normalized version */
+    w = clip_q63_to_q31(((q63_t) errorXmu * oneByEnergy) >> (31 - postShift));
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+
+      /* coef is in 2.30 format */
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      /* get coef in 1.31 format by left shifting */
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      /* update coefficient buffer to next coefficient */
+      pb++;
+
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Read the sample from state buffer */
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Save energy and x0 values for the next frame */
+  S->energy = (q31_t) energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the   
+     satrt of the state buffer. This prepares the state buffer for the   
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop unrolling for (numTaps - 1u) samples copy */
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Read the sample from input buffer */
+    in = *pSrc++;
+
+    /* Update the energy calculation */
+    energy =
+      (q31_t) ((((q63_t) energy << 32) - (((q63_t) x0 * x0) << 1)) >> 32);
+    energy = (q31_t) (((((q63_t) in * in) << 1) + (energy << 32)) >> 32);
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.31 format */
+    acc = (q31_t) (acc >> shift);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q31_t) acc;
+
+    /* Compute and store error */
+    d = *pRef++;
+    e = d - (q31_t) acc;
+    *pErr++ = e;
+
+    /* Calculates the reciprocal of energy */
+    postShift =
+      arm_recip_q31(energy + DELTA_Q31, &oneByEnergy, &S->recipTable[0]);
+
+    /* Calculation of product of (e * mu) */
+    errorXmu = (q31_t) (((q63_t) e * mu) >> 31);
+
+    /* Weighting factor for the normalized version */
+    w = clip_q63_to_q31(((q63_t) errorXmu * oneByEnergy) >> (31 - postShift));
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize coeff pointer */
+    pb = (pCoeffs);
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      /* coef is in 2.30 format */
+      coef = (q31_t) (((q63_t) w * (*px++)) >> (32));
+      /* get coef in 1.31 format by left shifting */
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      /* update coefficient buffer to next coefficient */
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Read the sample from state buffer */
+    x0 = *pState;
+
+    /* Advance state pointer by 1 for the next sample */
+    pState = pState + 1;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Save energy and x0 values for the next frame */
+  S->energy = (q31_t) energy;
+  S->x0 = x0;
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
+     start of the state buffer. This prepares the state buffer for the       
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop for (numTaps - 1u) samples copy */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of LMS_NORM group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
new file mode 100644
index 000000000..714424825
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q15.c
@@ -0,0 +1,331 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_lms_q15.c   
+*   
+* Description:	Processing function for the Q15 LMS filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup LMS   
+ * @{   
+ */
+
+ /**   
+ * @brief Processing function for Q15 LMS filter.   
+ * @param[in] *S points to an instance of the Q15 LMS filter structure.   
+ * @param[in] *pSrc points to the block of input data.   
+ * @param[in] *pRef points to the block of reference data.   
+ * @param[out] *pOut points to the block of output data.   
+ * @param[out] *pErr points to the block of error data.   
+ * @param[in] blockSize number of samples to process.   
+ * @return none.   
+ *   
+ * \par Scaling and Overflow Behavior:   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.   
+ * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved.   
+ * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits.   
+ * Lastly, the accumulator is saturated to yield a result in 1.15 format.   
+ *  
+ * \par  
+ * 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.  
+ *   
+ */
+
+void arm_lms_q15(
+  const arm_lms_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pRef,
+  q15_t * pOut,
+  q15_t * pErr,
+  uint32_t blockSize)
+{
+  q15_t *pState = S->pState;                     /* State pointer */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  q15_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q15_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q15_t mu = S->mu;                              /* Adaptive factor */
+  q15_t *px;                                     /* Temporary pointer for state */
+  q15_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  q63_t acc;                                     /* Accumulator */
+  q15_t e = 0;                                   /* error of data sample */
+  q15_t alpha;                                   /* Intermediate constant for taps update */
+  uint32_t shift = S->postShift + 1u;            /* Shift to be applied to the output */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t coef;                                    /* Teporary variable for coefficient */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initializing blkCnt with blockSize */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2u;
+
+    while(tapCnt > 0u)
+    {
+      /* acc +=  b[N] * x[n-N] + b[N-1] * x[n-N-1] */
+      /* Perform the multiply-accumulate */
+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
+      acc = __SMLALD(*__SIMD32(px)++, (*__SIMD32(pb)++), acc);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += (q63_t) (((q31_t) (*px++) * (*pb++)));
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.15 format and saturate the output */
+    acc = __SSAT((acc >> (16 - shift)), 16);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q15_t) acc;
+
+    /* Compute and store error */
+    e = *pRef++ - (q15_t) acc;
+
+    *pErr++ = (q15_t) e;
+
+    /* Compute alpha i.e. intermediate constant for taps update */
+    alpha = (q15_t) (((q31_t) e * (mu)) >> 15);
+
+    /* Initialize state pointer */
+    /* Advance state pointer by 1 for the next sample */
+    px = pState++;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2u;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = (q31_t) * pb + (((q31_t) alpha * (*px++)) >> 15);
+      *pb++ = (q15_t) __SSAT((coef), 16);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the   
+     satrt of the state buffer. This prepares the state buffer for the   
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Calculation of count for copying integer writes */
+  tapCnt = (numTaps - 1u) >> 2;
+
+  while(tapCnt > 0u)
+  {
+
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+    *__SIMD32(pStateCurnt)++ = *__SIMD32(pState)++;
+
+    tapCnt--;
+
+  }
+
+  /* Calculation of count for remaining q15_t data */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += (q63_t) ((q31_t) (*px++) * (*pb++));
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.15 format and saturate the output */
+    acc = __SSAT((acc >> (16 - shift)), 16);
+
+    /* Store the result from accumulator into the destination buffer. */
+    *pOut++ = (q15_t) acc;
+
+    /* Compute and store error */
+    e = *pRef++ - (q15_t) acc;
+
+    *pErr++ = (q15_t) e;
+
+    /* Compute alpha i.e. intermediate constant for taps update */
+    alpha = (q15_t) (((q31_t) e * (mu)) >> 15);
+
+    /* Initialize pState pointer */
+    /* Advance state pointer by 1 for the next sample */
+    px = pState++;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      *pb++ += (q15_t) (((q31_t) alpha * (*px++)) >> 15);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the       
+     start of the state buffer. This prepares the state buffer for the  
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /*  Copy (numTaps - 1u) samples  */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+   * @} end of LMS group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
new file mode 100644
index 000000000..0c9ca3ef6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/FilteringFunctions/arm_lms_q31.c
@@ -0,0 +1,347 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_lms_q31.c   
+*   
+* Description:	Processing function for the Q31 LMS filter.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+/**   
+ * @ingroup groupFilters   
+ */
+
+/**   
+ * @addtogroup LMS   
+ * @{   
+ */
+
+ /**   
+ * @brief Processing function for Q31 LMS filter.   
+ * @param[in]  *S points to an instance of the Q15 LMS filter structure.   
+ * @param[in]  *pSrc points to the block of input data.   
+ * @param[in]  *pRef points to the block of reference data.   
+ * @param[out] *pOut points to the block of output data.   
+ * @param[out] *pErr points to the block of error data.   
+ * @param[in]  blockSize number of samples to process.   
+ * @return     none.   
+ *   
+ * \par Scaling and Overflow Behavior:    
+ * The function is implemented using an internal 64-bit accumulator.    
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate   
+ * multiplication results but provides only a single guard bit.    
+ * Thus, if the accumulator result overflows it wraps around rather than clips.    
+ * In order to avoid overflows completely the input signal must be scaled down by   
+ * log2(numTaps) bits.    
+ * The reference signal should not be scaled down.    
+ * After all multiply-accumulates are performed, the 2.62 accumulator is shifted   
+ * and saturated to 1.31 format to yield the final result.    
+ * The output signal and error signal are in 1.31 format.    
+ *   
+ * \par   
+ * 	In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted.   
+ */
+
+void arm_lms_q31(
+  const arm_lms_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pRef,
+  q31_t * pOut,
+  q31_t * pErr,
+  uint32_t blockSize)
+{
+  q31_t *pState = S->pState;                     /* State pointer */
+  uint32_t numTaps = S->numTaps;                 /* Number of filter coefficients in the filter */
+  q31_t *pCoeffs = S->pCoeffs;                   /* Coefficient pointer */
+  q31_t *pStateCurnt;                            /* Points to the current sample of the state */
+  q31_t mu = S->mu;                              /* Adaptive factor */
+  q31_t *px;                                     /* Temporary pointer for state */
+  q31_t *pb;                                     /* Temporary pointer for coefficient buffer */
+  uint32_t tapCnt, blkCnt;                       /* Loop counters */
+  q63_t acc;                                     /* Accumulator */
+  q31_t e = 0;                                   /* error of data sample */
+  q31_t alpha;                                   /* Intermediate constant for taps update */
+  uint8_t shift = (uint8_t) (32u - (S->postShift + 1u));        /* Shift to be applied to the output */
+  q31_t coef;                                    /* Temporary variable for coef */
+
+  /* S->pState points to buffer which contains previous frame (numTaps - 1) samples */
+  /* pStateCurnt points to the location where the new input data should be written */
+  pStateCurnt = &(S->pState[(numTaps - 1u)]);
+
+  /* Initializing blkCnt with blockSize */
+  blkCnt = blockSize;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize state pointer */
+    px = pState;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      /* acc +=  b[N] * x[n-N] */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* acc +=  b[N-1] * x[n-N-1] */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* acc +=  b[N-2] * x[n-N-2] */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* acc +=  b[N-3] * x[n-N-3] */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.31 format */
+    /* Store the result from accumulator into the destination buffer. */
+    acc = (q31_t) (acc >> shift);
+
+    *pOut++ = (q31_t) acc;
+
+    /* Compute and store error */
+    e = *pRef++ - (q31_t) acc;
+
+    *pErr++ = (q31_t) e;
+
+    /* Compute alpha i.e. intermediate constant for taps update */
+    alpha = (q31_t) (((q63_t) e * mu) >> 31);
+
+    /* Initialize state pointer */
+    /* Advance state pointer by 1 for the next sample */
+    px = pState++;
+
+    /* Initialize coefficient pointer */
+    pb = pCoeffs;
+
+    /* Loop unrolling.  Process 4 taps at a time. */
+    tapCnt = numTaps >> 2;
+
+    /* Update filter coefficients */
+    while(tapCnt > 0u)
+    {
+      /* coef is in 2.30 format */
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      /* get coef in 1.31 format by left shifting */
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      /* update coefficient buffer to next coefficient */
+      pb++;
+
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* If the filter length is not a multiple of 4, compute the remaining filter taps */
+    tapCnt = numTaps % 0x4u;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb = clip_q63_to_q31((q63_t) * pb + (coef << 1u));
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the   
+     satrt of the state buffer. This prepares the state buffer for the   
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /* Loop unrolling for (numTaps - 1u) samples copy */
+  tapCnt = (numTaps - 1u) >> 2u;
+
+  /* copy data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+  /* Calculate remaining number of copies */
+  tapCnt = (numTaps - 1u) % 0x4u;
+
+  /* Copy the remaining q31_t data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Copy the new input sample into the state buffer */
+    *pStateCurnt++ = *pSrc++;
+
+    /* Initialize pState pointer */
+    px = pState;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Set the accumulator to zero */
+    acc = 0;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      acc += ((q63_t) (*px++)) * (*pb++);
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Converting the result to 1.31 format */
+    /* Store the result from accumulator into the destination buffer. */
+    acc = (q31_t) (acc >> shift);
+
+    *pOut++ = (q31_t) acc;
+
+    /* Compute and store error */
+    e = *pRef++ - (q31_t) acc;
+
+    *pErr++ = (q31_t) e;
+
+    /* Weighting factor for the LMS version */
+    alpha = (q31_t) (((q63_t) e * mu) >> 31);
+
+    /* Initialize pState pointer */
+    /* Advance state pointer by 1 for the next sample */
+    px = pState++;
+
+    /* Initialize pCoeffs pointer */
+    pb = pCoeffs;
+
+    /* Loop over numTaps number of values */
+    tapCnt = numTaps;
+
+    while(tapCnt > 0u)
+    {
+      /* Perform the multiply-accumulate */
+      coef = (q31_t) (((q63_t) alpha * (*px++)) >> (32));
+      *pb += (coef << 1u);
+      pb++;
+
+      /* Decrement the loop counter */
+      tapCnt--;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Processing is complete. Now copy the last numTaps - 1 samples to the    
+     start of the state buffer. This prepares the state buffer for the  
+     next function call. */
+
+  /* Points to the start of the pState buffer */
+  pStateCurnt = S->pState;
+
+  /*  Copy (numTaps - 1u) samples  */
+  tapCnt = (numTaps - 1u);
+
+  /* Copy the data */
+  while(tapCnt > 0u)
+  {
+    *pStateCurnt++ = *pState++;
+
+    /* Decrement the loop counter */
+    tapCnt--;
+  }
+
+#endif /*   #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+   * @} end of LMS group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
new file mode 100644
index 000000000..32eb69c41
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_f32.c
@@ -0,0 +1,154 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_mat_add_f32.c   
+*   
+* Description:	Floating-point matrix addition   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @defgroup MatrixAdd Matrix Addition   
+ *   
+ * Adds two matrices.   
+ * \image html MatrixAddition.gif "Addition of two 3 x 3 matrices"   
+ *   
+ * The functions check to make sure that   
+ * pSrcA, pSrcB, and pDst have the same   
+ * number of rows and columns.   
+ */
+
+/**   
+ * @addtogroup MatrixAdd   
+ * @{   
+ */
+
+
+/**   
+ * @brief Floating-point matrix addition.   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ */
+
+arm_status arm_mat_add_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A  */
+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B  */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer   */
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add and then store the results in the destination buffer. */
+      *pOut++ = (*pIn1++) + (*pIn2++);
+      *pOut++ = (*pIn1++) + (*pIn2++);
+      *pOut++ = (*pIn1++) + (*pIn2++);
+      *pOut++ = (*pIn1++) + (*pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add and then store the results in the destination buffer. */
+      *pOut++ = (*pIn1++) + (*pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixAdd group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
new file mode 100644
index 000000000..e16460061
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q15.c
@@ -0,0 +1,158 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_add_q15.c   
+*   
+* Description:	Q15 matrix addition   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixAdd   
+ * @{   
+ */
+
+/**   
+ * @brief Q15 matrix addition.   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.   
+ */
+
+arm_status arm_mat_add_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A  */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint16_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters  */
+  arm_status status;                             /* status of matrix addition  */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint16_t) (pSrcA->numRows * pSrcA->numCols);
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop unrolling */
+    blkCnt = (uint32_t) numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, Saturate and then store the results in the destination buffer. */
+      *__SIMD32(pOut)++ = __QADD16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
+      *__SIMD32(pOut)++ = __QADD16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = (uint32_t) numSamples % 0x4u;
+
+    /* q15 pointers of input and output are initialized */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, Saturate and then store the results in the destination buffer. */
+      *pOut++ = (q15_t) __QADD16(*pInA++, *pInB++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = (uint32_t) numSamples;
+
+
+    /* q15 pointers of input and output are initialized */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, Saturate and then store the results in the destination buffer. */
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ + *pInB++), 16);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixAdd group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
new file mode 100644
index 000000000..3d4563ca1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_add_q31.c
@@ -0,0 +1,157 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_add_q31.c   
+*   
+* Description:	Q31 matrix addition   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixAdd   
+ * @{   
+ */
+
+/**   
+ * @brief Q31 matrix addition.   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.   
+ */
+
+arm_status arm_mat_add_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2u;
+
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, saturate and then store the results in the destination buffer. */
+      *pOut++ = __QADD(*pIn1++, *pIn2++);
+      *pOut++ = __QADD(*pIn1++, *pIn2++);
+      *pOut++ = __QADD(*pIn1++, *pIn2++);
+      *pOut++ = __QADD(*pIn1++, *pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, saturate and then store the results in the destination buffer. */
+      *pOut++ = __QADD(*pIn1++, *pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add, saturate and then store the results in the destination buffer. */
+      *pOut++ = clip_q63_to_q31(((q63_t) (*pIn1++)) + (*pIn2++));
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixAdd group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
new file mode 100644
index 000000000..96dbc53fd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
@@ -0,0 +1,83 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_mat_init_f32.c   
+*   
+* Description:	Floating-point matrix initialization.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @defgroup MatrixInit Matrix Initialization   
+ *   
+ * Initializes the underlying matrix data structure.   
+ * The functions set the numRows,   
+ * numCols, and pData fields   
+ * of the matrix data structure.   
+ */
+
+/**   
+ * @addtogroup MatrixInit   
+ * @{   
+ */
+
+/**   
+   * @brief  Floating-point matrix initialization.   
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.   
+   * @param[in]     nRows          number of rows in the matrix.   
+   * @param[in]     nColumns       number of columns in the matrix.   
+   * @param[in]     *pData	   points to the matrix data array.   
+   * @return        none   
+   */
+
+void arm_mat_init_f32(
+  arm_matrix_instance_f32 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  float32_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**   
+ * @} end of MatrixInit group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
new file mode 100644
index 000000000..8c7fb44df
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q15.c
@@ -0,0 +1,75 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_mat_init_q15.c   
+*   
+* Description:	Q15 matrix initialization.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixInit   
+ * @{   
+ */
+
+  /**   
+   * @brief  Q15 matrix initialization.   
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.   
+   * @param[in]     nRows          number of rows in the matrix.   
+   * @param[in]     nColumns       number of columns in the matrix.   
+   * @param[in]     *pData	   points to the matrix data array.   
+   * @return        none   
+   */
+
+void arm_mat_init_q15(
+  arm_matrix_instance_q15 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  q15_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**   
+ * @} end of MatrixInit group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
new file mode 100644
index 000000000..efe0bbd3c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_init_q31.c
@@ -0,0 +1,79 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_mat_init_q31.c   
+*   
+* Description:	Q31 matrix initialization.   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @defgroup MatrixInit Matrix Initialization   
+ *   
+ */
+
+/**   
+ * @addtogroup MatrixInit   
+ * @{   
+ */
+
+  /**   
+   * @brief  Q31 matrix initialization.   
+   * @param[in,out] *S             points to an instance of the floating-point matrix structure.   
+   * @param[in]     nRows          number of rows in the matrix.   
+   * @param[in]     nColumns       number of columns in the matrix.   
+   * @param[in]     *pData	   points to the matrix data array.   
+   * @return        none   
+   */
+
+void arm_mat_init_q31(
+  arm_matrix_instance_q31 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  q31_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**   
+ * @} end of MatrixInit group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
new file mode 100644
index 000000000..cd635c8cb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_inverse_f32.c
@@ -0,0 +1,665 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_inverse_f32.c   
+*   
+* Description:	Floating-point matrix inverse.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @defgroup MatrixInv Matrix Inverse   
+ *   
+ * Computes the inverse of a matrix.   
+ *   
+ * The inverse is defined only if the input matrix is square and non-singular (the determinant   
+ * is non-zero). The function checks that the input and output matrices are square and of the   
+ * same size.   
+ *   
+ * Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix   
+ * inversion of floating-point matrices.   
+ *   
+ * \par Algorithm   
+ * The Gauss-Jordan method is used to find the inverse.   
+ * The algorithm performs a sequence of elementary row-operations till it   
+ * reduces the input matrix to an identity matrix. Applying the same sequence   
+ * of elementary row-operations to an identity matrix yields the inverse matrix.   
+ * If the input matrix is singular, then the algorithm terminates and returns error status   
+ * ARM_MATH_SINGULAR.   
+ * \image html MatrixInverse.gif "Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method"   
+ */
+
+/**   
+ * @addtogroup MatrixInv   
+ * @{   
+ */
+
+/**   
+ * @brief Floating-point matrix inverse.   
+ * @param[in]       *pSrc points to input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns   
+ * ARM_MATH_SIZE_MISMATCH if the input matrix is not square or if the size   
+ * of the output matrix does not match the size of the input matrix.   
+ * If the input matrix is found to be singular (non-invertible), then the function returns   
+ * ARM_MATH_SINGULAR.  Otherwise, the function returns ARM_MATH_SUCCESS.   
+ */
+
+arm_status arm_mat_inverse_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float32_t *pInT1, *pInT2;                      /* Temporary input data matrix pointer */
+  float32_t *pInT3, *pInT4;                      /* Temporary output data matrix pointer */
+  float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;  /* Temporary input and output data matrix pointer */
+  uint32_t numRows = pSrc->numRows;              /* Number of rows in the matrix  */
+  uint32_t numCols = pSrc->numCols;              /* Number of Cols in the matrix  */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t Xchg, in = 0.0f, in1;                /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
+     || (pSrc->numRows != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------   
+	 * Matrix Inverse can be solved using elementary row operations.   
+	 *   
+	 *	Gauss-Jordan Method:   
+	 *   
+	 *	   1. First combine the identity matrix and the input matrix separated by a bar to form an   
+	 *        augmented matrix as follows:   
+	 *				        _ 	      	       _         _	       _   
+	 *					   |  a11  a12 | 1   0  |       |  X11 X12  |   
+	 *					   |           |        |   =   |           |   
+	 *					   |_ a21  a22 | 0   1 _|       |_ X21 X21 _|   
+	 *   
+	 *		2. In our implementation, pDst Matrix is used as identity matrix.   
+	 *   
+	 *		3. Begin with the first row. Let i = 1.   
+	 *   
+	 *	    4. Check to see if the pivot for row i is zero.   
+	 *		   The pivot is the element of the main diagonal that is on the current row.   
+	 *		   For instance, if working with row i, then the pivot element is aii.   
+	 *		   If the pivot is zero, exchange that row with a row below it that does not   
+	 *		   contain a zero in column i. If this is not possible, then an inverse   
+	 *		   to that matrix does not exist.   
+	 *   
+	 *	    5. Divide every element of row i by the pivot.   
+	 *   
+	 *	    6. For every row below and  row i, replace that row with the sum of that row and   
+	 *		   a multiple of row i so that each new element in column i below row i is zero.   
+	 *   
+	 *	    7. Move to the next row and column and repeat steps 2 through 5 until you have zeros   
+	 *		   for every element below and above the main diagonal.   
+	 *   
+	 *		8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).   
+	 *		   Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).   
+	 *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pInT2 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while(rowCnt > 0u)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while(j > 0u)
+      {
+        *pInT2++ = 0.0f;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pInT2++ = 1.0f;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1u;
+      while(j > 0u)
+      {
+        *pInT2++ = 0.0f;
+        j--;
+      }
+
+      /* Decrement the loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.   
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0u;
+
+    while(loopCnt > 0u)
+    {
+      /* Check if the pivot element is zero..   
+       * If it is zero then interchange the row with non zero row below.   
+       * If there is no non zero element to replace in the rows below,   
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points   
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points   
+       * to the pivot element of the particular row  */
+      pInT3 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+      /* Destination pointer modifier */
+      k = 1u;
+
+      /* Check if the pivot element is zero */
+      if(*pInT1 == 0.0f)
+      {
+        /* Loop over the number rows present below */
+        i = numRows - (l + 1u);
+
+        while(i > 0u)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * l);
+          pInT4 = pInT3 + (numCols * k);
+
+          /* Check if there is a non zero pivot element to   
+           * replace in the rows below */
+          if(*pInT2 != 0.0f)
+          {
+            /* Loop over number of columns   
+             * to the right of the pilot element */
+            j = numCols - l;
+
+            while(j > 0u)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Loop over number of columns of the destination matrix */
+            j = numCols;
+
+            while(j > 0u)
+            {
+              /* Exchange the row elements of the destination matrix */
+              Xchg = *pInT4;
+              *pInT4++ = *pInT3;
+              *pInT3++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1u;
+
+            /* Break after exchange is done */
+            break;
+          }
+
+          /* Update the destination pointer modifier */
+          k++;
+
+          /* Decrement the loop counter */
+          i--;
+        }
+      }
+
+      /* Update the status if the matrix is singular */
+      if((flag != 1u) && (in == 0.0f))
+      {
+        status = ARM_MATH_SINGULAR;
+
+        break;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pInT2 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *(pIn + (l * numCols));
+
+      /* Loop over number of columns   
+       * to the right of the pilot element */
+      j = (numCols - l);
+
+      while(j > 0u)
+      {
+        /* Divide each element of the row of the input matrix   
+         * by the pivot element */
+        in1 = *pInT1;
+        *pInT1++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Loop over number of columns of the destination matrix */
+      j = numCols;
+
+      while(j > 0u)
+      {
+        /* Divide each element of the row of the destination matrix   
+         * by the pivot element */
+        in1 = *pInT2;
+        *pInT2++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i   
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pInT2 = pOut;
+
+      /* index used to check for pivot element */
+      i = 0u;
+
+      /* Loop over number of rows */
+      /*  to be replaced by the sum of that row and a multiple of row i */
+      k = numRows;
+
+      while(k > 0u)
+      {
+        /* Check for the pivot element */
+        if(i == l)
+        {
+          /* If the processing element is the pivot element,   
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+
+          pInT2 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,   
+             to replace the elements in the input matrix */
+          j = (numCols - l);
+
+          while(j > 0u)
+          {
+            /* Replace the element by the sum of that row   
+               and a multiple of the reference row  */
+            in1 = *pInT1;
+            *pInT1++ = in1 - (in * *pPRT_in++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+          /* Loop over the number of columns to   
+             replace the elements in the destination matrix */
+          j = numCols;
+
+          while(j > 0u)
+          {
+            /* Replace the element by the sum of that row   
+               and a multiple of the reference row  */
+            in1 = *pInT2;
+            *pInT2++ = in1 - (in * *pPRT_pDst++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+        }
+
+        /* Increment the temporary input pointer */
+        pInT1 = pInT1 + l;
+
+        /* Decrement the loop counter */
+        k--;
+
+        /* Increment the pivot index */
+        i++;
+      }
+
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+
+      /* Increment the index modifier */
+      l++;
+    }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t Xchg, in = 0.0f;                     /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0u, j, loopCnt, k, l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
+     || (pSrc->numRows != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------      
+	 * Matrix Inverse can be solved using elementary row operations.       
+	 *       
+	 *	Gauss-Jordan Method:      
+	 *	 	      
+	 *	   1. First combine the identity matrix and the input matrix separated by a bar to form an       
+	 *        augmented matrix as follows:       
+	 *				        _  _	      _	    _	   _   _         _	       _      
+	 *					   |  |  a11  a12  | | | 1   0  |   |       |  X11 X12  |        
+	 *					   |  |            | | |        |   |   =   |           |       
+	 *					   |_ |_ a21  a22 _| | |_0   1 _|  _|       |_ X21 X21 _|      
+	 *					         
+	 *		2. In our implementation, pDst Matrix is used as identity matrix.   
+	 *      
+	 *		3. Begin with the first row. Let i = 1.      
+	 *      
+	 *	    4. Check to see if the pivot for row i is zero.      
+	 *		   The pivot is the element of the main diagonal that is on the current row.      
+	 *		   For instance, if working with row i, then the pivot element is aii.      
+	 *		   If the pivot is zero, exchange that row with a row below it that does not       
+	 *		   contain a zero in column i. If this is not possible, then an inverse       
+	 *		   to that matrix does not exist.      
+	 *	      
+	 *	    5. Divide every element of row i by the pivot.      
+	 *	      
+	 *	    6. For every row below and  row i, replace that row with the sum of that row and       
+	 *		   a multiple of row i so that each new element in column i below row i is zero.      
+	 *	      
+	 *	    7. Move to the next row and column and repeat steps 2 through 5 until you have zeros      
+	 *		   for every element below and above the main diagonal.       
+	 *		   		         
+	 *		8. Now an identical matrix is formed to the left of the bar(input matrix, src).      
+	 *		   Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).        
+	 *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pInT2 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while(rowCnt > 0u)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while(j > 0u)
+      {
+        *pInT2++ = 0.0f;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pInT2++ = 1.0f;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1u;
+      while(j > 0u)
+      {
+        *pInT2++ = 0.0f;
+        j--;
+      }
+
+      /* Decrement the loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.    
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0u;
+    //for(loopCnt = 0u; loopCnt < numCols; loopCnt++)  
+    while(loopCnt > 0u)
+    {
+      /* Check if the pivot element is zero..   
+       * If it is zero then interchange the row with non zero row below.  
+       * If there is no non zero element to replace in the rows below,  
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points    
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points    
+       * to the pivot element of the particular row  */
+      pInT3 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+      /* Destination pointer modifier */
+      k = 1u;
+
+      /* Check if the pivot element is zero */
+      if(*pInT1 == 0.0f)
+      {
+        /* Loop over the number rows present below */
+        for (i = (l + 1u); i < numRows; i++)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * l);
+          pInT4 = pInT3 + (numCols * k);
+
+          /* Check if there is a non zero pivot element to    
+           * replace in the rows below */
+          if(*pInT2 != 0.0f)
+          {
+            /* Loop over number of columns    
+             * to the right of the pilot element */
+            for (j = 0u; j < (numCols - l); j++)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+            }
+
+            for (j = 0u; j < numCols; j++)
+            {
+              Xchg = *pInT4;
+              *pInT4++ = *pInT3;
+              *pInT3++ = Xchg;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1u;
+
+            /* Break after exchange is done */
+            break;
+          }
+
+          /* Update the destination pointer modifier */
+          k++;
+        }
+      }
+
+      /* Update the status if the matrix is singular */
+      if((flag != 1u) && (in == 0.0f))
+      {
+        status = ARM_MATH_SINGULAR;
+
+        break;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pInT2 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *(pIn + (l * numCols));
+
+      /* Loop over number of columns    
+       * to the right of the pilot element */
+      for (j = 0u; j < (numCols - l); j++)
+      {
+        /* Divide each element of the row of the input matrix    
+         * by the pivot element */
+        *pInT1++ = *pInT1 / in;
+      }
+      for (j = 0u; j < numCols; j++)
+      {
+        /* Divide each element of the row of the destination matrix    
+         * by the pivot element */
+        *pInT2++ = *pInT2 / in;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i    
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pInT2 = pOut;
+
+      for (i = 0u; i < numRows; i++)
+      {
+        /* Check for the pivot element */
+        if(i == l)
+        {
+          /* If the processing element is the pivot element,    
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+          pInT2 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,    
+             to replace the elements in the input matrix */
+          for (j = 0u; j < (numCols - l); j++)
+          {
+            /* Replace the element by the sum of that row    
+               and a multiple of the reference row  */
+            *pInT1++ = *pInT1 - (in * *pPRT_in++);
+          }
+          /* Loop over the number of columns to    
+             replace the elements in the destination matrix */
+          for (j = 0u; j < numCols; j++)
+          {
+            /* Replace the element by the sum of that row    
+               and a multiple of the reference row  */
+            *pInT2++ = *pInT2 - (in * *pPRT_pDst++);
+          }
+
+        }
+        /* Increment the temporary input pointer */
+        pInT1 = pInT1 + l;
+      }
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+      /* Increment the index modifier */
+      l++;
+    }
+
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+    if((flag != 1u) && (in == 0.0f))
+    {
+      status = ARM_MATH_SINGULAR;
+    }
+  }
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixInv group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
new file mode 100644
index 000000000..caa0200fa
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_f32.c
@@ -0,0 +1,270 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_mult_f32.c   
+*   
+* Description:  Floating-point matrix multiplication.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @defgroup MatrixMult Matrix Multiplication   
+ *   
+ * Multiplies two matrices.   
+ *   
+ * \image html MatrixMultiplication.gif "Multiplication of two 3 x 3 matrices"   
+   
+ * Matrix multiplication is only defined if the number of columns of the   
+ * first matrix equals the number of rows of the second matrix.   
+ * Multiplying an M x N matrix with an N x P matrix results   
+ * in an M x P matrix.   
+ * When matrix size checking is enabled, the functions check: (1) that the inner dimensions of   
+ * pSrcA and pSrcB are equal; and (2) that the size of the output   
+ * matrix equals the outer dimensions of pSrcA and pSrcB.   
+ */
+
+
+/**   
+ * @addtogroup MatrixMult   
+ * @{   
+ */
+
+/**   
+ * @brief Floating-point matrix multiplication.   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ */
+
+arm_status arm_mat_mult_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */
+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */
+  float32_t *pInA = pSrcA->pData;                /* input data matrix pointer A  */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float32_t *px;                                 /* Temporary output data matrix pointer */
+  float32_t sum;                                 /* Accumulator */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set   
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      j = 0u;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0.0f;
+
+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+        pIn1 = pInA;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+        /* matrix multiplication        */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += *pIn1++ * (*pIn2);
+          pIn2 += numColsB;
+          sum += *pIn1++ * (*pIn2);
+          pIn2 += numColsB;
+          sum += *pIn1++ * (*pIn2);
+          pIn2 += numColsB;
+          sum += *pIn1++ * (*pIn2);
+          pIn2 += numColsB;
+
+          /* Decrement the loop count */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.   
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4u;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += *pIn1++ * (*pIn2);
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Store the result in the destination buffer */
+        *px++ = sum;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        j++;
+        pIn2 = pSrcB->pData + j;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t *pInB = pSrcB->pData;                /* input data matrix pointer B */
+  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pInA with each column in pInB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set    
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0.0f;
+
+        /* Initialize the pointer pIn1 to point to the starting address of the row being processed */
+        pIn1 = pInA;
+
+        /* Matrix A columns number of MAC operations are to be performed */
+        colCnt = numColsA;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += *pIn1++ * (*pIn2);
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Store the result in the destination buffer */
+        *px++ = sum;
+
+        /* Decrement the column loop counter */
+        col--;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        pIn2 = pInB + (numColsB - col);
+
+      } while(col > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+      /* Update the pointer pInA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
new file mode 100644
index 000000000..871719d96
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
@@ -0,0 +1,284 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_mult_fast_q15.c   
+*   
+* Description:	 Q15 matrix multiplication (fast variant)   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixMult   
+ * @{   
+ */
+
+
+/**   
+ * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @param[in]		*pState points to the array for storing intermediate results   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The difference between the function arm_mat_mult_q15() and this fast variant is that   
+ * the fast variant use a 32-bit rather than a 64-bit accumulator.   
+ * The result of each 1.15 x 1.15 multiplication is truncated to   
+ * 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30   
+ * format. Finally, the accumulator is saturated and converted to a 1.15 result.   
+ *   
+ * \par   
+ * The fast version has the same overflow behavior as the standard version but provides   
+ * less precision since it discards the low 16 bits of each multiplication result.   
+ * In order to avoid overflows completely the input signals must be scaled down.   
+ * Scale down one of the input matrices by log2(numColsA) bits to   
+ * avoid overflows, as a total of numColsA additions are computed internally for each   
+ * output element.   
+ *   
+ * \par   
+ * See arm_mat_mult_q15() for a slower implementation of this function   
+ * which uses 64-bit accumulation to provide higher precision.   
+ */
+
+arm_status arm_mat_mult_fast_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst,
+  q15_t * pState)
+{
+  q31_t sum;                                     /* accumulator */
+  q31_t in;                                      /* Temporary variable to hold the input value */
+  q15_t *pSrcBT = pState;                        /* input data matrix pointer for transpose */
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
+//  q15_t *pDst = pDst->pData;                   /* output data matrix pointer */   
+  q15_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+  uint16_t numRowsB = pSrcB->numRows;            /* number of rows of input matrix A    */
+  uint16_t col, i = 0u, row = numRowsB, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose */
+    do
+    {
+      /* Apply loop unrolling and exchange the columns with row elements */
+      col = numColsB >> 2;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pSrcBT + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(col > 0u)
+      {
+        /* Read two elements from the row */
+        in = *__SIMD32(pInB)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) in;
+
+#else
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store the second element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *px = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read two elements from the row */
+        in = *__SIMD32(pInB)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) in;
+
+#else
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store the second element in the destination */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *px = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      col = numColsB % 0x4u;
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pInB++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* Reset the variables for the usage in the following multiplication process */
+    row = numRowsA;
+    i = 0u;
+    px = pDst->pData;
+
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set   
+       ** to the starting address of the transposed pSrcB data */
+      pInB = pSrcBT;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 2 MACs simultaneously. */
+        colCnt = numColsA >> 1;
+
+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+        pInA = pSrcA->pData + i;
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum = __SMLAD(*__SIMD32(pInA)++, *__SIMD32(pInB)++, sum);
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* process odd column samples */
+        if((numColsA & 0x1u) > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += ((q31_t) * pInA * (*pInB++));
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px = (q15_t) (sum >> 15);
+        px++;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+      i = i + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
new file mode 100644
index 000000000..44387b0e5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
@@ -0,0 +1,202 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_mult_fast_q31.c   
+*   
+* Description:	 Q31 matrix multiplication (fast variant).   
+*   
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixMult   
+ * @{   
+ */
+
+/**   
+ * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The difference between the function arm_mat_mult_q31() and this fast variant is that   
+ * the fast variant use a 32-bit rather than a 64-bit accumulator.   
+ * The result of each 1.31 x 1.31 multiplication is truncated to   
+ * 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30   
+ * format. Finally, the accumulator is saturated and converted to a 1.31 result.   
+ *   
+ * \par   
+ * The fast version has the same overflow behavior as the standard version but provides   
+ * less precision since it discards the low 32 bits of each multiplication result.   
+ * In order to avoid overflows completely the input signals must be scaled down.   
+ * Scale down one of the input matrices by log2(numColsA) bits to   
+ * avoid overflows, as a total of numColsA additions are computed internally for each   
+ * output element.   
+ *   
+ * \par   
+ * See arm_mat_mult_q31() for a slower implementation of this function   
+ * which uses 64-bit accumulation to provide higher precision.   
+ */
+
+arm_status arm_mat_mult_fast_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+//  q31_t *pSrcB = pSrcB->pData;                    /* input data matrix pointer B */   
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  q31_t sum;                                     /* Accumulator */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set   
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      j = 0u;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate the pointer pIn1 to point to the starting address of pInA */
+        pIn1 = pInA;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * pIn1++ * (*pIn2))) >> 32);
+          pIn2 += numColsB;
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * pIn1++ * (*pIn2))) >> 32);
+          pIn2 += numColsB;
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * pIn1++ * (*pIn2))) >> 32);
+          pIn2 += numColsB;
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * pIn1++ * (*pIn2))) >> 32);
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining output samples here.   
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4u;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum = (q31_t) ((((q63_t) sum << 32) +
+                          ((q63_t) * pIn1++ * (*pIn2))) >> 32);
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 2.30 to 1.31 format and store in destination buffer */
+        *px++ = sum << 1;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        j++;
+        pIn2 = pSrcB->pData + j;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+      /* Update the pointer pInA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
new file mode 100644
index 000000000..27dd13a22
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q15.c
@@ -0,0 +1,378 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_mult_q15.c   
+*   
+* Description:	 Q15 matrix multiplication.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixMult   
+ * @{   
+ */
+
+
+/**   
+ * @brief Q15 matrix multiplication   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @param[in]		*pState points to the array for storing intermediate results  
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator. The inputs to the   
+ * multiplications are in 1.15 format and multiplications yield a 2.30 result.   
+ * The 2.30 intermediate   
+ * results are accumulated in a 64-bit accumulator in 34.30 format. This approach   
+ * provides 33 guard bits and there is no risk of overflow. The 34.30 result is then   
+ * truncated to 34.15 format by discarding the low 15 bits and then saturated to   
+ * 1.15 format.   
+ *   
+ * \par   
+ * Refer to arm_mat_mult_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4.   
+ *   
+ */
+
+arm_status arm_mat_mult_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst,
+  q15_t * pState)
+{
+  q63_t sum;                                     /* accumulator */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in;                                      /* Temporary variable to hold the input value */
+  q15_t *pSrcBT = pState;                        /* input data matrix pointer for transpose */
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
+  q15_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+  uint16_t numRowsB = pSrcB->numRows;            /* number of rows of input matrix A    */
+  uint16_t col, i = 0u, row = numRowsB, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose */
+    do
+    {
+      /* Apply loop unrolling and exchange the columns with row elements */
+      col = numColsB >> 2;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pSrcBT + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(col > 0u)
+      {
+        /* Read two elements from the row */
+        in = *__SIMD32(pInB)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) in;
+
+#else
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store the second element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *px = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Read two elements from the row */
+        in = *__SIMD32(pInB)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) in;
+
+#else
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store the second element in the destination */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *px = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.   
+       ** No loop unrolling is used. */
+      col = numColsB % 0x4u;
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pInB++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += numRowsB;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* Reset the variables for the usage in the following multiplication process */
+    row = numRowsA;
+    i = 0u;
+    px = pDst->pData;
+
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set   
+       ** to the starting address of the transposed pSrcB data */
+      pInB = pSrcBT;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Apply loop unrolling and compute 2 MACs simultaneously. */
+        colCnt = numColsA >> 1;
+
+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+        pInA = pSrcA->pData + i;
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum = __SMLALD(*__SIMD32(pInA)++, *__SIMD32(pInB)++, sum);
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* process odd column samples */
+        if((numColsA & 0x1u) > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          sum += ((q31_t) * pInA * (*pInB++));
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px = (q15_t) (__SSAT((sum >> 15), 16));
+        px++;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+      i = i + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q15_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q15_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set         
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate the pointer pIn1 to point to the starting address of pSrcA */
+        pIn1 = pInA;
+
+        /* Matrix A columns number of MAC operations are to be performed */
+        colCnt = numColsA;
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum += (q31_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 34.30 to 1.15 format and store the saturated value in destination buffer */
+        /* Saturate and store the result in the destination buffer */
+        *px++ = (q15_t) __SSAT((sum >> 15), 16);
+
+        /* Decrement the column loop counter */
+        col--;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        pIn2 = pInB + (numColsB - col);
+
+      } while(col > 0u);
+
+      /* Update the pointer pSrcA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
new file mode 100644
index 000000000..ad5036547
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_mult_q31.c
@@ -0,0 +1,278 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_mult_q31.c   
+*   
+* Description:	 Q31 matrix multiplication.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixMult   
+ * @{   
+ */
+
+/**   
+ * @brief Q31 matrix multiplication   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The accumulator has a 2.62 format and maintains full precision of the intermediate   
+ * multiplication results but provides only a single guard bit. There is no saturation   
+ * on intermediate additions. Thus, if the accumulator overflows it wraps around and   
+ * distorts the result. The input signals should be scaled down to avoid intermediate   
+ * overflows. The input is thus scaled down by log2(numColsA) bits   
+ * to avoid overflows, as a total of numColsA additions are performed internally.   
+ * The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.   
+ *   
+ * \par   
+ * See arm_mat_mult_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4.   
+ *   
+ */
+
+arm_status arm_mat_mult_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  q63_t sum;                                     /* Accumulator */
+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A    */
+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  uint16_t col, i = 0u, j, row = numRowsA, colCnt;      /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set   
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      j = 0u;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate the pointer pIn1 to point to the starting address of pInA */
+        pIn1 = pInA;
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining output samples here.   
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4u;
+
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 2.62 to 1.31 format and store in destination buffer */
+        *px++ = (q31_t) (sum >> 31);
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        j++;
+        pIn2 = (pSrcB->pData) + j;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } while(col > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+  uint16_t col, i = 0u, row = numRowsA, colCnt;  /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numCols != pSrcB->numRows) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + i;
+
+      /* For every row wise process, the column loop counter is to be initiated */
+      col = numColsB;
+
+      /* For every row wise process, the pIn2 pointer is set         
+       ** to the starting address of the pSrcB data */
+      pIn2 = pSrcB->pData;
+
+      /* column loop */
+      do
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate the pointer pIn1 to point to the starting address of pInA */
+        pIn1 = pInA;
+
+        /* Matrix A columns number of MAC operations are to be performed */
+        colCnt = numColsA;
+
+        /* matrix multiplication */
+        while(colCnt > 0u)
+        {
+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2) * b(2,1) + .... + a(m,p)*b(p,n) */
+          /* Perform the multiply-accumulates */
+          sum += (q63_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 2.62 to 1.31 format and store in destination buffer */
+        *px++ = (q31_t) (sum >> 31);
+
+        /* Decrement the column loop counter */
+        col--;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        pIn2 = pInB + (numColsB - col);
+
+      } while(col > 0u);
+
+#endif
+
+      /* Update the pointer pInA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixMult group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
new file mode 100644
index 000000000..65d5cfd20
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_f32.c
@@ -0,0 +1,156 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:        arm_mat_scale_f32.c   
+*   
+* Description:	Multiplies a floating-point matrix by a scalar.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @defgroup MatrixScale Matrix Scale   
+ *   
+ * Multiplies a matrix by a scalar.  This is accomplished by multiplying each element in the   
+ * matrix by the scalar.  For example:   
+ * \image html MatrixScale.gif "Matrix Scaling of a 3 x 3 matrix"   
+ *   
+ * The function checks to make sure that the input and output matrices are of the same size.   
+ *   
+ * In the fixed-point Q15 and Q31 functions, scale is represented by   
+ * a fractional multiplication scaleFract and an arithmetic shift shift.   
+ * The shift allows the gain of the scaling operation to exceed 1.0.   
+ * The overall scale factor applied to the fixed-point data is   
+ * 
       
+ *     scale = scaleFract * 2^shift.   
+ * 
       
+ */
+
+/**   
+ * @addtogroup MatrixScale   
+ * @{   
+ */
+
+/**   
+ * @brief Floating-point matrix scaling.   
+ * @param[in]       *pSrc points to input matrix structure   
+ * @param[in]       scale scale factor to be applied    
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either ARM_MATH_SIZE_MISMATCH    
+ * or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ */
+
+arm_status arm_mat_scale_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  float32_t scale,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix scaling     */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * scale */
+      /* Scaling and results are stored in the destination buffer. */
+      *pOut++ = (*pIn++) * scale;
+      *pOut++ = (*pIn++) * scale;
+      *pOut++ = (*pIn++) * scale;
+      *pOut++ = (*pIn++) * scale;
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * scale */
+      /* The results are stored in the destination buffer. */
+      *pOut++ = (*pIn++) * scale;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixScale group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
new file mode 100644
index 000000000..fbdc51134
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q15.c
@@ -0,0 +1,150 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_scale_q15.c   
+*   
+* Description:	Multiplies a Q15 matrix by a scalar.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixScale   
+ * @{   
+ */
+
+/**   
+ * @brief Q15 matrix scaling.   
+ * @param[in]       *pSrc points to input matrix   
+ * @param[in]       scaleFract fractional portion of the scale factor   
+ * @param[in]       shift number of bits to shift the result by   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The input data *pSrc and scaleFract are in 1.15 format.   
+ * These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.   
+ */
+
+arm_status arm_mat_scale_q15(
+  const arm_matrix_instance_q15 * pSrc,
+  q15_t scaleFract,
+  int32_t shift,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pIn = pSrc->pData;                      /* input data matrix pointer */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  int32_t totShift = 15 - shift;                 /* total shift to apply after scaling */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix scaling     */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch */
+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * k */
+      /* Scale, saturate and then store the results in the destination buffer. */
+      *pOut++ =
+        (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> totShift, 16));
+      *pOut++ =
+        (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> totShift, 16));
+      *pOut++ =
+        (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> totShift, 16));
+      *pOut++ =
+        (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> totShift, 16));
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * k */
+      /* Scale, saturate and then store the results in the destination buffer. */
+      *pOut++ =
+        (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> totShift, 16));
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixScale group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
new file mode 100644
index 000000000..e94f9a5cb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_scale_q31.c
@@ -0,0 +1,152 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_scale_q31.c   
+*   
+* Description:	Multiplies a Q31 matrix by a scalar.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixScale   
+ * @{   
+ */
+
+/**   
+ * @brief Q31 matrix scaling.   
+ * @param[in]       *pSrc points to input matrix   
+ * @param[in]       scaleFract fractional portion of the scale factor   
+ * @param[in]       shift number of bits to shift the result by   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The input data *pSrc and scaleFract are in 1.31 format.   
+ * These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format.   
+ */
+
+arm_status arm_mat_scale_q31(
+  const arm_matrix_instance_q31 * pSrc,
+  q31_t scaleFract,
+  int32_t shift,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q63_t out;                                     /* temporary variable to hold output value */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  int32_t totShift = 31 - shift;                 /* shift to apply after scaling */
+  uint32_t blkCnt;                               /* loop counters  */
+  arm_status status;                             /* status of matrix scaling      */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch  */
+  if((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * k */
+      /* Scale, saturate and then store the results in the destination buffer. */
+      out = ((q63_t) * pIn++ * scaleFract) >> totShift;
+      *pOut++ = clip_q63_to_q31(out);
+      out = ((q63_t) * pIn++ * scaleFract) >> totShift;
+      *pOut++ = clip_q63_to_q31(out);
+      out = ((q63_t) * pIn++ * scaleFract) >> totShift;
+      *pOut++ = clip_q63_to_q31(out);
+      out = ((q63_t) * pIn++ * scaleFract) >> totShift;
+      *pOut++ = clip_q63_to_q31(out);
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) * k */
+      /* Scale, saturate and then store the results in the destination buffer. */
+      out = ((q63_t) * pIn++ * scaleFract) >> totShift;
+      *pOut++ = clip_q63_to_q31(out);
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixScale group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
new file mode 100644
index 000000000..4a5823e89
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_f32.c
@@ -0,0 +1,151 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_sub_f32.c   
+*   
+* Description:	Floating-point matrix subtraction.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @defgroup MatrixSub Matrix Subtraction   
+ *   
+ * Subtract two matrices.   
+ * \image html MatrixSubtraction.gif "Subraction of two 3 x 3 matrices"   
+ *   
+ * The functions check to make sure that   
+ * pSrcA, pSrcB, and pDst have the same   
+ * number of rows and columns.   
+ */
+
+/**   
+ * @addtogroup MatrixSub   
+ * @{   
+ */
+
+/**   
+ * @brief Floating-point matrix subtraction   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ */
+
+arm_status arm_mat_sub_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */
+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer  */
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      *pOut++ = (*pIn1++) - (*pIn2++);
+      *pOut++ = (*pIn1++) - (*pIn2++);
+      *pOut++ = (*pIn1++) - (*pIn2++);
+      *pOut++ = (*pIn1++) - (*pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      *pOut++ = (*pIn1++) - (*pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixSub group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
new file mode 100644
index 000000000..d8acbd31c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q15.c
@@ -0,0 +1,155 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_sub_q15.c   
+*   
+* Description:	Q15 Matrix subtraction   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixSub   
+ * @{   
+ */
+
+/**   
+ * @brief Q15 matrix subtraction.   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.   
+ */
+
+arm_status arm_mat_sub_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+  q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters  */
+  arm_status status;                             /* status of matrix subtraction  */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Apply loop unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract, Saturate and then store the results in the destination buffer. */
+      *__SIMD32(pOut)++ = __QSUB16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
+      *__SIMD32(pOut)++ = __QSUB16(*__SIMD32(pInA)++, *__SIMD32(pInB)++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      *pOut++ = (q15_t) __QSUB16(*pInA++, *pInB++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixSub group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
new file mode 100644
index 000000000..c5eac4e77
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_sub_q31.c
@@ -0,0 +1,158 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_sub_q31.c   
+*   
+* Description:	Q31 matrix subtraction   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixSub   
+ * @{   
+ */
+
+/**   
+ * @brief Q31 matrix subtraction.   
+ * @param[in]       *pSrcA points to the first input matrix structure   
+ * @param[in]       *pSrcB points to the second input matrix structure   
+ * @param[out]      *pDst points to output matrix structure   
+ * @return     		The function returns either   
+ * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ *   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated.   
+ */
+
+
+arm_status arm_mat_sub_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition  */
+  if((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#ifndef ARM_MATH_CM0
+
+    /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+    /* Loop Unrolling */
+    blkCnt = numSamples >> 2u;
+
+    /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract, saturate and then store the results in the destination buffer. */
+      *pOut++ = __QSUB(*pIn1++, *pIn2++);
+      *pOut++ = __QSUB(*pIn1++, *pIn2++);
+      *pOut++ = __QSUB(*pIn1++, *pIn2++);
+      *pOut++ = __QSUB(*pIn1++, *pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.   
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4u;
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract, saturate and then store the results in the destination buffer. */
+      *pOut++ = __QSUB(*pIn1++, *pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#else
+
+    /* Run the below code for Cortex-M0 */
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+    while(blkCnt > 0u)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract, saturate and then store the results in the destination buffer. */
+      *pOut++ = clip_q63_to_q31(((q63_t) (*pIn1++)) - (*pIn2++));
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixSub group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
new file mode 100644
index 000000000..ada0c3914
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_f32.c
@@ -0,0 +1,213 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_trans_f32.c   
+*   
+* Description:	Floating-point matrix transpose.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+/**   
+ * @defgroup MatrixTrans Matrix Transpose   
+ *   
+ * Tranposes a matrix.   
+ * Transposing an M x N matrix flips it around the center diagonal and results in an N x M matrix.   
+ * \image html MatrixTranspose.gif "Transpose of a 3 x 3 matrix"   
+ */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixTrans   
+ * @{   
+ */
+
+/**   
+  * @brief Floating-point matrix transpose.   
+  * @param[in]  *pSrc points to the input matrix   
+  * @param[out] *pDst points to the output matrix   
+  * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH   
+  * or ARM_MATH_SUCCESS based on the outcome of size checking.   
+  */
+
+
+arm_status arm_mat_trans_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float32_t *px;                                 /* Temporary output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of rows */
+  uint16_t nColumns = pSrc->numCols;             /* number of columns */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  uint16_t blkCnt, i = 0u, row = nRows;          /* loop counters */
+  arm_status status;                             /* status of matrix transpose  */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* Loop Unrolling */
+      blkCnt = nColumns >> 2;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(blkCnt > 0u)        /* column loop */
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+      /* Perform matrix transpose for last 3 samples here. */
+      blkCnt = nColumns % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  uint16_t col, i = 0u, row = nRows;             /* loop counters */
+  arm_status status;                             /* status of matrix transpose  */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);          /* row loop end  */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixTrans group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
new file mode 100644
index 000000000..c2f0ec388
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q15.c
@@ -0,0 +1,234 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_trans_q15.c   
+*   
+* Description:	Q15 matrix transpose.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixTrans   
+ * @{   
+ */
+
+/*   
+ * @brief Q15 matrix transpose.   
+ * @param[in]  *pSrc points to the input matrix   
+ * @param[out] *pDst points to the output matrix   
+ * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH   
+ * or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ */
+
+arm_status arm_mat_trans_q15(
+  const arm_matrix_instance_q15 * pSrc,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pSrcA = pSrc->pData;                    /* input data matrix pointer */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of nRows */
+  uint16_t nColumns = pSrc->numCols;             /* number of nColumns */
+  uint16_t col, row = nRows, i = 0u;             /* row and column loop counters */
+  arm_status status;                             /* status of matrix transpose */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in;                                      /* variable to hold temporary output  */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* Apply loop unrolling and exchange the columns with row elements */
+      col = nColumns >> 2u;
+
+      /* The pointer pOut is set to starting address of the column being processed */
+      pOut = pDst->pData + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(col > 0u)
+      {
+        /* Read two elements from the row */
+        in = *__SIMD32(pSrcA)++;
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *pOut = (q15_t) in;
+
+#else
+
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Unpack and store the second element in the destination */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *pOut = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Read two elements from the row */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        in = *__SIMD32(pSrcA)++;
+
+#else
+
+        in = *__SIMD32(pSrcA)++;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Unpack and store one element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *pOut = (q15_t) in;
+
+#else
+
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Unpack and store the second element in the destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#else
+
+        *pOut = (q15_t) in;
+
+#endif /*    #ifndef ARM_MATH_BIG_ENDIAN    */
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      /* Perform matrix transpose for last 3 samples here. */
+      col = nColumns % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* The pointer pOut is set to starting address of the column being processed */
+      pOut = pDst->pData + i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *pOut = *pSrcA++;
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while(row > 0u);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixTrans group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
new file mode 100644
index 000000000..f96f1b311
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/MatrixFunctions/arm_mat_trans_q31.c
@@ -0,0 +1,205 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_mat_trans_q31.c   
+*   
+* Description:	Q31 matrix transpose.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+*    incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupMatrix   
+ */
+
+/**   
+ * @addtogroup MatrixTrans   
+ * @{   
+ */
+
+/*   
+  * @brief Q31 matrix transpose.   
+  * @param[in]  *pSrc points to the input matrix   
+  * @param[out] *pDst points to the output matrix   
+  * @return 	The function returns either  ARM_MATH_SIZE_MISMATCH   
+  * or ARM_MATH_SUCCESS based on the outcome of size checking.   
+ */
+
+arm_status arm_mat_trans_q31(
+  const arm_matrix_instance_q31 * pSrc,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer  */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer  */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of nRows */
+  uint16_t nColumns = pSrc->numCols;             /* number of nColumns  */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  uint16_t blkCnt, i = 0u, row = nRows;          /* loop counters */
+  arm_status status;                             /* status of matrix transpose */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* Apply loop unrolling and exchange the columns with row elements */
+      blkCnt = nColumns >> 2u;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while(blkCnt > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+      /* Perform matrix transpose for last 3 samples here. */
+      blkCnt = nColumns % 0x4u;
+
+      while(blkCnt > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  uint16_t col, i = 0u, row = nRows;             /* loop counters */
+  arm_status status;                             /* status of matrix transpose */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop     */
+    do
+    {
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+      while(col > 0u)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    }
+    while(row > 0u);            /* row loop end */
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**   
+ * @} end of MatrixTrans group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
new file mode 100644
index 000000000..c63316f00
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_f32.c
@@ -0,0 +1,127 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_max_f32.c   
+*   
+* Description:	Maximum value of a floating-point vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @defgroup Max Maximum   
+ *   
+ * Computes the maximum value of an array of data.    
+ * The function returns both the maximum value and its position within the array.    
+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.   
+ */
+
+/**   
+ * @addtogroup Max   
+ * @{   
+ */
+
+
+/**   
+ * @brief Maximum value of a floating-point vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult maximum value returned here   
+ * @param[out]      *pIndex index of maximum value returned here   
+ * @return none.   
+ */
+
+void arm_max_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult,
+  uint32_t * pIndex)
+{
+  float32_t maxVal, out;                         /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop over blockSize number of values */
+  blkCnt = (blockSize - 1u);
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal)
+    {
+      /* Update the maximum value and it's index */
+      out = maxVal;
+      outIndex = blockSize - blkCnt;
+    }
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  } while(blkCnt > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal)
+    {
+      /* Update the maximum value and it's index */
+      out = maxVal;
+      outIndex = blockSize - blkCnt;
+    }
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  /* Store the maximum value and it's index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**   
+ * @} end of Max group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
new file mode 100644
index 000000000..27c995bb2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q15.c
@@ -0,0 +1,119 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_max_q15.c   
+*   
+* Description:	Maximum value of a Q15 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup Max   
+ * @{   
+ */
+
+
+/**   
+ * @brief Maximum value of a Q15 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult maximum value returned here   
+ * @param[out]      *pIndex index of maximum value returned here   
+ * @return none.   
+ */
+
+void arm_max_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult,
+  uint32_t * pIndex)
+{
+  q15_t maxVal, out;                             /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop over blockSize number of values */
+  blkCnt = (blockSize - 1u);
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    blkCnt--;
+
+  } while(blkCnt > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal;
+      outIndex = blockSize - blkCnt;
+    }
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the maximum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**   
+ * @} end of Max group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
new file mode 100644
index 000000000..f78c4a366
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q31.c
@@ -0,0 +1,121 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_max_q31.c   
+*   
+* Description:	Maximum value of a Q31 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup Max   
+ * @{   
+ */
+
+
+/**   
+ * @brief Maximum value of a Q31 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult maximum value returned here   
+ * @param[out]      *pIndex index of maximum value returned here   
+ * @return none.   
+ */
+
+void arm_max_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult,
+  uint32_t * pIndex)
+{
+  q31_t maxVal, out;                             /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop over blockSize number of values */
+  blkCnt = (blockSize - 1u);
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  do
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  } while(blkCnt > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal = *pSrc++;
+
+    /* Compare for the maximum value */
+    if(out < maxVal)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the maximum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**   
+ * @} end of Max group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
new file mode 100644
index 000000000..86309e53d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_max_q7.c
@@ -0,0 +1,206 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_max_q7.c   
+*   
+* Description:	Maximum value of a Q7 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup Max   
+ * @{   
+ */
+
+
+/**   
+ * @brief Maximum value of a Q7 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult maximum value returned here   
+ * @param[out]      *pIndex index of maximum value returned here   
+  * @return none.   
+ */
+
+void arm_max_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * pResult,
+  uint32_t * pIndex)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t res, maxVal, x0, x1, maxVal2, maxVal1;    /* Temporary variables to store the output value. */
+  uint32_t blkCnt, index1, index2, index3, indx, indxMod;       /* loop counter */
+
+  /* Initialise the index value to zero. */
+  indx = 0u;
+
+  /* Load first input value that act as reference value for comparision */
+  res = *pSrc++;
+
+  /* Loop unrolling */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.  
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    indxMod = blockSize - (blkCnt * 4u);
+
+    /* Load two input values for comparision */
+    x0 = *pSrc++;
+    x1 = *pSrc++;
+
+    if(x0 < x1)
+    {
+      /* Update the maximum value and its index */
+      maxVal1 = x1;
+      index1 = indxMod + 1u;
+    }
+    else
+    {
+      /* Update the maximum value and its index */
+      maxVal1 = x0;
+      index1 = indxMod;
+    }
+
+    /* Load two input values for comparision */
+    x0 = *pSrc++;
+    x1 = *pSrc++;
+
+    if(x0 < x1)
+    {
+      /* Update the maximum value and its index */
+      maxVal2 = x1;
+      index2 = indxMod + 3u;
+    }
+    else
+    {
+      /* Update the maximum value and its index */
+      maxVal2 = x0;
+      index2 = indxMod + 2u;
+    }
+
+    if(maxVal1 < maxVal2)
+    {
+      /* Update the maximum value and its index */
+      maxVal = maxVal2;
+      index3 = index2;
+    }
+    else
+    {
+      /* Update the maximum value and its index */
+      maxVal = maxVal1;
+      index3 = index1;
+    }
+
+    if(res < maxVal)
+    {
+      /* Update the maximum value and its index */
+      res = maxVal;
+      indx = index3;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* If the blockSize - 1 is not a multiple of 4, compute any remaining output samples here.  
+   ** No loop unrolling is used. */
+  blkCnt = (blockSize - 1u) % 0x04u;
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal = *pSrc++;
+
+    /* compare for the maximum value */
+    if(res < maxVal)
+    {
+      /* Update the maximum value and its index */
+      res = maxVal;
+      indx = blockSize - blkCnt;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the maximum value and its index into destination pointers */
+  *pResult = res;
+  *pIndex = indx;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q7_t maxVal, out;                              /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop over blockSize - 1 number of values */
+  blkCnt = (blockSize - 1u);
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize maxVal to the next consecutive values one by one */
+    maxVal = *pSrc++;
+
+    /* compare for the maximum value */
+    if(out < maxVal)
+    {
+      /* Update the maximum value and its index */
+      out = maxVal;
+      outIndex = blockSize - blkCnt;
+    }
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  /* Store the maximum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Max group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
new file mode 100644
index 000000000..0024b485d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_f32.c
@@ -0,0 +1,122 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_mean_f32.c   
+*   
+* Description:	Mean value of a floating-point vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @defgroup mean Mean   
+ *   
+ * Calculates the mean of the input vector. Mean is defined as the average of the elements in the vector.   
+ * The underlying algorithm is used:   
+ *   
+ * 
       
+ * 	Result = (pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]) / blockSize;   
+ * 
       
+ *   
+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.   
+ */
+
+/**   
+ * @addtogroup mean   
+ * @{   
+ */
+
+
+/**   
+ * @brief Mean value of a floating-point vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult mean value returned here   
+ * @return none.   
+ */
+
+
+void arm_mean_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+  float32_t sum = 0.0f;                          /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
+  /* Store the result to the destination */
+  *pResult = sum / (float32_t) blockSize;
+}
+
+/**   
+ * @} end of mean group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
new file mode 100644
index 000000000..fc49d125e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q15.c
@@ -0,0 +1,119 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_mean_q15.c   
+*   
+* Description:	Mean value of a Q15 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup mean   
+ * @{   
+ */
+
+/**   
+ * @brief Mean value of a Q15 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult mean value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.   
+ * The input is represented in 1.15 format and is accumulated in a 32-bit    
+ * accumulator in 17.15 format.    
+ * There is no risk of internal overflow with this approach, and the    
+ * full precision of intermediate result is preserved.    
+ * Finally, the accumulator is saturated and truncated to yield a result of 1.15 format.   
+ *   
+ */
+
+
+void arm_mean_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult)
+{
+  q31_t sum = 0;                                 /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
+  /* Store the result to the destination */
+  *pResult = (q15_t) (sum / blockSize);
+}
+
+/**   
+ * @} end of mean group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
new file mode 100644
index 000000000..5cc56bf5a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q31.c
@@ -0,0 +1,119 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_mean_q31.c   
+*   
+* Description:	Mean value of a Q31 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup mean   
+ * @{   
+ */
+
+/**   
+ * @brief Mean value of a Q31 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult mean value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *\par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * The input is represented in 1.31 format and is accumulated in a 64-bit   
+ * accumulator in 33.31 format.   
+ * There is no risk of internal overflow with this approach, and the    
+ * full precision of intermediate result is preserved.    
+ * Finally, the accumulator is truncated to yield a result of 1.31 format.   
+ *   
+ */
+
+
+void arm_mean_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q63_t sum = 0;                                 /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
+  /* Store the result to the destination */
+  *pResult = (q31_t) (sum / (int32_t) blockSize);
+}
+
+/**   
+ * @} end of mean group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
new file mode 100644
index 000000000..33ce695f3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_mean_q7.c
@@ -0,0 +1,119 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_mean_q7.c   
+*   
+* Description:	Mean value of a Q7 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup mean   
+ * @{   
+ */
+
+/**   
+ * @brief Mean value of a Q7 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult mean value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.    
+ * The input is represented in 1.7 format and is accumulated in a 32-bit   
+ * accumulator in 25.7 format.   
+ * There is no risk of internal overflow with this approach, and the    
+ * full precision of intermediate result is preserved.    
+ * Finally, the accumulator is truncated to yield a result of 1.7 format.   
+ *   
+ */
+
+
+void arm_mean_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * pResult)
+{
+  q31_t sum = 0;                                 /* Temporary result storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) / blockSize  */
+  /* Store the result to the destination */
+  *pResult = (q7_t) (sum / (int32_t) blockSize);
+}
+
+/**   
+ * @} end of mean group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
new file mode 100644
index 000000000..4319a46cb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_f32.c
@@ -0,0 +1,133 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_min_f32.c   
+*   
+* Description:	Minimum value of a floating-point vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @defgroup Min Minimum   
+ *   
+ * Computes the minimum value of an array of data.    
+ * The function returns both the minimum value and its position within the array.    
+ * There are separate functions for floating-point, Q31, Q15, and Q7 data types.   
+ */
+
+/**   
+ * @addtogroup Min   
+ * @{   
+ */
+
+
+/**   
+ * @brief Minimum value of a floating-point vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult minimum value returned here   
+ * @param[out]      *pIndex index of minimum value returned here   
+  * @return none.   
+ *   
+ */
+
+void arm_min_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult,
+  uint32_t * pIndex)
+{
+  float32_t minVal, out;                         /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+
+  /* Loop over blockSize number of values */
+  blkCnt = (blockSize - 1u);
+
+  do
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal)
+    {
+      /* Update the minimum value and it's index */
+      out = minVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    blkCnt--;
+
+  } while(blkCnt > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize - 1 number of values */
+  blkCnt = (blockSize - 1u);
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal)
+    {
+      /* Update the minimum value and it's index */
+      out = minVal;
+      outIndex = blockSize - blkCnt;
+    }
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  /* Store the minimum value and it's index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**   
+ * @} end of Min group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
new file mode 100644
index 000000000..8763c4102
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q15.c
@@ -0,0 +1,127 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_min_q15.c   
+*   
+* Description:	Minimum value of a Q15 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+
+/**   
+ * @addtogroup Min   
+ * @{   
+ */
+
+
+/**   
+ * @brief Minimum value of a Q15 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult minimum value returned here   
+ * @param[out]      *pIndex index of minimum value returned here   
+ * @return none.   
+ *   
+ */
+
+void arm_min_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult,
+  uint32_t * pIndex)
+{
+  q15_t minVal, out;                             /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+
+  /* Loop over blockSize number of values */
+  blkCnt = (blockSize - 1u);
+
+  do
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal)
+    {
+      /* Update the minimum value and its index */
+      out = minVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    blkCnt--;
+
+  } while(blkCnt > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize - 1 number of values */
+  blkCnt = (blockSize - 1u);
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal)
+    {
+      /* Update the minimum value and its index */
+      out = minVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  /* Store the minimum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**   
+ * @} end of Min group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
new file mode 100644
index 000000000..6c7f94786
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q31.c
@@ -0,0 +1,125 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_min_q31.c   
+*   
+* Description:	Minimum value of a Q31 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+
+/**   
+ * @addtogroup Min   
+ * @{   
+ */
+
+
+/**   
+ * @brief Minimum value of a Q31 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult minimum value returned here   
+ * @param[out]      *pIndex index of minimum value returned here   
+ * @return none.   
+ *   
+ */
+
+void arm_min_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult,
+  uint32_t * pIndex)
+{
+  q31_t minVal, out;                             /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = (blockSize - 1u);
+
+  do
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal)
+    {
+      /* Update the minimum value and its index */
+      out = minVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    blkCnt--;
+
+  } while(blkCnt > 0u);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize -1 number of values */
+  blkCnt = (blockSize - 1u);
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal)
+    {
+      /* Update the minimum value and its index */
+      out = minVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the minimum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+}
+
+/**   
+ * @} end of Min group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
new file mode 100644
index 000000000..5f8250c22
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_min_q7.c
@@ -0,0 +1,204 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_min_q7.c   
+*   
+* Description:	Minimum value of a Q7 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup Min   
+ * @{   
+ */
+
+
+/**   
+ * @brief Minimum value of a Q7 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult minimum value returned here   
+ * @param[out]      *pIndex index of minimum value returned here   
+ * @return none.   
+ *   
+ */
+
+void arm_min_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q7_t * pResult,
+  uint32_t * pIndex)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q7_t minVal, minVal1, minVal2, res, x0, x1;    /* Temporary variables to store the output value. */
+  uint32_t blkCnt, indx, index1, index2, index3, indxMod;       /* loop counter */
+
+  /* Initialise the index value to zero. */
+  indx = 0u;
+
+  /* Load first input value that act as reference value for comparision */
+  res = *pSrc++;
+
+  /* Loop over blockSize number of values */
+  blkCnt = (blockSize - 1u) >> 2u;
+
+  while(blkCnt > 0u)
+  {
+    indxMod = blockSize - (blkCnt * 4u);
+
+    /* Load two input values for comparision */
+    x0 = *pSrc++;
+    x1 = *pSrc++;
+
+    if(x0 > x1)
+    {
+      /* Update the minimum value and its index */
+      minVal1 = x1;
+      index1 = indxMod + 1u;
+    }
+    else
+    {
+      /* Update the minimum value and its index */
+      minVal1 = x0;
+      index1 = indxMod;
+    }
+
+    /* Load two input values for comparision */
+    x0 = *pSrc++;
+    x1 = *pSrc++;
+
+    if(x0 > x1)
+    {
+      /* Update the minimum value and its index */
+      minVal2 = x1;
+      index2 = indxMod + 3u;
+    }
+    else
+    {
+      /* Update the minimum value and its index */
+      minVal2 = x0;
+      index2 = indxMod + 2u;
+    }
+
+    if(minVal1 > minVal2)
+    {
+      /* Update the minimum value and its index */
+      minVal = minVal2;
+      index3 = index2;
+    }
+    else
+    {
+      /* Update the minimum value and its index */
+      minVal = minVal1;
+      index3 = index1;
+    }
+
+    if(res > minVal)
+    {
+      /* Update the minimum value and its index */
+      res = minVal;
+      indx = index3;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+
+  }
+
+  blkCnt = (blockSize - 1u) % 0x04u;
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal = *pSrc++;
+
+    /* compare for the minimum value */
+    if(res > minVal)
+    {
+      /* Update the minimum value and its index */
+      res = minVal;
+      indx = blockSize - blkCnt;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the minimum value and its index into destination pointers */
+  *pResult = res;
+  *pIndex = indx;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q7_t minVal, out;                              /* Temporary variables to store the output value. */
+  uint32_t blkCnt, outIndex;                     /* loop counter */
+
+  /* Initialise the index value to zero. */
+  outIndex = 0u;
+
+  /* Load first input value that act as reference value for comparision */
+  out = *pSrc++;
+
+  /* Loop over blockSize - 1 number of values */
+  blkCnt = (blockSize - 1u);
+
+  while(blkCnt > 0u)
+  {
+    /* Initialize minVal to the next consecutive values one by one */
+    minVal = *pSrc++;
+
+    /* compare for the minimum value */
+    if(out > minVal)
+    {
+      /* Update the minimum value and its index */
+      out = minVal;
+      outIndex = blockSize - blkCnt;
+    }
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the minimum value and its index into destination pointers */
+  *pResult = out;
+  *pIndex = outIndex;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of Min group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
new file mode 100644
index 000000000..8139afd0e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_f32.c
@@ -0,0 +1,135 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_power_f32.c   
+*   
+* Description:	Sum of the squares of the elements of a floating-point vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @defgroup power Power   
+ *   
+ * Calculates the sum of the squares of the elements in the input vector.   
+ * The underlying algorithm is used:   
+ *   
+ * 
       
+ * 	Result = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + pSrc[2] * pSrc[2] + ... + pSrc[blockSize-1] * pSrc[blockSize-1];   
+ * 
       
+ *  
+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.    
+ */
+
+/**   
+ * @addtogroup power   
+ * @{   
+ */
+
+
+/**   
+ * @brief Sum of the squares of the elements of a floating-point vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult sum of the squares value returned here   
+ * @return none.   
+ *   
+ */
+
+
+void arm_power_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+  float32_t sum = 0.0f;                          /* accumulator */
+  float32_t in;                                  /* Temporary variable to store input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* compute power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the result to the destination */
+  *pResult = sum;
+}
+
+/**   
+ * @} end of power group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
new file mode 100644
index 000000000..45d1c43cc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q15.c
@@ -0,0 +1,141 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_power_q15.c   
+*   
+* Description:	Sum of the squares of the elements of a Q15 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup power   
+ * @{   
+ */
+
+/**   
+ * @brief Sum of the squares of the elements of a Q15 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult sum of the squares value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.    
+ * The input is represented in 1.15 format.  
+ * Intermediate multiplication yields a 2.30 format, and this   
+ * result is added without saturation to a 64-bit accumulator in 34.30 format.   
+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the   
+ * full precision of the intermediate multiplication is preserved.   
+ * Finally, the return result is in 34.30 format.    
+ *   
+ */
+
+void arm_power_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult)
+{
+  q63_t sum = 0;                                 /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in32;                                    /* Temporary variable to store input value */
+  q15_t in16;                                    /* Temporary variable to store input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in32 = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in32, in32, sum);
+    in32 = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in32, in32, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in16 = *pSrc++;
+    sum = __SMLALD(in16, in16, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t in;                                      /* Temporary variable to store input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q31_t) in * in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Store the results in 34.30 format  */
+  *pResult = sum;
+}
+
+/**   
+ * @} end of power group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
new file mode 100644
index 000000000..b47195577
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q31.c
@@ -0,0 +1,132 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_power_q31.c   
+*   
+* Description:	Sum of the squares of the elements of a Q31 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup power   
+ * @{   
+ */
+
+/**   
+ * @brief Sum of the squares of the elements of a Q31 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult sum of the squares value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * The input is represented in 1.31 format.   
+ * Intermediate multiplication yields a 2.62 format, and this   
+ * result is truncated to 2.48 format by discarding the lower 14 bits.   
+ * The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format.   
+ * With 15 guard bits in the accumulator, there is no risk of overflow, and the   
+ * full precision of the intermediate multiplication is preserved.   
+ * Finally, the return result is in 16.48 format.    
+ *   
+ */
+
+void arm_power_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult)
+{
+  q63_t sum = 0;                                 /* Temporary result storage */
+  q31_t in;
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power then shift intermediate results by 14 bits to maintain 16.48 format and then store the result in a temporary variable sum, providing 15 guard bits. */
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q63_t) in * in) >> 14u;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the results in 16.48 format  */
+  *pResult = sum;
+}
+
+/**   
+ * @} end of power group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
new file mode 100644
index 000000000..52159be2f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_power_q7.c
@@ -0,0 +1,137 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_power_q7.c   
+*   
+* Description:	Sum of the squares of the elements of a Q7 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup power   
+ * @{   
+ */
+
+/**   
+ * @brief Sum of the squares of the elements of a Q7 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult sum of the squares value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 32-bit internal accumulator.    
+ * The input is represented in 1.7 format.  
+ * Intermediate multiplication yields a 2.14 format, and this   
+ * result is added without saturation to an accumulator in 18.14 format.   
+ * With 17 guard bits in the accumulator, there is no risk of overflow, and the   
+ * full precision of the intermediate multiplication is preserved.   
+ * Finally, the return result is in 18.14 format.    
+ *   
+ */
+
+void arm_power_q7(
+  q7_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q31_t sum = 0;                                 /* Temporary result storage */
+  q7_t in;                                       /* Temporary variable to store input */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t input1;                                  /* Temporary variable to store packed input */
+  q15_t in1, in2;                                /* Temporary variables to store input */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* Reading two inputs of pSrc vector and packing */
+    in1 = (q15_t) * pSrc++;
+    in2 = (q15_t) * pSrc++;
+    input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    sum = __SMLAD(input1, input1, sum);
+
+    /* Reading two inputs of pSrc vector and packing */
+    in1 = (q15_t) * pSrc++;
+    in2 = (q15_t) * pSrc++;
+    input1 = ((q31_t) in1 & 0x0000FFFF) | ((q31_t) in2 << 16);
+
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    sum = __SMLAD(input1, input1, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute Power and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q15_t) in * in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Store the result in 18.14 format  */
+  *pResult = sum;
+}
+
+/**   
+ * @} end of power group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
new file mode 100644
index 000000000..4293a5280
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_f32.c
@@ -0,0 +1,130 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_rms_f32.c   
+*   
+* Description:	Root mean square value of an array of F32 type   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @defgroup RMS Root mean square (RMS)   
+ *   
+ *    
+ * Calculates the Root Mean Sqaure of the elements in the input vector.   
+ * The underlying algorithm is used:   
+ *   
+ * 
       
+ * 	Result = sqrt(((pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]) / blockSize));   
+ * 
       
+ *  
+ * There are separate functions for floating point, Q31, and Q15 data types.    
+ */
+
+/**   
+ * @addtogroup RMS   
+ * @{   
+ */
+
+
+/**   
+ * @brief Root Mean Square of the elements of a floating-point vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult rms value returned here   
+ * @return none.   
+ *   
+ */
+
+void arm_rms_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+  float32_t sum = 0.0f;                          /* Accumulator */
+  float32_t in;                                  /* Tempoprary variable to store input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the result in a temporary variable, sum  */
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum  */
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Rms and store the result in the destination */
+  arm_sqrt_f32(sum / (float32_t) blockSize, pResult);
+}
+
+/**   
+ * @} end of RMS group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
new file mode 100644
index 000000000..d5548cc7f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q15.c
@@ -0,0 +1,150 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_rms_q15.c   
+*   
+* Description:	Root Mean Square of the elements of a Q15 vector. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @addtogroup RMS   
+ * @{   
+ */
+
+/**   
+ * @brief Root Mean Square of the elements of a Q15 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult rms value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * The input is represented in 1.15 format.   
+ * Intermediate multiplication yields a 2.30 format, and this   
+ * result is added without saturation to a 64-bit accumulator in 34.30 format.   
+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the   
+ * full precision of the intermediate multiplication is preserved.   
+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower    
+ * 15 bits, and then saturated to yield a result in 1.15 format.   
+ *   
+ */
+
+void arm_rms_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult)
+{
+  q63_t sum = 0;                                 /* accumulator */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in;                                      /* temporary variable to store the input value */
+  q15_t in1;                                     /* temporary variable to store the input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /* loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in, in, sum);
+    in = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in, in, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in1 = *pSrc++;
+    sum = __SMLALD(in1, in1, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Truncating and saturating the accumulator to 1.15 format */
+  sum = __SSAT((q31_t) (sum >> 15), 16);
+
+  in1 = (q15_t) (sum / blockSize);
+
+  /* Store the result in the destination */
+  arm_sqrt_q15(in1, pResult);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t in;                                      /* temporary variable to store the input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in = *pSrc++;
+    sum += ((q31_t) in * in);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Truncating and saturating the accumulator to 1.15 format */
+  sum = __SSAT((q31_t) (sum >> 15), 16);
+
+  in = (q15_t) (sum / blockSize);
+
+  /* Store the result in the destination */
+  arm_sqrt_q15(in, pResult);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of RMS group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
new file mode 100644
index 000000000..5d5805316
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_rms_q31.c
@@ -0,0 +1,143 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_rms_q31.c   
+*   
+* Description:	Root Mean Square of the elements of a Q31 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @addtogroup RMS   
+ * @{   
+ */
+
+
+/**   
+ * @brief Root Mean Square of the elements of a Q31 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult rms value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ *\par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The input is represented in 1.31 format, and intermediate multiplication   
+ * yields a 2.62 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results,    
+ * but provides only a single guard bit.   
+ * There is no saturation on intermediate additions.   
+ * If the accumulator overflows, it wraps around and distorts the result.    
+ * In order to avoid overflows completely, the input signal must be scaled down by    
+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.    
+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.   
+ *   
+ */
+
+void arm_rms_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q63_t sum = 0;                                 /* accumulator */
+  q31_t in;                                      /* Temporary variable to store the input */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn1 = pSrc;                            /* SrcA pointer */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the result in a temporary variable, sum */
+    in = *pIn1++;
+    sum += (q63_t) in *in;
+    in = *pIn1++;
+    sum += (q63_t) in *in;
+    in = *pIn1++;
+    sum += (q63_t) in *in;
+    in = *pIn1++;
+    sum += (q63_t) in *in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in = *pIn1++;
+    sum += (q63_t) in *in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = A[0] * A[0] + A[1] * A[1] + A[2] * A[2] + ... + A[blockSize-1] * A[blockSize-1] */
+    /* Compute sum of the squares and then store the results in a temporary variable, sum */
+    in = *pSrc++;
+    sum += (q63_t) in *in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Convert data in 2.62 to 1.31 by 31 right shifts */
+  sum = sum >> 31;
+
+  /* Compute Rms and store the result in the destination vector */
+  arm_sqrt_q31((q31_t) (sum / (int32_t) blockSize), pResult);
+}
+
+/**   
+ * @} end of RMS group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
new file mode 100644
index 000000000..ea8c5b97d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_f32.c
@@ -0,0 +1,222 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_std_f32.c   
+*   
+* Description:	Standard deviation of the elements of a floating-point vector. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @defgroup STD Standard deviation   
+ *   
+ * Calculates the standard deviation of the elements in the input vector.    
+ * The underlying algorithm is used:   
+ *  
+ * 
       
+ * 	Result = sqrt((sumOfSquares - sum2 / blockSize) / (blockSize - 1))  
+ *  
+ *	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]  
+ *  
+ *	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]  
+ * 
      
+ *   
+ * There are separate functions for floating point, Q31, and Q15 data types.   
+ */
+
+/**   
+ * @addtogroup STD   
+ * @{   
+ */
+
+
+/**   
+ * @brief Standard deviation of the elements of a floating-point vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult standard deviation value returned here   
+ * @return none.   
+ *   
+ */
+
+
+void arm_std_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+  float32_t sum = 0.0f;                          /* Temporary result storage */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t meanOfSquares, mean, in, squareOfMean;
+  uint32_t blkCnt;                               /* loop counter */
+  float32_t *pIn;                                /* Temporary pointer */
+
+  pIn = pSrc;
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples   
+   * and then store the result in a temporary variable, meanOfSquares. */
+  meanOfSquares = sum / ((float32_t) blockSize - 1.0f);
+
+  /* Reset the accumulator */
+  sum = 0.0f;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Reset the input working pointer */
+  pSrc = pIn;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+  /* Compute mean of all input values */
+  mean = sum / (float32_t) blockSize;
+
+  /* Compute square of mean */
+  squareOfMean = (mean * mean) * (((float32_t) blockSize) /
+                                  ((float32_t) blockSize - 1.0f));
+
+  /* Compute standard deviation and then store the result to the destination */
+  arm_sqrt_f32((meanOfSquares - squareOfMean), pResult);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t sumOfSquares = 0.0f;                 /* Sum of squares */
+  float32_t squareOfSum;                         /* Square of Sum */
+  float32_t in;                                  /* input value */
+  float32_t var;                                 /* Temporary varaince storage */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += in * in;
+
+    /* C = (A[0] + A[1] + ... + A[blockSize-1]) */
+    /* Compute Sum of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute the square of sum */
+  squareOfSum = ((sum * sum) / (float32_t) blockSize);
+
+  /* Compute the variance */
+  var = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));
+
+  /* Compute standard deviation and then store the result to the destination */
+  arm_sqrt_f32(var, pResult);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of STD group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
new file mode 100644
index 000000000..371652dd2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q15.c
@@ -0,0 +1,229 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_std_q15.c   
+*   
+* Description:	Standard deviation of an array of Q15 type.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup STD   
+ * @{   
+ */
+
+/**   
+ * @brief Standard deviation of the elements of a Q15 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult standard deviation value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * The input is represented in 1.15 format.  
+ * Intermediate multiplication yields a 2.30 format, and this   
+ * result is added without saturation to a 64-bit accumulator in 34.30 format.   
+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the   
+ * full precision of the intermediate multiplication is preserved.   
+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower    
+ * 15 bits, and then saturated to yield a result in 1.15 format.   
+ */
+
+void arm_std_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q15_t * pResult)
+{
+  q63_t sum = 0;                                 /* Accumulator */
+  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */
+  q15_t mean;                                    /* mean */
+  uint32_t blkCnt;                               /* loop counter */
+  q15_t t;                                       /* Temporary variable */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t *pIn;                                    /* Temporary pointer */
+  q31_t in;                                      /* input value */
+  q15_t in1;                                     /* input value */
+
+  pIn = pSrc;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in, in, sum);
+    in = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in, in, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in1 = *pSrc++;
+    sum = __SMLALD(in1, in1, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples   
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q15_t) ((1.0 / (blockSize - 1)) * 16384LL);
+  sum = __SSAT((sum >> 15u), 16u);
+
+  meanOfSquares = (q31_t) ((sum * t) >> 14u);
+
+  /* Reset the accumulator */
+  sum = 0;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Reset the input working pointer */
+  pSrc = pIn;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+  /* Compute mean of all input values */
+  t = (q15_t) ((1.0 / (blockSize * (blockSize - 1))) * 32768LL);
+  mean = (q15_t) __SSAT(sum, 16u);
+
+  /* Compute square of mean */
+  squareOfMean = ((q31_t) mean * mean) >> 15;
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
+
+  /* mean of the squares minus the square of the mean. */
+  in1 = (q15_t) (meanOfSquares - squareOfMean);
+
+  /* Compute standard deviation and store the result to the destination */
+  arm_sqrt_q15(in1, pResult);
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q63_t sumOfSquares = 0;                        /* Accumulator */
+  q15_t in;                                      /* input value */
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += (in * in);
+
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q15_t) ((1.0 / (blockSize - 1)) * 16384LL);
+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
+
+  /* Compute mean of all input values */
+  mean = (q15_t) __SSAT(sum, 16u);
+
+  /* Compute square of mean of the input samples  
+   * and then store the result in a temporary variable, squareOfMean.*/
+  t = (q15_t) ((1.0 / (blockSize * (blockSize - 1))) * 32768LL);
+  squareOfMean = ((q31_t) mean * mean) >> 15;
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
+
+  /* mean of the squares minus the square of the mean. */
+  in = (q15_t) (meanOfSquares - squareOfMean);
+
+  /* Compute standard deviation and store the result to the destination */
+  arm_sqrt_q15(in, pResult);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+}
+
+/**   
+ * @} end of STD group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
new file mode 100644
index 000000000..a33d51b4f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_std_q31.c
@@ -0,0 +1,219 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_std_q31.c   
+*   
+* Description:	Standard deviation of an array of Q31 type.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup STD   
+ * @{   
+ */
+
+
+/**   
+ * @brief Standard deviation of the elements of a Q31 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult standard deviation value returned here   
+ * @return none.   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ *\par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The input is represented in 1.31 format, and intermediate multiplication   
+ * yields a 2.62 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results,    
+ * but provides only a single guard bit.   
+ * There is no saturation on intermediate additions.   
+ * If the accumulator overflows it wraps around and distorts the result.   
+ * In order to avoid overflows completely the input signal must be scaled down by    
+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.    
+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.   
+ *   
+ */
+
+
+void arm_std_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q63_t sum = 0;                                 /* Accumulator */
+  q31_t meanOfSquares, squareOfMean;             /* square of mean and mean of square */
+  q31_t mean;                                    /* mean */
+  q31_t in;                                      /* input value */
+  q31_t t;                                       /* Temporary variable */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn;                                    /* Temporary pointer */
+
+  pIn = pSrc;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);
+
+  /* Compute Mean of squares of the input samples   
+   * and then store the result in a temporary variable, meanOfSquares. */
+  sum = (sum >> 31);
+  meanOfSquares = (q31_t) ((sum * t) >> 30);
+
+  /* Reset the accumulator */
+  sum = 0;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Reset the input working pointer */
+  pSrc = pIn;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q63_t sumOfSquares = 0;                        /* Accumulator */
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += ((q63_t) (in) * (in));
+
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q31_t) ((1.0f / (float32_t) (blockSize - 1u)) * 1073741824.0f);
+  sumOfSquares = (sumOfSquares >> 31);
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 30);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Compute mean of all input values */
+  t = (q31_t) ((1.0f / (blockSize * (blockSize - 1u))) * 2147483648.0f);
+  mean = (q31_t) (sum);
+
+  /* Compute square of mean */
+  squareOfMean = (q31_t) (((q63_t) mean * mean) >> 31);
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 31);
+
+
+  /* Compute standard deviation and then store the result to the destination */
+  arm_sqrt_q31(meanOfSquares - squareOfMean, pResult);
+
+}
+
+/**   
+ * @} end of STD group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
new file mode 100644
index 000000000..89aca0e39
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_f32.c
@@ -0,0 +1,219 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_var_f32.c   
+*   
+* Description:	Variance of the elements of a floating-point vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @defgroup variance  Variance   
+ *   
+ * Calculates the variance of the elements in the input vector.   
+ * The underlying algorithm is used:   
+ *   
+ * 
       
+ * 	Result = (sumOfSquares - sum2 / blockSize) / (blockSize - 1)  
+ *  
+ *	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]  
+ *  
+ *	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]  
+ * 
      
+ *   
+ * There are separate functions for floating point, Q31, and Q15 data types.   
+ */
+
+/**   
+ * @addtogroup variance   
+ * @{   
+ */
+
+
+/**   
+ * @brief Variance of the elements of a floating-point vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult variance value returned here   
+ * @return none.   
+ *   
+ */
+
+
+void arm_var_f32(
+  float32_t * pSrc,
+  uint32_t blockSize,
+  float32_t * pResult)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  float32_t sum = (float32_t) 0.0;               /* Accumulator */
+  float32_t meanOfSquares, mean, in, squareOfMean;      /* Temporary variables */
+  uint32_t blkCnt;                               /* loop counter */
+  float32_t *pIn;                                /* Temporary pointer */
+
+  /* updating temporary pointer */
+  pIn = pSrc;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += in * in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples   
+   * and then store the result in a temporary variable, meanOfSquares. */
+  meanOfSquares = sum / ((float32_t) blockSize - 1.0f);
+
+  /* Reset the accumulator */
+  sum = 0.0f;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Reset the input working pointer */
+  pSrc = pIn;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+  /* Compute mean of all input values */
+  mean = sum / (float32_t) blockSize;
+
+  /* Compute square of mean */
+  squareOfMean = (mean * mean) * (((float32_t) blockSize) /
+                                  ((float32_t) blockSize - 1.0f));
+
+  /* Compute variance and then store the result to the destination */
+  *pResult = meanOfSquares - squareOfMean;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  float32_t sum = 0.0f;                          /* Temporary result storage */
+  float32_t sumOfSquares = 0.0f;                 /* Sum of squares */
+  float32_t squareOfSum;                         /* Square of Sum */
+  float32_t in;                                  /* input value */
+  uint32_t blkCnt;                               /* loop counter */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += in * in;
+
+    /* C = (A[0] + A[1] + ... + A[blockSize-1]) */
+    /* Compute Sum of the input samples    
+     * and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute the square of sum */
+  squareOfSum = ((sum * sum) / (float32_t) blockSize);
+
+  /* Compute the variance */
+  *pResult = ((sumOfSquares - squareOfSum) / (float32_t) (blockSize - 1.0f));
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of variance group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
new file mode 100644
index 000000000..972183422
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q15.c
@@ -0,0 +1,214 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_var_q15.c   
+*   
+* Description:	Variance of an array of Q15 type.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup variance   
+ * @{   
+ */
+
+/**   
+ * @brief Variance of the elements of a Q15 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult variance value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ * \par   
+ * The function is implemented using a 64-bit internal accumulator.   
+ * The input is represented in 1.15 format.  
+ * Intermediate multiplication yields a 2.30 format, and this   
+ * result is added without saturation to a 64-bit accumulator in 34.30 format.   
+ * With 33 guard bits in the accumulator, there is no risk of overflow, and the   
+ * full precision of the intermediate multiplication is preserved.   
+ * Finally, the 34.30 result is truncated to 34.15 format by discarding the lower    
+ * 15 bits, and then saturated to yield a result in 1.15 format.   
+ *   
+ */
+
+
+void arm_var_q15(
+  q15_t * pSrc,
+  uint32_t blockSize,
+  q31_t * pResult)
+{
+  q63_t sum = 0;                                 /* Accumulator */
+  q31_t meanOfSquares, squareOfMean;             /* Mean of square and square of mean */
+  q15_t mean;                                    /* mean */
+  uint32_t blkCnt;                               /* loop counter */
+  q15_t t;                                       /* Temporary variable */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t in;                                      /* Input variable */
+  q15_t in1;                                     /* Temporary variable */
+  q15_t *pIn;                                    /* Temporary pointer */
+
+  pIn = pSrc;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in, in, sum);
+    in = *__SIMD32(pSrc)++;
+    sum = __SMLALD(in, in, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in1 = *pSrc++;
+    sum = __SMLALD(in1, in1, sum);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples   
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q15_t) ((1.0f / (float32_t) (blockSize - 1u)) * 16384);
+  sum = __SSAT((sum >> 15u), 16u);
+
+  meanOfSquares = (q31_t) ((sum * t) >> 14u);
+
+  /* Reset the accumulator */
+  sum = 0;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Reset the input working pointer */
+  pSrc = pIn;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q63_t sumOfSquares = 0;                        /* Accumulator */
+  q15_t in;                                      /* Temporary variable */
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += (in * in);
+
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q15_t) ((1.0f / (float32_t) (blockSize - 1u)) * 16384);
+  sumOfSquares = __SSAT((sumOfSquares >> 15u), 16u);
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 14u);
+
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Compute mean of all input values */
+  t = (q15_t) ((1.0f / (float32_t) (blockSize * (blockSize - 1u))) * 32768);
+  mean = __SSAT(sum, 16u);
+
+  /* Compute square of mean */
+  squareOfMean = ((q31_t) mean * mean) >> 15;
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 15);
+
+  /* Compute variance and then store the result to the destination */
+  *pResult = (meanOfSquares - squareOfMean);
+
+}
+
+/**   
+ * @} end of variance group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
new file mode 100644
index 000000000..94d3405db
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/StatisticsFunctions/arm_var_q31.c
@@ -0,0 +1,216 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_var_q31.c   
+*   
+* Description:	Variance of an array of Q31 type.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupStats   
+ */
+
+/**   
+ * @addtogroup variance   
+ * @{   
+ */
+
+/**   
+ * @brief Variance of the elements of a Q31 vector.   
+ * @param[in]       *pSrc points to the input vector   
+ * @param[in]       blockSize length of the input vector   
+ * @param[out]      *pResult variance value returned here   
+ * @return none.   
+ *   
+ * @details   
+ * Scaling and Overflow Behavior:   
+ *   
+ *\par   
+ * The function is implemented using an internal 64-bit accumulator.   
+ * The input is represented in 1.31 format, and intermediate multiplication   
+ * yields a 2.62 format.   
+ * The accumulator maintains full precision of the intermediate multiplication results,    
+ * but provides only a single guard bit.   
+ * There is no saturation on intermediate additions.   
+ * If the accumulator overflows it wraps around and distorts the result.   
+ * In order to avoid overflows completely the input signal must be scaled down by    
+ * log2(blockSize) bits, as a total of blockSize additions are performed internally.    
+ * Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value.   
+ *   
+ */
+
+
+void arm_var_q31(
+  q31_t * pSrc,
+  uint32_t blockSize,
+  q63_t * pResult)
+{
+  q63_t sum = 0;                                 /* Accumulator */
+  q31_t meanOfSquares, squareOfMean;             /* Mean of square and square of mean */
+  q31_t mean;                                    /* Mean */
+  q31_t in;                                      /* Input variable */
+  q31_t t;                                       /* Temporary variable */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t *pIn;                                    /* Temporary pointer */
+
+  pIn = pSrc;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1]) */
+    /* Compute Sum of squares of the input samples   
+     * and then store the result in a temporary variable, sum. */
+    in = *pSrc++;
+    sum += ((q63_t) (in) * (in));
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples   
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q31_t) ((1.0 / (blockSize - 1)) * 1073741824LL);
+  sum = (sum >> 31);
+  meanOfSquares = (q31_t) ((sum * t) >> 30);
+
+  /* Reset the accumulator */
+  sum = 0;
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Reset the input working pointer */
+  pSrc = pIn;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q63_t sumOfSquares = 0;                        /* Accumulator */
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+    /* C = (A[0] * A[0] + A[1] * A[1] + ... + A[blockSize-1] * A[blockSize-1])  */
+    /* Compute Sum of squares of the input samples    
+     * and then store the result in a temporary variable, sumOfSquares. */
+    in = *pSrc++;
+    sumOfSquares += ((q63_t) (in) * (in));
+
+    /* C = (A[0] + A[1] + A[2] + ... + A[blockSize-1]) */
+    /* Compute sum of all input values and then store the result in a temporary variable, sum. */
+    sum += in;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* Compute Mean of squares of the input samples    
+   * and then store the result in a temporary variable, meanOfSquares. */
+  t = (q31_t) ((1.0 / (blockSize - 1)) * 1073741824LL);
+  sumOfSquares = (sumOfSquares >> 31);
+  meanOfSquares = (q31_t) ((sumOfSquares * t) >> 30);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  /* Compute mean of all input values */
+  t = (q31_t) ((1.0 / (blockSize * (blockSize - 1u))) * 2147483648LL);
+  mean = (q31_t) (sum);
+
+  /* Compute square of mean */
+  squareOfMean = (q31_t) (((q63_t) mean * mean) >> 31);
+  squareOfMean = (q31_t) (((q63_t) squareOfMean * t) >> 31);
+
+  /* Compute variance and then store the result to the destination */
+  *pResult = (q63_t) meanOfSquares - squareOfMean;
+
+}
+
+/**   
+ * @} end of variance group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
new file mode 100644
index 000000000..32ad4682f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_f32.c
@@ -0,0 +1,121 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_copy_f32.c   
+*   
+* Description:	Copies the elements of a floating-point vector. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @defgroup copy Vector Copy   
+ *   
+ * Copies sample by sample from source vector to destination vector.   
+ *   
+ * 
       
+ * 	pDst[n] = pSrc[n];   0 <= n < blockSize.   
+ * 
       
+ *  
+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.    
+ */
+
+/**   
+ * @addtogroup copy   
+ * @{   
+ */
+
+/**   
+ * @brief Copies the elements of a floating-point vector.    
+ * @param[in]       *pSrc points to input vector   
+ * @param[out]      *pDst points to output vector   
+ * @param[in]       blockSize length of the input vector  
+ * @return none.   
+ *   
+ */
+
+
+void arm_copy_f32(
+  float32_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the results in the destination buffer */
+    *pDst++ = *pSrc++;
+    *pDst++ = *pSrc++;
+    *pDst++ = *pSrc++;
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the results in the destination buffer */
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of BasicCopy group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
new file mode 100644
index 000000000..80c31bbd6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q15.c
@@ -0,0 +1,130 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_copy_q15.c   
+*   
+* Description:	Copies the elements of a Q15 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup copy   
+ * @{   
+ */
+/**   
+ * @brief Copies the elements of a Q15 vector.    
+ * @param[in]       *pSrc points to input vector   
+ * @param[out]      *pDst points to output vector   
+ * @param[in]       blockSize length of the input vector  
+ * @return none.   
+ *   
+ */
+
+void arm_copy_q15(
+  q15_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q15_t in1, in2;                                /* Temporary variables */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Read two inputs */
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* Store the values in the destination buffer by packing the two inputs */
+    *__SIMD32(pDst)++ = __PKHBT(in1, in2, 16);
+
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    *__SIMD32(pDst)++ = __PKHBT(in1, in2, 16);
+
+#else
+
+    /* Store the values in the destination buffer by packing the two inputs */
+    *__SIMD32(pDst)++ = __PKHBT(in2, in1, 16);
+
+    in1 = *pSrc++;
+    in2 = *pSrc++;
+    *__SIMD32(pDst)++ = __PKHBT(in2, in1, 16);
+
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the value in the destination buffer */
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of BasicCopy group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
new file mode 100644
index 000000000..ed482d4be
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q31.c
@@ -0,0 +1,109 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_copy_q31.c   
+*   
+* Description:	Copies the elements of a Q31 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup copy   
+ * @{   
+ */
+
+/**   
+ * @brief Copies the elements of a Q31 vector.    
+ * @param[in]       *pSrc points to input vector   
+ * @param[out]      *pDst points to output vector   
+ * @param[in]       blockSize length of the input vector  
+ * @return none.   
+ *   
+ */
+
+void arm_copy_q31(
+  q31_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the values in the destination buffer */
+    *pDst++ = *pSrc++;
+    *pDst++ = *pSrc++;
+    *pDst++ = *pSrc++;
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the value in the destination buffer */
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of BasicCopy group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
new file mode 100644
index 000000000..a8fc25c64
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_copy_q7.c
@@ -0,0 +1,107 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_copy_q7.c   
+*   
+* Description:	Copies the elements of a Q7 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup copy   
+ * @{   
+ */
+
+/**   
+ * @brief Copies the elements of a Q7 vector.   
+ * @param[in]       *pSrc points to input vector   
+ * @param[out]      *pDst points to output vector   
+ * @param[in]       blockSize length of the input vector  
+ * @return none.   
+ *   
+ */
+
+void arm_copy_q7(
+  q7_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the results in the destination buffer */
+    /* 4 samples are copied and stored at a time using SIMD */
+    *__SIMD32(pDst)++ = *__SIMD32(pSrc)++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = A */
+    /* Copy and then store the results in the destination buffer */
+    *pDst++ = *pSrc++;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of BasicCopy group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
new file mode 100644
index 000000000..3e7cf934f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_f32.c
@@ -0,0 +1,122 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_fill_f32.c   
+*   
+* Description:	Fills a constant value into a floating-point vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @defgroup Fill Vector Fill   
+ *   
+ * Fills the destination vector with a constant value.   
+ *   
+ * 
       
+ * 	pDst[n] = value;   0 <= n < blockSize.   
+ * 
       
+ *  
+ * There are separate functions for floating point, Q31, Q15, and Q7 data types.    
+ */
+
+/**   
+ * @addtogroup Fill   
+ * @{   
+ */
+
+/**   
+ * @brief Fills a constant value into a floating-point vector.    
+ * @param[in]       value input value to be filled  
+ * @param[out]      *pDst points to output vector   
+ * @param[in]       blockSize length of the output vector  
+ * @return none.   
+ *   
+ */
+
+
+void arm_fill_f32(
+  float32_t value,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+    *pDst++ = value;
+    *pDst++ = value;
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of Fill group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
new file mode 100644
index 000000000..a5da51a7a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q15.c
@@ -0,0 +1,112 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_fill_q15.c   
+*   
+* Description:	Fills a constant value into a Q15 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup Fill   
+ * @{   
+ */
+
+/**   
+ * @brief Fills a constant value into a Q15 vector.   
+ * @param[in]       value input value to be filled  
+ * @param[out]      *pDst points to output vector   
+ * @param[in]       blockSize length of the output vector  
+ * @return none.   
+ *   
+ */
+
+void arm_fill_q15(
+  q15_t value,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t packedValue;                             /* value packed to 32 bits */
+
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Packing two 16 bit values to 32 bit value in order to use SIMD */
+  packedValue = __PKHBT(value, value, 16u);
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *__SIMD32(pDst)++ = packedValue;
+    *__SIMD32(pDst)++ = packedValue;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of Fill group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
new file mode 100644
index 000000000..b571fdc9a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q31.c
@@ -0,0 +1,109 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_fill_q31.c   
+*   
+* Description:	Fills a constant value into a Q31 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup Fill   
+ * @{   
+ */
+
+/**   
+ * @brief Fills a constant value into a Q31 vector.   
+ * @param[in]       value input value to be filled  
+ * @param[out]      *pDst points to output vector   
+ * @param[in]       blockSize length of the output vector  
+ * @return none.   
+ *   
+ */
+
+void arm_fill_q31(
+  q31_t value,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+    *pDst++ = value;
+    *pDst++ = value;
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of Fill group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
new file mode 100644
index 000000000..18bdf8007
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_fill_q7.c
@@ -0,0 +1,110 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_fill_q7.c   
+*   
+* Description:	Fills a constant value into a Q7 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup Fill   
+ * @{   
+ */
+
+/**   
+ * @brief Fills a constant value into a Q7 vector.   
+ * @param[in]       value input value to be filled  
+ * @param[out]      *pDst points to output vector   
+ * @param[in]       blockSize length of the output vector  
+ * @return none.   
+ *   
+ */
+
+void arm_fill_q7(
+  q7_t value,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t packedValue;                             /* value packed to 32 bits */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* Packing four 8 bit values to 32 bit value in order to use SIMD */
+  packedValue = __PACKq7(value, value, value, value);
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *__SIMD32(pDst)++ = packedValue;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = value */
+    /* Fill the value in the destination buffer */
+    *pDst++ = value;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of Fill group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
new file mode 100644
index 000000000..85a740a42
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q15.c
@@ -0,0 +1,193 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_float_to_q15.c   
+*   
+* Description:	Converts the elements of the floating-point vector to Q15 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup float_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the floating-point vector to Q15 vector.   
+ * @param[in]       *pSrc points to the floating-point input vector   
+ * @param[out]      *pDst points to the Q15 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ * \par Description:   
+ * \par  
+ * The equation used for the conversion process is:   
+ * 
       
+ * 	pDst[n] = (q15_t)(pSrc[n] * 32768);   0 <= n < blockSize.   
+ * 
       
+ * \par Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated.   
+ * \note  
+ * In order to apply rounding, the library should be rebuilt with the ROUNDING macro    
+ * defined in the preprocessor section of project options.    
+ *   
+ */
+
+
+void arm_float_to_q15(
+  float32_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pIn = pSrc;                         /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifdef ARM_MATH_ROUNDING
+
+  float32_t in;
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+#else
+
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+#else
+
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 32768.0f);
+    in += in > 0 ? 0.5f : -0.5f;
+    *pDst++ = (q15_t) (__SSAT((q31_t) (in), 16));
+
+#else
+
+    /* C = A * 32768 */
+    /* convert from float to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) __SSAT((q31_t) (*pIn++ * 32768.0f), 16);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of float_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
new file mode 100644
index 000000000..fa9a6e74f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q31.c
@@ -0,0 +1,200 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_float_to_q31.c   
+*   
+* Description:	Converts the elements of the floating-point vector to Q31 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @defgroup float_to_x  Convert 32-bit floating point value   
+ */
+
+/**   
+ * @addtogroup float_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the floating-point vector to Q31 vector.   
+ * @param[in]       *pSrc points to the floating-point input vector   
+ * @param[out]      *pDst points to the Q31 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ *\par Description:   
+ * \par  
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (q31_t)(pSrc[n] * 2147483648);   0 <= n < blockSize.   
+ * 
       
+ * Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.   
+ *  
+ * \note In order to apply rounding, the library should be rebuilt with the ROUNDING macro    
+ * defined in the preprocessor section of project options.    
+ */
+
+
+void arm_float_to_q31(
+  float32_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pIn = pSrc;                         /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifdef ARM_MATH_ROUNDING
+
+  float32_t in;
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+
+    /* C = A * 32768 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 2147483648.0f);
+    in += in > 0 ? 0.5f : -0.5f;
+    *pDst++ = clip_q63_to_q31((q63_t) (in));
+
+#else
+
+    /* C = A * 2147483648 */
+    /* convert from float to Q31 and then store the results in the destination buffer */
+    *pDst++ = clip_q63_to_q31((q63_t) (*pIn++ * 2147483648.0f));
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of float_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
new file mode 100644
index 000000000..610ef3ae8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_float_to_q7.c
@@ -0,0 +1,192 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_float_to_q7.c   
+*   
+* Description:	Converts the elements of the floating-point vector to Q7 vector.  
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup float_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the floating-point vector to Q7 vector.   
+ * @param[in]       *pSrc points to the floating-point input vector   
+ * @param[out]      *pDst points to the Q7 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ *\par Description:   
+ * \par  
+ * The equation used for the conversion process is:   
+ * 
       
+ * 	pDst[n] = (q7_t)(pSrc[n] * 128);   0 <= n < blockSize.   
+ * 
       
+ * \par Scaling and Overflow Behavior:   
+ * \par   
+ * The function uses saturating arithmetic.   
+ * Results outside of the allowable Q7 range [0x80 0x7F] will be saturated.   
+ * \note  
+ * In order to apply rounding, the library should be rebuilt with the ROUNDING macro    
+ * defined in the preprocessor section of project options.    
+ */
+
+
+void arm_float_to_q7(
+  float32_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  float32_t *pIn = pSrc;                         /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifdef ARM_MATH_ROUNDING
+
+  float32_t in;
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+#else
+
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+  while(blkCnt > 0u)
+  {
+
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 128);
+    in += in > 0 ? 0.5 : -0.5;
+    *pDst++ = (q7_t) (__SSAT((q15_t) (in), 8));
+
+#else
+
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    *pDst++ = __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+  while(blkCnt > 0u)
+  {
+#ifdef ARM_MATH_ROUNDING
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    in = *pIn++;
+    in = (in * 128.0f);
+    in += in > 0 ? 0.5f : -0.5f;
+    *pDst++ = (q7_t) (__SSAT((q31_t) (in), 8));
+
+#else
+
+    /* C = A * 128 */
+    /* convert from float to q7 and then store the results in the destination buffer */
+    *pDst++ = (q7_t) __SSAT((q31_t) (*pIn++ * 128.0f), 8);
+
+#endif /*      #ifdef ARM_MATH_ROUNDING        */
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+ * @} end of float_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
new file mode 100644
index 000000000..888379c2b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_float.c
@@ -0,0 +1,123 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q15_to_float.c   
+*   
+* Description:	Converts the elements of the Q15 vector to floating-point vector.    
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @defgroup q15_to_x  Convert 16-bit Integer value   
+ */
+
+/**   
+ * @addtogroup q15_to_x   
+ * @{   
+ */
+
+
+
+
+/**   
+ * @brief  Converts the elements of the Q15 vector to floating-point vector.    
+ * @param[in]       *pSrc points to the Q15 input vector   
+ * @param[out]      *pDst points to the floating-point output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (float32_t) pSrc[n] / 32768;   0 <= n < blockSize.   
+ * 
       
+ *  
+ */
+
+
+void arm_q15_to_float(
+  q15_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 32768 */
+    /* convert from q15 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 32768 */
+    /* convert from q15 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 32768.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of q15_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
new file mode 100644
index 000000000..c8902dec8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q31.c
@@ -0,0 +1,116 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q15_to_q31.c   
+*   
+* Description:	Converts the elements of the Q15 vector to Q31 vector. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup q15_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the Q15 vector to Q31 vector.    
+ * @param[in]       *pSrc points to the Q15 input vector   
+ * @param[out]      *pDst points to the Q31 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:  
+ *  
+ * 
       
+ * 	pDst[n] = (q31_t) pSrc[n] << 16;   0 <= n < blockSize.   
+ * 
       
+ *  
+ */
+
+
+void arm_q15_to_q31(
+  q15_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q31_t)A << 16 */
+    /* convert from q15 to q31 and then store the results in the destination buffer */
+    *pDst++ = (q31_t) * pIn++ << 16;
+    *pDst++ = (q31_t) * pIn++ << 16;
+    *pDst++ = (q31_t) * pIn++ << 16;
+    *pDst++ = (q31_t) * pIn++ << 16;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q31_t)A << 16 */
+    /* convert from q15 to q31 and then store the results in the destination buffer */
+    *pDst++ = (q31_t) * pIn++ << 16;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**   
+ * @} end of q15_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
new file mode 100644
index 000000000..bfd8da823
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q15_to_q7.c
@@ -0,0 +1,117 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q15_to_q7.c   
+*   
+* Description:	Converts the elements of the Q15 vector to Q7 vector. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup q15_to_x   
+ * @{   
+ */
+
+
+/**   
+ * @brief Converts the elements of the Q15 vector to Q7 vector.    
+ * @param[in]       *pSrc points to the Q15 input vector   
+ * @param[out]      *pDst points to the Q7 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (q7_t) pSrc[n] >> 8;   0 <= n < blockSize.   
+ * 
      
+ *  
+ */
+
+
+void arm_q15_to_q7(
+  q15_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  q15_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q7_t) A >> 8 */
+    /* convert from q15 to q7 and then store the results in the destination buffer */
+    *pDst++ = (q7_t) (*pIn++ >> 8);
+    *pDst++ = (q7_t) (*pIn++ >> 8);
+    *pDst++ = (q7_t) (*pIn++ >> 8);
+    *pDst++ = (q7_t) (*pIn++ >> 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q7_t) A >> 8 */
+    /* convert from q15 to q7 and then store the results in the destination buffer */
+    *pDst++ = (q7_t) (*pIn++ >> 8);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**   
+ * @} end of q15_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
new file mode 100644
index 000000000..3475044e8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_float.c
@@ -0,0 +1,120 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q31_to_float.c   
+*   
+* Description:	Converts the elements of the Q31 vector to floating-point vector.     
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @defgroup q31_to_x  Convert 32-bit Integer value   
+ */
+
+/**   
+ * @addtogroup q31_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the Q31 vector to floating-point vector.   
+ * @param[in]       *pSrc points to the Q31 input vector   
+ * @param[out]      *pDst points to the floating-point output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (float32_t) pSrc[n] / 2147483648;   0 <= n < blockSize.   
+ * 
       
+ *  
+ */
+
+
+void arm_q31_to_float(
+  q31_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 2147483648 */
+    /* convert from q31 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 2147483648 */
+    /* convert from q31 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 2147483648.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of q31_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
new file mode 100644
index 000000000..54fc589e4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q15.c
@@ -0,0 +1,116 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q31_to_q15.c   
+*   
+* Description:	Converts the elements of the Q31 vector to Q15 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup q31_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the Q31 vector to Q15 vector.   
+ * @param[in]       *pSrc points to the Q31 input vector   
+ * @param[out]      *pDst points to the Q15 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *    
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (q15_t) pSrc[n] >> 16;   0 <= n < blockSize.   
+ * 
       
+ *  
+ */
+
+
+void arm_q31_to_q15(
+  q31_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q15_t) A >> 16 */
+    /* convert from q31 to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) (*pIn++ >> 16);
+    *pDst++ = (q15_t) (*pIn++ >> 16);
+    *pDst++ = (q15_t) (*pIn++ >> 16);
+    *pDst++ = (q15_t) (*pIn++ >> 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q15_t) A >> 16 */
+    /* convert from q31 to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) (*pIn++ >> 16);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**   
+ * @} end of q31_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
new file mode 100644
index 000000000..1e6bf4761
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q31_to_q7.c
@@ -0,0 +1,116 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q31_to_q7.c   
+*   
+* Description:	Converts the elements of the Q31 vector to Q7 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup q31_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the Q31 vector to Q7 vector.   
+ * @param[in]       *pSrc points to the Q31 input vector   
+ * @param[out]      *pDst points to the Q7 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (q7_t) pSrc[n] >> 24;   0 <= n < blockSize.    
+ * 
       
+ *  
+ */
+
+
+void arm_q31_to_q7(
+  q31_t * pSrc,
+  q7_t * pDst,
+  uint32_t blockSize)
+{
+  q31_t *pIn = pSrc;                             /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q7_t) A >> 24 */
+    /* convert from q31 to q7 and then store the results in the destination buffer */
+    *pDst++ = (q7_t) (*pIn++ >> 24);
+    *pDst++ = (q7_t) (*pIn++ >> 24);
+    *pDst++ = (q7_t) (*pIn++ >> 24);
+    *pDst++ = (q7_t) (*pIn++ >> 24);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q7_t) A >> 24 */
+    /* convert from q31 to q7 and then store the results in the destination buffer */
+    *pDst++ = (q7_t) (*pIn++ >> 24);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**   
+ * @} end of q31_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
new file mode 100644
index 000000000..7a2d61208
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_float.c
@@ -0,0 +1,120 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q7_to_float.c   
+*   
+* Description:	Converts the elements of the Q7 vector to floating-point vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @defgroup q7_to_x  Convert 8-bit Integer value   
+ */
+
+/**   
+ * @addtogroup q7_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the Q7 vector to floating-point vector.   
+ * @param[in]       *pSrc points to the Q7 input vector   
+ * @param[out]      *pDst points to the floating-point output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *		    
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (float32_t) pSrc[n] / 128;   0 <= n < blockSize.   
+ * 
       
+ *  
+ */
+
+
+void arm_q7_to_float(
+  q7_t * pSrc,
+  float32_t * pDst,
+  uint32_t blockSize)
+{
+  q7_t *pIn = pSrc;                              /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 128 */
+    /* convert from q7 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (float32_t) A / 128 */
+    /* convert from q7 to float and then store the results in the destination buffer */
+    *pDst++ = ((float32_t) * pIn++ / 128.0f);
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+}
+
+/**   
+ * @} end of q7_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
new file mode 100644
index 000000000..4cba666fe
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q15.c
@@ -0,0 +1,119 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q7_to_q15.c   
+*   
+* Description:	Converts the elements of the Q7 vector to Q15 vector.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup q7_to_x   
+ * @{   
+ */
+
+
+
+
+/**   
+ * @brief Converts the elements of the Q7 vector to Q15 vector.   
+ * @param[in]       *pSrc points to the Q7 input vector   
+ * @param[out]      *pDst points to the Q15 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (q15_t) pSrc[n] << 8;   0 <= n < blockSize.   
+ * 
       
+ *  
+ */
+
+
+void arm_q7_to_q15(
+  q7_t * pSrc,
+  q15_t * pDst,
+  uint32_t blockSize)
+{
+  q7_t *pIn = pSrc;                              /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q15_t) A << 8 */
+    /* convert from q7 to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) * pIn++ << 8;
+    *pDst++ = (q15_t) * pIn++ << 8;
+    *pDst++ = (q15_t) * pIn++ << 8;
+    *pDst++ = (q15_t) * pIn++ << 8;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q15_t) A << 8 */
+    /* convert from q7 to q15 and then store the results in the destination buffer */
+    *pDst++ = (q15_t) * pIn++ << 8;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**   
+ * @} end of q7_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
new file mode 100644
index 000000000..6f425935e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/SupportFunctions/arm_q7_to_q31.c
@@ -0,0 +1,116 @@
+/* ----------------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:		arm_q7_to_q31.c   
+*   
+* Description:	Converts the elements of the Q7 vector to Q31 vector. 
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* ---------------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupSupport   
+ */
+
+/**   
+ * @addtogroup q7_to_x   
+ * @{   
+ */
+
+/**   
+ * @brief Converts the elements of the Q7 vector to Q31 vector.   
+ * @param[in]       *pSrc points to the Q7 input vector   
+ * @param[out]      *pDst points to the Q31 output vector  
+ * @param[in]       blockSize length of the input vector   
+ * @return none.   
+ *   
+ * \par Description:   
+ *   
+ * The equation used for the conversion process is:   
+ *  
+ * 
       
+ * 	pDst[n] = (q31_t) pSrc[n] << 24;   0 <= n < blockSize.  
+ * 
        
+ *  
+ */
+
+
+void arm_q7_to_q31(
+  q7_t * pSrc,
+  q31_t * pDst,
+  uint32_t blockSize)
+{
+  q7_t *pIn = pSrc;                              /* Src pointer */
+  uint32_t blkCnt;                               /* loop counter */
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*loop Unrolling */
+  blkCnt = blockSize >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  while(blkCnt > 0u)
+  {
+    /* C = (q31_t) A << 24 */
+    /* convert from q7 to q31 and then store the results in the destination buffer */
+    *pDst++ = (q31_t) * pIn++ << 24;
+    *pDst++ = (q31_t) * pIn++ << 24;
+    *pDst++ = (q31_t) * pIn++ << 24;
+    *pDst++ = (q31_t) * pIn++ << 24;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  blkCnt = blockSize % 0x4u;
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Loop over blockSize number of values */
+  blkCnt = blockSize;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+  while(blkCnt > 0u)
+  {
+    /* C = (q31_t) A << 24 */
+    /* convert from q7 to q31 and then store the results in the destination buffer */
+    *pDst++ = (q31_t) * pIn++ << 24;
+
+    /* Decrement the loop counter */
+    blkCnt--;
+  }
+
+}
+
+/**   
+ * @} end of q7_to_x group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
new file mode 100644
index 000000000..24099506d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_f32.c
@@ -0,0 +1,1236 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix4_f32.c   
+*   
+* Description:	Radix-4 Decimation in Frequency CFFT & CIFFT Floating point processing function   
+*   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @defgroup CFFT_CIFFT Complex FFT Functions   
+ *   
+ * \par   
+ * Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT).   
+ * Computational complexity of CFFT reduces drastically when compared to DFT.   
+ * \par   
+ * This set of functions implements CFFT/CIFFT   
+ * for Q15, Q31, and floating-point data types.  The functions operates on in-place buffer which uses same buffer for input and output.   
+ * Complex input is stored in input buffer in an interleaved fashion.   
+ *   
+ * \par   
+ * The functions operate on blocks of input and output data and each call to the function processes   
+ * 2*fftLen samples through the transform.  pSrc  points to In-place arrays containing 2*fftLen values.   
+ * \par  
+ * The pSrc points to the array of in-place buffer of size 2*fftLen and inputs and outputs are stored in an interleaved fashion as shown below.   
+ * 
     {real[0], imag[0], real[1], imag[1],..} 
       
+ *   
+ * \par Lengths supported by the transform:  
+ * \par   
+ * Internally, the function utilize a radix-4 decimation in frequency(DIF) algorithm   
+ * and the size of the FFT supported are of the lengths [16, 64, 256, 1024].  
+ *    
+ *   
+ * \par Algorithm:   
+ *   
+ * Complex Fast Fourier Transform:   
+ * \par    
+ * Input real and imaginary data:   
+ * 
       
+ * x(n) = xa + j * ya   
+ * x(n+N/4 ) = xb + j * yb   
+ * x(n+N/2 ) = xc + j * yc   
+ * x(n+3N 4) = xd + j * yd   
+ * 
       
+ * where N is length of FFT   
+ * \par   
+ * Output real and imaginary data:   
+ * 
       
+ * X(4r) = xa'+ j * ya'   
+ * X(4r+1) = xb'+ j * yb'   
+ * X(4r+2) = xc'+ j * yc'   
+ * X(4r+3) = xd'+ j * yd'   
+ * 
       
+ * \par   
+ * Twiddle factors for radix-4 FFT:   
+ * 
       
+ * Wn = co1 + j * (- si1)   
+ * W2n = co2 + j * (- si2)   
+ * W3n = co3 + j * (- si3)   
+ * 
       
+ *   
+ * \par   
+ * \image html CFFT.gif "Radix-4 Decimation-in Frequency Complex Fast Fourier Transform"   
+ *   
+ * \par   
+ * Output from Radix-4 CFFT Results in Digit reversal order. Interchange middle two branches of every butterfly results in Bit reversed output.   
+ * \par   
+ *  Butterfly CFFT equations:   
+ * 
       
+ * xa' = xa + xb + xc + xd   
+ * ya' = ya + yb + yc + yd   
+ * xc' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)   
+ * yc' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)   
+ * xb' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)   
+ * yb' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)   
+ * xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)   
+ * yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)   
+ * 
       
+ *   
+ *   
+ * Complex Inverse Fast Fourier Transform:   
+ * \par   
+ * CIFFT uses same twiddle factor table as CFFT with modifications in the design equation as shown below.   
+ *   
+ * \par   
+ *  Modified Butterfly CIFFT equations:   
+ * 
       
+ * xa' = xa + xb + xc + xd   
+ * ya' = ya + yb + yc + yd   
+ * xc' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)   
+ * yc' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)   
+ * xb' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)   
+ * yb' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)   
+ * xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)   
+ * yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)   
+ * 
       
+ *   
+ * \par Instance Structure   
+ * A separate instance structure must be defined for each Instance but the twiddle factors and bit reversal tables can be reused.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Initializes twiddle factor table and bit reversal table pointers   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Manually initialize the instance structure as follows:   
+ * 
       
+ *arm_cfft_radix4_instance_f32 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor, onebyfftLen};   
+ *arm_cfft_radix4_instance_q31 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   
+ *arm_cfft_radix4_instance_q15 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   
+ * 
       
+ * \par   
+ * where fftLen length of CFFT/CIFFT; ifftFlag Flag for selection of CFFT or CIFFT(Set ifftFlag to calculate CIFFT otherwise calculates CFFT);   
+ * bitReverseFlag Flag for selection of output order(Set bitReverseFlag to output in normal order otherwise output in bit reversed order);    
+ * pTwiddlepoints to array of twiddle coefficients; pBitRevTable points to the array of bit reversal table.   
+ * twidCoefModifier modifier for twiddle factor table which supports all FFT lengths with same table;    
+ * pBitRevTable modifier for bit reversal table which supports all FFT lengths with same table.   
+ * onebyfftLen value of 1/fftLen to calculate CIFFT;   
+ *  
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the CFFT/CIFFT function.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+
+/**   
+ * @addtogroup CFFT_CIFFT   
+ * @{   
+ */
+
+/**   
+ * @details   
+ * @brief Processing function for the floating-point CFFT/CIFFT.  
+ * @param[in]      *S    points to an instance of the floating-point CFFT/CIFFT structure.  
+ * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.  
+ * @return none.  
+ */
+
+void arm_cfft_radix4_f32(
+  const arm_cfft_radix4_instance_f32 * S,
+  float32_t * pSrc)
+{
+
+  if(S->ifftFlag == 1u)
+  {
+    /*  Complex IFFT radix-4  */
+    arm_radix4_butterfly_inverse_f32(pSrc, S->fftLen, S->pTwiddle,
+                                     S->twidCoefModifier, S->onebyfftLen);
+  }
+  else
+  {
+    /*  Complex FFT radix-4  */
+    arm_radix4_butterfly_f32(pSrc, S->fftLen, S->pTwiddle,
+                             S->twidCoefModifier);
+  }
+
+  if(S->bitReverseFlag == 1u)
+  {
+    /*  Bit Reversal */
+    arm_bitreversal_f32(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+  }
+
+}
+
+
+/**   
+ * @} end of CFFT_CIFFT group   
+ */
+
+
+
+/* ----------------------------------------------------------------------   
+** Internal helper function used by the FFTs   
+** ------------------------------------------------------------------- */
+
+/*   
+ * @brief  Core function for the floating-point CFFT butterfly process.  
+ * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.  
+ * @param[in]      fftLen           length of the FFT.  
+ * @param[in]      *pCoef           points to the twiddle coefficient buffer.  
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.  
+ */
+
+void arm_radix4_butterfly_f32(
+  float32_t * pSrc,
+  uint16_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier)
+{
+
+  float32_t co1, co2, co3, si1, si2, si3;
+  float32_t t1, t2, r1, r2, s1, s2;
+  uint32_t ia1, ia2, ia3;
+  uint32_t i0, i1, i2, i3;
+  uint32_t n1, n2, j, k;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+  i0 = 0u;
+  ia1 = 0u;
+
+  j = n2;
+
+  /*  Calculation of first stage */
+  do
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+
+    /* xa + xc */
+    r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
+
+    /* xa - xc */
+    r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+    /* ya + yc */
+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+    /* ya - yc */
+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+    /* xb + xd */
+    t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = r1 + t1;
+
+    /* (xa + xc) - (xb + xd) */
+    r1 = r1 - t1;
+
+    /* yb + yd */
+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = s1 + t2;
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* yb - yd */
+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+    /* xb - xd */
+    t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+    /*  index calculation for the coefficients */
+    ia2 = ia1 + ia1;
+    co2 = pCoef[ia2 * 2u];
+    si2 = pCoef[(ia2 * 2u) + 1u];
+
+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = (r1 * co2) + (s1 * si2);
+
+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = (s1 * co2) - (r1 * si2);
+
+    /* (xa - xc) + (yb - yd) */
+    r1 = r2 + t1;
+
+    /* (xa - xc) - (yb - yd) */
+    r2 = r2 - t1;
+
+    /* (ya - yc) - (xb - xd) */
+    s1 = s2 - t2;
+
+    /* (ya - yc) + (xb - xd) */
+    s2 = s2 + t2;
+
+    co1 = pCoef[ia1 * 2u];
+    si1 = pCoef[(ia1 * 2u) + 1u];
+
+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = (r1 * co1) + (s1 * si1);
+
+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = (s1 * co1) - (r1 * si1);
+
+    /*  index calculation for the coefficients */
+    ia3 = ia2 + ia1;
+    co3 = pCoef[ia3 * 2u];
+    si3 = pCoef[(ia3 * 2u) + 1u];
+
+
+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = (r2 * co3) + (s2 * si3);
+
+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = (s2 * co3) - (r2 * si3);
+
+    /*  Twiddle coefficients index modifier */
+    ia1 = ia1 + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  }
+  while(--j);
+
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of second stage to excluding last stage */
+  for (k = fftLen / 4; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  Calculation of first stage */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /* xa + xc */
+        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
+
+        /* xa - xc */
+        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = r1 + t1;
+
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = s1 + t2;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (r1 * co2) + (s1 * si2);
+
+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = (s1 * co2) - (r1 * si2);
+
+        /* (xa - xc) + (yb - yd) */
+        r1 = r2 + t1;
+
+        /* (xa - xc) - (yb - yd) */
+        r2 = r2 - t1;
+
+        /* (ya - yc) -  (xb - xd) */
+        s1 = s2 - t2;
+
+        /* (ya - yc) +  (xb - xd) */
+        s2 = s2 + t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (r1 * co1) + (s1 * si1);
+
+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (s1 * co1) - (r1 * si1);
+
+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = (r2 * co3) + (s2 * si3);
+
+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (s2 * co3) - (r2 * si3);
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+  /*  Initializations of last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Calculations of last stage */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+
+    /* xa + xb */
+    r1 = pSrc[2u * i0] + pSrc[2u * i2];
+
+    /* xa - xb */
+    r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+    /* ya + yc */
+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+    /* ya - yc */
+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+    /* xc + xd */
+    t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = r1 + t1;
+
+    /* (xa + xb) - (xc + xd) */
+    r1 = r1 - t1;
+
+    /* yb + yd */
+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = s1 + t2;
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* (yb-yd) */
+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+    /* (xb-xd) */
+    t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = r1;
+
+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = s1;
+
+    /* (xa+yb-xc-yd) */
+    r1 = r2 + t1;
+
+    /* (xa-yb-xc+yd) */
+    r2 = r2 - t1;
+
+    /* (ya-xb-yc+xd) */
+    s1 = s2 - t2;
+
+    /* (ya+xb-yc-xd) */
+    s2 = s2 + t2;
+
+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = r1;
+
+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = s1;
+
+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = r2;
+
+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = s2;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /*  Initializations for the fft calculation */
+  n2 = fftLen;
+  n1 = n2;
+  for (k = fftLen; k > 1u; k >>= 2u)
+  {
+    /*  Initializations for the fft calculation */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  FFT Calculation */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /* xa + xc */
+        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
+
+        /* xa - xc */
+        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = r1 + t1;
+
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = s1 + t2;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (r1 * co2) + (s1 * si2);
+
+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = (s1 * co2) - (r1 * si2);
+
+        /* (xa - xc) + (yb - yd) */
+        r1 = r2 + t1;
+
+        /* (xa - xc) - (yb - yd) */
+        r2 = r2 - t1;
+
+        /* (ya - yc) -  (xb - xd) */
+        s1 = s2 - t2;
+
+        /* (ya - yc) +  (xb - xd) */
+        s2 = s2 + t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (r1 * co1) + (s1 * si1);
+
+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (s1 * co1) - (r1 * si1);
+
+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = (r2 * co3) + (s2 * si3);
+
+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (s2 * co3) - (r2 * si3);
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/*   
+ * @brief  Core function for the floating-point CIFFT butterfly process.  
+ * @param[in, out] *pSrc            points to the in-place buffer of floating-point data type.  
+ * @param[in]      fftLen           length of the FFT.  
+ * @param[in]      *pCoef           points to twiddle coefficient buffer.  
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @param[in]      onebyfftLen      value of 1/fftLen.  
+ * @return none.  
+ */
+
+void arm_radix4_butterfly_inverse_f32(
+  float32_t * pSrc,
+  uint16_t fftLen,
+  float32_t * pCoef,
+  uint16_t twidCoefModifier,
+  float32_t onebyfftLen)
+{
+  float32_t co1, co2, co3, si1, si2, si3;
+  float32_t t1, t2, r1, r2, s1, s2;
+  uint32_t ia1, ia2, ia3;
+  uint32_t i0, i1, i2, i3;
+  uint32_t n1, n2, j, k;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+  i0 = 0u;
+  ia1 = 0u;
+
+  j = n2;
+
+  /*  Calculation of first stage */
+  do
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
+
+    /* xa - xc */
+    r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+    /* ya + yc */
+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+    /* ya - yc */
+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+    /* xb + xd */
+    t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = r1 + t1;
+
+    /* (xa + xc) - (xb + xd) */
+    r1 = r1 - t1;
+
+    /* yb + yd */
+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = s1 + t2;
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* yb - yd */
+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+    /* xb - xd */
+    t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+    /*  index calculation for the coefficients */
+    ia2 = ia1 + ia1;
+    co2 = pCoef[ia2 * 2u];
+    si2 = pCoef[(ia2 * 2u) + 1u];
+
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = (r1 * co2) - (s1 * si2);
+
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = (s1 * co2) + (r1 * si2);
+
+    /* (xa - xc) - (yb - yd) */
+    r1 = r2 - t1;
+
+    /* (xa - xc) + (yb - yd) */
+    r2 = r2 + t1;
+
+    /* (ya - yc) + (xb - xd) */
+    s1 = s2 + t2;
+
+    /* (ya - yc) - (xb - xd) */
+    s2 = s2 - t2;
+
+    co1 = pCoef[ia1 * 2u];
+    si1 = pCoef[(ia1 * 2u) + 1u];
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = (r1 * co1) - (s1 * si1);
+
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = (s1 * co1) + (r1 * si1);
+
+    /*  index calculation for the coefficients */
+    ia3 = ia2 + ia1;
+    co3 = pCoef[ia3 * 2u];
+    si3 = pCoef[(ia3 * 2u) + 1u];
+
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = (r2 * co3) - (s2 * si3);
+
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = (s2 * co3) + (r2 * si3);
+
+    /*  Twiddle coefficients index modifier */
+    ia1 = ia1 + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  }
+  while(--j);
+
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of second stage to excluding last stage */
+  for (k = fftLen / 4; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  Calculation of first stage */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /* xa + xc */
+        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
+
+        /* xa - xc */
+        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = r1 + t1;
+
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = s1 + t2;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (r1 * co2) - (s1 * si2);
+
+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = (s1 * co2) + (r1 * si2);
+
+        /* (xa - xc) - (yb - yd) */
+        r1 = r2 - t1;
+
+        /* (xa - xc) + (yb - yd) */
+        r2 = r2 + t1;
+
+        /* (ya - yc) +  (xb - xd) */
+        s1 = s2 + t2;
+
+        /* (ya - yc) -  (xb - xd) */
+        s2 = s2 - t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (r1 * co1) - (s1 * si1);
+
+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (s1 * co1) + (r1 * si1);
+
+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = (r2 * co3) - (s2 * si3);
+
+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (s2 * co3) + (r2 * si3);
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+  /*  Initializations of last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Calculations of last stage */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = pSrc[2u * i0] + pSrc[2u * i2];
+
+    /* xa - xc */
+    r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+    /* ya + yc */
+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+    /* ya - yc */
+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+    /* xc + xd */
+    t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1) * onebyfftLen;
+
+    /* (xa + xb) - (xc + xd) */
+    r1 = r1 - t1;
+
+    /* yb + yd */
+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2) * onebyfftLen;
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* (yb-yd) */
+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+    /* (xb-xd) */
+    t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = r1 * onebyfftLen;
+
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = s1 * onebyfftLen;
+
+
+    /* (xa - xc) - (yb-yd) */
+    r1 = r2 - t1;
+
+    /* (xa - xc) + (yb-yd) */
+    r2 = r2 + t1;
+
+    /* (ya - yc) + (xb-xd) */
+    s1 = s2 + t2;
+
+    /* (ya - yc) - (xb-xd) */
+    s2 = s2 - t2;
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = r1 * onebyfftLen;
+
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = s1 * onebyfftLen;
+
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = r2 * onebyfftLen;
+
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = s2 * onebyfftLen;
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /*  Calculation of first stage */
+  for (k = fftLen; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  Calculation of first stage */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /* xa + xc */
+        r1 = pSrc[(2u * i0)] + pSrc[(2u * i2)];
+
+        /* xa - xc */
+        r2 = pSrc[(2u * i0)] - pSrc[(2u * i2)];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = r1 + t1;
+
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = s1 + t2;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (r1 * co2) - (s1 * si2);
+
+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = (s1 * co2) + (r1 * si2);
+
+        /* (xa - xc) - (yb - yd) */
+        r1 = r2 - t1;
+
+        /* (xa - xc) + (yb - yd) */
+        r2 = r2 + t1;
+
+        /* (ya - yc) +  (xb - xd) */
+        s1 = s2 + t2;
+
+        /* (ya - yc) -  (xb - xd) */
+        s2 = s2 - t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (r1 * co1) - (s1 * si1);
+
+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (s1 * co1) + (r1 * si1);
+
+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = (r2 * co3) - (s2 * si3);
+
+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (s2 * co3) + (r2 * si3);
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+  /*  Initializations of last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Calculations of last stage */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = pSrc[2u * i0] + pSrc[2u * i2];
+
+    /* xa - xc */
+    r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+    /* ya + yc */
+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+
+    /* ya - yc */
+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+    /* xc + xd */
+    t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1) * onebyfftLen;
+
+    /* (xa + xb) - (xc + xd) */
+    r1 = r1 - t1;
+
+    /* yb + yd */
+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2) * onebyfftLen;
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* (yb-yd) */
+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+
+    /* (xb-xd) */
+    t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = r1 * onebyfftLen;
+
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = s1 * onebyfftLen;
+
+
+    /* (xa - xc) - (yb-yd) */
+    r1 = r2 - t1;
+
+    /* (xa - xc) + (yb-yd) */
+    r2 = r2 + t1;
+
+    /* (ya - yc) + (xb-xd) */
+    s1 = s2 + t2;
+
+    /* (ya - yc) - (xb-xd) */
+    s2 = s2 - t2;
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = r1 * onebyfftLen;
+
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = s1 * onebyfftLen;
+
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = r2 * onebyfftLen;
+
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = s2 * onebyfftLen;
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/*   
+ * @brief  In-place bit reversal function.  
+ * @param[in, out] *pSrc        points to the in-place buffer of floating-point data type.  
+ * @param[in]      fftSize      length of the FFT.  
+ * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table.  
+ * @param[in]      *pBitRevTab  points to the bit reversal table.  
+ * @return none.  
+ */
+
+void arm_bitreversal_f32(
+  float32_t * pSrc,
+  uint16_t fftSize,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTab)
+{
+  uint16_t fftLenBy2, fftLenBy2p1;
+  uint16_t i, j;
+  float32_t in;
+
+  /*  Initializations */
+  j = 0u;
+  fftLenBy2 = fftSize >> 1u;
+  fftLenBy2p1 = (fftSize >> 1u) + 1u;
+
+  /* Bit Reversal Implementation */
+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
+  {
+    if(i < j)
+    {
+      /*  pSrc[i] <-> pSrc[j]; */
+      in = pSrc[2u * i];
+      pSrc[2u * i] = pSrc[2u * j];
+      pSrc[2u * j] = in;
+
+      /*  pSrc[i+1u] <-> pSrc[j+1u] */
+      in = pSrc[(2u * i) + 1u];
+      pSrc[(2u * i) + 1u] = pSrc[(2u * j) + 1u];
+      pSrc[(2u * j) + 1u] = in;
+
+      /*  pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */
+      in = pSrc[2u * (i + fftLenBy2p1)];
+      pSrc[2u * (i + fftLenBy2p1)] = pSrc[2u * (j + fftLenBy2p1)];
+      pSrc[2u * (j + fftLenBy2p1)] = in;
+
+      /*  pSrc[i+fftLenBy2p1+1u] <-> pSrc[j+fftLenBy2p1+1u] */
+      in = pSrc[(2u * (i + fftLenBy2p1)) + 1u];
+      pSrc[(2u * (i + fftLenBy2p1)) + 1u] =
+        pSrc[(2u * (j + fftLenBy2p1)) + 1u];
+      pSrc[(2u * (j + fftLenBy2p1)) + 1u] = in;
+
+    }
+
+    /*  pSrc[i+1u] <-> pSrc[j+1u] */
+    in = pSrc[2u * (i + 1u)];
+    pSrc[2u * (i + 1u)] = pSrc[2u * (j + fftLenBy2)];
+    pSrc[2u * (j + fftLenBy2)] = in;
+
+    /*  pSrc[i+2u] <-> pSrc[j+2u] */
+    in = pSrc[(2u * (i + 1u)) + 1u];
+    pSrc[(2u * (i + 1u)) + 1u] = pSrc[(2u * (j + fftLenBy2)) + 1u];
+    pSrc[(2u * (j + fftLenBy2)) + 1u] = in;
+
+    /*  Reading the index for the bit reversal */
+    j = *pBitRevTab;
+
+    /*  Updating the bit reversal index depending on the fft length  */
+    pBitRevTab += bitRevFactor;
+  }
+}
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
new file mode 100644
index 000000000..07be8920b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_f32.c
@@ -0,0 +1,1193 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix4_init_f32.c   
+*   
+* Description:	Radix-4 Decimation in Frequency Floating-point CFFT & CIFFT Initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup CFFT_CIFFT   
+ * @{   
+ */
+
+/*   
+* @brief  Floating-point Twiddle factors Table Generation   
+*/
+
+
+/**   
+* \par   
+* Example code for Floating-point Twiddle factors Generation:   
+* \par   
+* 
    for(i = 0; i< N; i++)   
+* {   
+*	twiddleCoef[2*i]= cos(i * 2*PI/(float)N);   
+*	twiddleCoef[2*i+1]= sin(i * 2*PI/(float)N);   
+* } 
       
+* \par   
+* where N = 1024	and PI = 3.14159265358979   
+* \par   
+* Cos and Sin values are in interleaved fashion   
+*    
+*/
+
+static const float32_t twiddleCoef[2048] = {
+  1.000000000000000000f, 0.000000000000000000f,
+  0.999981175282601110f, 0.006135884649154475f,
+  0.999924701839144500f, 0.012271538285719925f,
+  0.999830581795823400f, 0.018406729905804820f,
+  0.999698818696204250f, 0.024541228522912288f,
+  0.999529417501093140f, 0.030674803176636626f,
+  0.999322384588349540f, 0.036807222941358832f,
+  0.999077727752645360f, 0.042938256934940820f,
+  0.998795456205172410f, 0.049067674327418015f,
+  0.998475580573294770f, 0.055195244349689934f,
+  0.998118112900149180f, 0.061320736302208578f,
+  0.997723066644191640f, 0.067443919563664051f,
+  0.997290456678690210f, 0.073564563599667426f,
+  0.996820299291165670f, 0.079682437971430126f,
+  0.996312612182778000f, 0.085797312344439894f,
+  0.995767414467659820f, 0.091908956497132724f,
+  0.995184726672196930f, 0.098017140329560604f,
+  0.994564570734255420f, 0.104121633872054590f,
+  0.993906970002356060f, 0.110222207293883060f,
+  0.993211949234794500f, 0.116318630911904750f,
+  0.992479534598709970f, 0.122410675199216200f,
+  0.991709753669099530f, 0.128498110793793170f,
+  0.990902635427780010f, 0.134580708507126170f,
+  0.990058210262297120f, 0.140658239332849210f,
+  0.989176509964781010f, 0.146730474455361750f,
+  0.988257567730749460f, 0.152797185258443440f,
+  0.987301418157858430f, 0.158858143333861450f,
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+  0.653172842953776760f, -0.757208846506484570f,
+  0.657806693297078530f, -0.753186799043612630f,
+  0.662415777590171450f, -0.749136394523459590f,
+  0.666999922303637690f, -0.745057785441465840f,
+  0.671558954847018330f, -0.740951125354959110f,
+  0.676092703575315700f, -0.736816568877370020f,
+  0.680600997795452690f, -0.732654271672413150f,
+  0.685083667772700470f, -0.728464390448225090f,
+  0.689540544737066830f, -0.724247082951467000f,
+  0.693971460889653780f, -0.720002507961381880f,
+  0.698376249408972360f, -0.715730825283819040f,
+  0.702754744457225300f, -0.711432195745216430f,
+  0.707106781186547350f, -0.707106781186547680f,
+  0.711432195745216100f, -0.702754744457225630f,
+  0.715730825283818820f, -0.698376249408972690f,
+  0.720002507961381540f, -0.693971460889654000f,
+  0.724247082951466670f, -0.689540544737067160f,
+  0.728464390448224860f, -0.685083667772700800f,
+  0.732654271672412930f, -0.680600997795453020f,
+  0.736816568877369790f, -0.676092703575316030f,
+  0.740951125354958880f, -0.671558954847018660f,
+  0.745057785441465500f, -0.666999922303638030f,
+  0.749136394523459370f, -0.662415777590171780f,
+  0.753186799043612300f, -0.657806693297078860f,
+  0.757208846506484230f, -0.653172842953777090f,
+  0.761202385484261890f, -0.648514401022112330f,
+  0.765167265622458850f, -0.643831542889791500f,
+  0.769103337645579480f, -0.639124444863775950f,
+  0.773010453362736660f, -0.634393284163645930f,
+  0.776888465673232550f, -0.629638238914926980f,
+  0.780737228572094380f, -0.624859488142386450f,
+  0.784556597155575020f, -0.620057211763289540f,
+  0.788346427626605890f, -0.615231590580627370f,
+  0.792106577300212390f, -0.610382806276309480f,
+  0.795836904608883340f, -0.605511041404325660f,
+  0.799537269107904790f, -0.600616479383869310f,
+  0.803207531480645050f, -0.595699304492433250f,
+  0.806847553543799220f, -0.590759701858874280f,
+  0.810457198252594660f, -0.585797857456439090f,
+  0.814036329705948080f, -0.580813958095764970f,
+  0.817584813151583710f, -0.575808191417845230f,
+  0.821102514991104540f, -0.570780745886967370f,
+  0.824589302785025070f, -0.565731810783613560f,
+  0.828045045257755350f, -0.560661576197336590f,
+  0.831469612302545240f, -0.555570233019602180f,
+  0.834862874986379900f, -0.550457972936605030f,
+  0.838224705554837750f, -0.545324988422046800f,
+  0.841554977436898440f, -0.540171472729892740f,
+  0.844853565249707010f, -0.534997619887097260f,
+  0.848120344803297120f, -0.529803624686294940f,
+  0.851355193105264860f, -0.524589682678469390f,
+  0.854557988365400530f, -0.519355990165589530f,
+  0.857728610000272010f, -0.514102744193221880f,
+  0.860866938637767090f, -0.508830142543107430f,
+  0.863972856121586360f, -0.503538383725718130f,
+  0.867046245515692650f, -0.498227666972781870f,
+  0.870086991108711350f, -0.492898192229784260f,
+  0.873094978418289870f, -0.487550160148436380f,
+  0.876070094195406710f, -0.482183772079122610f,
+  0.879012226428633410f, -0.476799230063322200f,
+  0.881921264348354830f, -0.471396736825997920f,
+  0.884797098430937460f, -0.465976495767966680f,
+  0.887639620402853930f, -0.460538710958239950f,
+  0.890448723244757770f, -0.455083587126344000f,
+  0.893224301195515100f, -0.449611329654606980f,
+  0.895966249756184880f, -0.444122144570429810f,
+  0.898674465693953820f, -0.438616238538527660f,
+  0.901348847046021920f, -0.433093818853152180f,
+  0.903989293123443120f, -0.427555093430282530f,
+  0.906595704514915450f, -0.422000270799799570f,
+  0.909167983090522380f, -0.416429560097637260f,
+  0.911706032005429660f, -0.410843171057904240f,
+  0.914209755703530470f, -0.405241314004990420f,
+  0.916679059921042700f, -0.399624199845646790f,
+  0.919113851690057660f, -0.393992040061048270f,
+  0.921514039342041790f, -0.388345046698826690f,
+  0.923879532511286520f, -0.382683432365090390f,
+  0.926210242138311380f, -0.377007410216418260f,
+  0.928506080473215480f, -0.371317193951837820f,
+  0.930766961078983490f, -0.365612997804774350f,
+  0.932992798834738960f, -0.359895036534988000f,
+  0.935183509938947500f, -0.354163525420490510f,
+  0.937339011912574850f, -0.348418680249434900f,
+  0.939459223602189700f, -0.342660717311994930f,
+  0.941544065183020810f, -0.336889853392220000f,
+  0.943593458161960270f, -0.331106305759876600f,
+  0.945607325380521170f, -0.325310292162263370f,
+  0.947585591017741200f, -0.319502030816015470f,
+  0.949528180593036670f, -0.313681740398891520f,
+  0.951435020969008340f, -0.307849640041535140f,
+  0.953306040354193640f, -0.302005949319228580f,
+  0.955141168305770780f, -0.296150888243623730f,
+  0.956940335732208820f, -0.290284677254462500f,
+  0.958703474895871490f, -0.284407537211272210f,
+  0.960430519415565680f, -0.278519689385053670f,
+  0.962121404269041580f, -0.272621355449948980f,
+  0.963776065795439840f, -0.266712757474898590f,
+  0.965394441697689290f, -0.260794117915275960f,
+  0.966976471044852180f, -0.254865659604514410f,
+  0.968522094274417270f, -0.248927605745720200f,
+  0.970031253194543970f, -0.242980179903264180f,
+  0.971503890986251670f, -0.237023605994367730f,
+  0.972939952205560180f, -0.231058108280671000f,
+  0.974339382785575860f, -0.225083911359792970f,
+  0.975702130038528460f, -0.219101240156870160f,
+  0.977028142657754170f, -0.213110319916091970f,
+  0.978317370719627650f, -0.207111376192218530f,
+  0.979569765685440520f, -0.201104634842092120f,
+  0.980785280403230320f, -0.195090322016128720f,
+  0.981963869109555350f, -0.189068664149806030f,
+  0.983105487431216290f, -0.183039887955141010f,
+  0.984210092386929030f, -0.177004220412149050f,
+  0.985277642388941110f, -0.170961888760301770f,
+  0.986308097244598670f, -0.164913120489969810f,
+  0.987301418157858320f, -0.158858143333861580f,
+  0.988257567730749460f, -0.152797185258443800f,
+  0.989176509964780900f, -0.146730474455362390f,
+  0.990058210262297120f, -0.140658239332849210f,
+  0.990902635427780010f, -0.134580708507126420f,
+  0.991709753669099410f, -0.128498110793793640f,
+  0.992479534598709970f, -0.122410675199216030f,
+  0.993211949234794500f, -0.116318630911904840f,
+  0.993906970002356060f, -0.110222207293883360f,
+  0.994564570734255420f, -0.104121633872055130f,
+  0.995184726672196930f, -0.098017140329560506f,
+  0.995767414467659820f, -0.091908956497132877f,
+  0.996312612182778000f, -0.085797312344440282f,
+  0.996820299291165670f, -0.079682437971430750f,
+  0.997290456678690210f, -0.073564563599667412f,
+  0.997723066644191640f, -0.067443919563664287f,
+  0.998118112900149180f, -0.061320736302209057f,
+  0.998475580573294770f, -0.055195244349689775f,
+  0.998795456205172410f, -0.049067674327418091f,
+  0.999077727752645360f, -0.042938256934941139f,
+  0.999322384588349430f, -0.036807222941359394f,
+  0.999529417501093140f, -0.030674803176636543f,
+  0.999698818696204250f, -0.024541228522912448f,
+  0.999830581795823400f, -0.018406729905805226f,
+  0.999924701839144500f, -0.012271538285720572f,
+  0.999981175282601110f, -0.006135884649154477f
+};
+
+/**   
+* @brief  Initialization function for the floating-point CFFT/CIFFT.  
+* @param[in,out] *S             points to an instance of the floating-point CFFT/CIFFT structure.  
+* @param[in]     fftLen         length of the FFT.  
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
+*   
+* \par Description:  
+* \par   
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par   
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
+* \par   
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
+*/
+
+arm_status arm_cfft_radix4_init_f32(
+  arm_cfft_radix4_instance_f32 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (float32_t *) twiddleCoef;
+
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of structure parameters depending on the FFT length */
+  switch (S->fftLen)
+  {
+
+  case 1024u:
+    /*  Initializations of structure parameters for 1024 point FFT */
+
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = armBitRevTable;
+    /*  Initialise the 1/fftLen Value */
+    S->onebyfftLen = 0.0009765625f;
+    break;
+
+
+  case 256u:
+    /*  Initializations of structure parameters for 256 point FFT */
+    S->twidCoefModifier = 4u;
+    S->bitRevFactor = 4u;
+    S->pBitRevTable = &armBitRevTable[3];
+    S->onebyfftLen = 0.00390625f;
+    break;
+
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = &armBitRevTable[15];
+    S->onebyfftLen = 0.015625f;
+    break;
+
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = &armBitRevTable[63];
+    S->onebyfftLen = 0.0625f;
+    break;
+
+
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**   
+ * @} end of CFFT_CIFFT group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
new file mode 100644
index 000000000..3bb11df37
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q15.c
@@ -0,0 +1,415 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix4_init_q15.c   
+*   
+* Description:	Radix-4 Decimation in Frequency Q15 FFT & IFFT initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+
+/**   
+ * @addtogroup CFFT_CIFFT   
+ * @{   
+ */
+
+/*   
+* @brief  Twiddle factors Table   
+*/
+
+/**  
+* \par   
+* Example code for Q15 Twiddle factors Generation::   
+* \par   
+* 
    for(i = 0; i< N; i++)   
+* {   
+*	twiddleCoefQ15[2*i]= cos(i * 2*PI/(float)N);   
+*	twiddleCoefQ15[2*i+1]= sin(i * 2*PI/(float)N);   
+* } 
       
+* \par   
+* where N = 1024	and PI = 3.14159265358979   
+* \par   
+* Cos and Sin values are interleaved fashion   
+* \par   
+* Convert Floating point to Q15(Fixed point 1.15):   
+*	round(twiddleCoefQ15(i) * pow(2, 15))   
+*   
+*/
+
+static const q15_t twiddleCoefQ15[2048] = {
+  0x7fff, 0x0, 0x7fff, 0xc9, 0x7ffe, 0x192, 0x7ffa, 0x25b,
+  0x7ff6, 0x324, 0x7ff1, 0x3ed, 0x7fea, 0x4b6, 0x7fe2, 0x57f,
+  0x7fd9, 0x648, 0x7fce, 0x711, 0x7fc2, 0x7d9, 0x7fb5, 0x8a2,
+  0x7fa7, 0x96b, 0x7f98, 0xa33, 0x7f87, 0xafb, 0x7f75, 0xbc4,
+  0x7f62, 0xc8c, 0x7f4e, 0xd54, 0x7f38, 0xe1c, 0x7f22, 0xee4,
+  0x7f0a, 0xfab, 0x7ef0, 0x1073, 0x7ed6, 0x113a, 0x7eba, 0x1201,
+  0x7e9d, 0x12c8, 0x7e7f, 0x138f, 0x7e60, 0x1455, 0x7e3f, 0x151c,
+  0x7e1e, 0x15e2, 0x7dfb, 0x16a8, 0x7dd6, 0x176e, 0x7db1, 0x1833,
+  0x7d8a, 0x18f9, 0x7d63, 0x19be, 0x7d3a, 0x1a83, 0x7d0f, 0x1b47,
+  0x7ce4, 0x1c0c, 0x7cb7, 0x1cd0, 0x7c89, 0x1d93, 0x7c5a, 0x1e57,
+  0x7c2a, 0x1f1a, 0x7bf9, 0x1fdd, 0x7bc6, 0x209f, 0x7b92, 0x2162,
+  0x7b5d, 0x2224, 0x7b27, 0x22e5, 0x7aef, 0x23a7, 0x7ab7, 0x2467,
+  0x7a7d, 0x2528, 0x7a42, 0x25e8, 0x7a06, 0x26a8, 0x79c9, 0x2768,
+  0x798a, 0x2827, 0x794a, 0x28e5, 0x790a, 0x29a4, 0x78c8, 0x2a62,
+  0x7885, 0x2b1f, 0x7840, 0x2bdc, 0x77fb, 0x2c99, 0x77b4, 0x2d55,
+  0x776c, 0x2e11, 0x7723, 0x2ecc, 0x76d9, 0x2f87, 0x768e, 0x3042,
+  0x7642, 0x30fc, 0x75f4, 0x31b5, 0x75a6, 0x326e, 0x7556, 0x3327,
+  0x7505, 0x33df, 0x74b3, 0x3497, 0x7460, 0x354e, 0x740b, 0x3604,
+  0x73b6, 0x36ba, 0x735f, 0x3770, 0x7308, 0x3825, 0x72af, 0x38d9,
+  0x7255, 0x398d, 0x71fa, 0x3a40, 0x719e, 0x3af3, 0x7141, 0x3ba5,
+  0x70e3, 0x3c57, 0x7083, 0x3d08, 0x7023, 0x3db8, 0x6fc2, 0x3e68,
+  0x6f5f, 0x3f17, 0x6efb, 0x3fc6, 0x6e97, 0x4074, 0x6e31, 0x4121,
+  0x6dca, 0x41ce, 0x6d62, 0x427a, 0x6cf9, 0x4326, 0x6c8f, 0x43d1,
+  0x6c24, 0x447b, 0x6bb8, 0x4524, 0x6b4b, 0x45cd, 0x6add, 0x4675,
+  0x6a6e, 0x471d, 0x69fd, 0x47c4, 0x698c, 0x486a, 0x691a, 0x490f,
+  0x68a7, 0x49b4, 0x6832, 0x4a58, 0x67bd, 0x4afb, 0x6747, 0x4b9e,
+  0x66d0, 0x4c40, 0x6657, 0x4ce1, 0x65de, 0x4d81, 0x6564, 0x4e21,
+  0x64e9, 0x4ec0, 0x646c, 0x4f5e, 0x63ef, 0x4ffb, 0x6371, 0x5098,
+  0x62f2, 0x5134, 0x6272, 0x51cf, 0x61f1, 0x5269, 0x616f, 0x5303,
+  0x60ec, 0x539b, 0x6068, 0x5433, 0x5fe4, 0x54ca, 0x5f5e, 0x5560,
+  0x5ed7, 0x55f6, 0x5e50, 0x568a, 0x5dc8, 0x571e, 0x5d3e, 0x57b1,
+  0x5cb4, 0x5843, 0x5c29, 0x58d4, 0x5b9d, 0x5964, 0x5b10, 0x59f4,
+  0x5a82, 0x5a82, 0x59f4, 0x5b10, 0x5964, 0x5b9d, 0x58d4, 0x5c29,
+  0x5843, 0x5cb4, 0x57b1, 0x5d3e, 0x571e, 0x5dc8, 0x568a, 0x5e50,
+  0x55f6, 0x5ed7, 0x5560, 0x5f5e, 0x54ca, 0x5fe4, 0x5433, 0x6068,
+  0x539b, 0x60ec, 0x5303, 0x616f, 0x5269, 0x61f1, 0x51cf, 0x6272,
+  0x5134, 0x62f2, 0x5098, 0x6371, 0x4ffb, 0x63ef, 0x4f5e, 0x646c,
+  0x4ec0, 0x64e9, 0x4e21, 0x6564, 0x4d81, 0x65de, 0x4ce1, 0x6657,
+  0x4c40, 0x66d0, 0x4b9e, 0x6747, 0x4afb, 0x67bd, 0x4a58, 0x6832,
+  0x49b4, 0x68a7, 0x490f, 0x691a, 0x486a, 0x698c, 0x47c4, 0x69fd,
+  0x471d, 0x6a6e, 0x4675, 0x6add, 0x45cd, 0x6b4b, 0x4524, 0x6bb8,
+  0x447b, 0x6c24, 0x43d1, 0x6c8f, 0x4326, 0x6cf9, 0x427a, 0x6d62,
+  0x41ce, 0x6dca, 0x4121, 0x6e31, 0x4074, 0x6e97, 0x3fc6, 0x6efb,
+  0x3f17, 0x6f5f, 0x3e68, 0x6fc2, 0x3db8, 0x7023, 0x3d08, 0x7083,
+  0x3c57, 0x70e3, 0x3ba5, 0x7141, 0x3af3, 0x719e, 0x3a40, 0x71fa,
+  0x398d, 0x7255, 0x38d9, 0x72af, 0x3825, 0x7308, 0x3770, 0x735f,
+  0x36ba, 0x73b6, 0x3604, 0x740b, 0x354e, 0x7460, 0x3497, 0x74b3,
+  0x33df, 0x7505, 0x3327, 0x7556, 0x326e, 0x75a6, 0x31b5, 0x75f4,
+  0x30fc, 0x7642, 0x3042, 0x768e, 0x2f87, 0x76d9, 0x2ecc, 0x7723,
+  0x2e11, 0x776c, 0x2d55, 0x77b4, 0x2c99, 0x77fb, 0x2bdc, 0x7840,
+  0x2b1f, 0x7885, 0x2a62, 0x78c8, 0x29a4, 0x790a, 0x28e5, 0x794a,
+  0x2827, 0x798a, 0x2768, 0x79c9, 0x26a8, 0x7a06, 0x25e8, 0x7a42,
+  0x2528, 0x7a7d, 0x2467, 0x7ab7, 0x23a7, 0x7aef, 0x22e5, 0x7b27,
+  0x2224, 0x7b5d, 0x2162, 0x7b92, 0x209f, 0x7bc6, 0x1fdd, 0x7bf9,
+  0x1f1a, 0x7c2a, 0x1e57, 0x7c5a, 0x1d93, 0x7c89, 0x1cd0, 0x7cb7,
+  0x1c0c, 0x7ce4, 0x1b47, 0x7d0f, 0x1a83, 0x7d3a, 0x19be, 0x7d63,
+  0x18f9, 0x7d8a, 0x1833, 0x7db1, 0x176e, 0x7dd6, 0x16a8, 0x7dfb,
+  0x15e2, 0x7e1e, 0x151c, 0x7e3f, 0x1455, 0x7e60, 0x138f, 0x7e7f,
+  0x12c8, 0x7e9d, 0x1201, 0x7eba, 0x113a, 0x7ed6, 0x1073, 0x7ef0,
+  0xfab, 0x7f0a, 0xee4, 0x7f22, 0xe1c, 0x7f38, 0xd54, 0x7f4e,
+  0xc8c, 0x7f62, 0xbc4, 0x7f75, 0xafb, 0x7f87, 0xa33, 0x7f98,
+  0x96b, 0x7fa7, 0x8a2, 0x7fb5, 0x7d9, 0x7fc2, 0x711, 0x7fce,
+  0x648, 0x7fd9, 0x57f, 0x7fe2, 0x4b6, 0x7fea, 0x3ed, 0x7ff1,
+  0x324, 0x7ff6, 0x25b, 0x7ffa, 0x192, 0x7ffe, 0xc9, 0x7fff,
+  0x0, 0x7fff, 0xff37, 0x7fff, 0xfe6e, 0x7ffe, 0xfda5, 0x7ffa,
+  0xfcdc, 0x7ff6, 0xfc13, 0x7ff1, 0xfb4a, 0x7fea, 0xfa81, 0x7fe2,
+  0xf9b8, 0x7fd9, 0xf8ef, 0x7fce, 0xf827, 0x7fc2, 0xf75e, 0x7fb5,
+  0xf695, 0x7fa7, 0xf5cd, 0x7f98, 0xf505, 0x7f87, 0xf43c, 0x7f75,
+  0xf374, 0x7f62, 0xf2ac, 0x7f4e, 0xf1e4, 0x7f38, 0xf11c, 0x7f22,
+  0xf055, 0x7f0a, 0xef8d, 0x7ef0, 0xeec6, 0x7ed6, 0xedff, 0x7eba,
+  0xed38, 0x7e9d, 0xec71, 0x7e7f, 0xebab, 0x7e60, 0xeae4, 0x7e3f,
+  0xea1e, 0x7e1e, 0xe958, 0x7dfb, 0xe892, 0x7dd6, 0xe7cd, 0x7db1,
+  0xe707, 0x7d8a, 0xe642, 0x7d63, 0xe57d, 0x7d3a, 0xe4b9, 0x7d0f,
+  0xe3f4, 0x7ce4, 0xe330, 0x7cb7, 0xe26d, 0x7c89, 0xe1a9, 0x7c5a,
+  0xe0e6, 0x7c2a, 0xe023, 0x7bf9, 0xdf61, 0x7bc6, 0xde9e, 0x7b92,
+  0xdddc, 0x7b5d, 0xdd1b, 0x7b27, 0xdc59, 0x7aef, 0xdb99, 0x7ab7,
+  0xdad8, 0x7a7d, 0xda18, 0x7a42, 0xd958, 0x7a06, 0xd898, 0x79c9,
+  0xd7d9, 0x798a, 0xd71b, 0x794a, 0xd65c, 0x790a, 0xd59e, 0x78c8,
+  0xd4e1, 0x7885, 0xd424, 0x7840, 0xd367, 0x77fb, 0xd2ab, 0x77b4,
+  0xd1ef, 0x776c, 0xd134, 0x7723, 0xd079, 0x76d9, 0xcfbe, 0x768e,
+  0xcf04, 0x7642, 0xce4b, 0x75f4, 0xcd92, 0x75a6, 0xccd9, 0x7556,
+  0xcc21, 0x7505, 0xcb69, 0x74b3, 0xcab2, 0x7460, 0xc9fc, 0x740b,
+  0xc946, 0x73b6, 0xc890, 0x735f, 0xc7db, 0x7308, 0xc727, 0x72af,
+  0xc673, 0x7255, 0xc5c0, 0x71fa, 0xc50d, 0x719e, 0xc45b, 0x7141,
+  0xc3a9, 0x70e3, 0xc2f8, 0x7083, 0xc248, 0x7023, 0xc198, 0x6fc2,
+  0xc0e9, 0x6f5f, 0xc03a, 0x6efb, 0xbf8c, 0x6e97, 0xbedf, 0x6e31,
+  0xbe32, 0x6dca, 0xbd86, 0x6d62, 0xbcda, 0x6cf9, 0xbc2f, 0x6c8f,
+  0xbb85, 0x6c24, 0xbadc, 0x6bb8, 0xba33, 0x6b4b, 0xb98b, 0x6add,
+  0xb8e3, 0x6a6e, 0xb83c, 0x69fd, 0xb796, 0x698c, 0xb6f1, 0x691a,
+  0xb64c, 0x68a7, 0xb5a8, 0x6832, 0xb505, 0x67bd, 0xb462, 0x6747,
+  0xb3c0, 0x66d0, 0xb31f, 0x6657, 0xb27f, 0x65de, 0xb1df, 0x6564,
+  0xb140, 0x64e9, 0xb0a2, 0x646c, 0xb005, 0x63ef, 0xaf68, 0x6371,
+  0xaecc, 0x62f2, 0xae31, 0x6272, 0xad97, 0x61f1, 0xacfd, 0x616f,
+  0xac65, 0x60ec, 0xabcd, 0x6068, 0xab36, 0x5fe4, 0xaaa0, 0x5f5e,
+  0xaa0a, 0x5ed7, 0xa976, 0x5e50, 0xa8e2, 0x5dc8, 0xa84f, 0x5d3e,
+  0xa7bd, 0x5cb4, 0xa72c, 0x5c29, 0xa69c, 0x5b9d, 0xa60c, 0x5b10,
+  0xa57e, 0x5a82, 0xa4f0, 0x59f4, 0xa463, 0x5964, 0xa3d7, 0x58d4,
+  0xa34c, 0x5843, 0xa2c2, 0x57b1, 0xa238, 0x571e, 0xa1b0, 0x568a,
+  0xa129, 0x55f6, 0xa0a2, 0x5560, 0xa01c, 0x54ca, 0x9f98, 0x5433,
+  0x9f14, 0x539b, 0x9e91, 0x5303, 0x9e0f, 0x5269, 0x9d8e, 0x51cf,
+  0x9d0e, 0x5134, 0x9c8f, 0x5098, 0x9c11, 0x4ffb, 0x9b94, 0x4f5e,
+  0x9b17, 0x4ec0, 0x9a9c, 0x4e21, 0x9a22, 0x4d81, 0x99a9, 0x4ce1,
+  0x9930, 0x4c40, 0x98b9, 0x4b9e, 0x9843, 0x4afb, 0x97ce, 0x4a58,
+  0x9759, 0x49b4, 0x96e6, 0x490f, 0x9674, 0x486a, 0x9603, 0x47c4,
+  0x9592, 0x471d, 0x9523, 0x4675, 0x94b5, 0x45cd, 0x9448, 0x4524,
+  0x93dc, 0x447b, 0x9371, 0x43d1, 0x9307, 0x4326, 0x929e, 0x427a,
+  0x9236, 0x41ce, 0x91cf, 0x4121, 0x9169, 0x4074, 0x9105, 0x3fc6,
+  0x90a1, 0x3f17, 0x903e, 0x3e68, 0x8fdd, 0x3db8, 0x8f7d, 0x3d08,
+  0x8f1d, 0x3c57, 0x8ebf, 0x3ba5, 0x8e62, 0x3af3, 0x8e06, 0x3a40,
+  0x8dab, 0x398d, 0x8d51, 0x38d9, 0x8cf8, 0x3825, 0x8ca1, 0x3770,
+  0x8c4a, 0x36ba, 0x8bf5, 0x3604, 0x8ba0, 0x354e, 0x8b4d, 0x3497,
+  0x8afb, 0x33df, 0x8aaa, 0x3327, 0x8a5a, 0x326e, 0x8a0c, 0x31b5,
+  0x89be, 0x30fc, 0x8972, 0x3042, 0x8927, 0x2f87, 0x88dd, 0x2ecc,
+  0x8894, 0x2e11, 0x884c, 0x2d55, 0x8805, 0x2c99, 0x87c0, 0x2bdc,
+  0x877b, 0x2b1f, 0x8738, 0x2a62, 0x86f6, 0x29a4, 0x86b6, 0x28e5,
+  0x8676, 0x2827, 0x8637, 0x2768, 0x85fa, 0x26a8, 0x85be, 0x25e8,
+  0x8583, 0x2528, 0x8549, 0x2467, 0x8511, 0x23a7, 0x84d9, 0x22e5,
+  0x84a3, 0x2224, 0x846e, 0x2162, 0x843a, 0x209f, 0x8407, 0x1fdd,
+  0x83d6, 0x1f1a, 0x83a6, 0x1e57, 0x8377, 0x1d93, 0x8349, 0x1cd0,
+  0x831c, 0x1c0c, 0x82f1, 0x1b47, 0x82c6, 0x1a83, 0x829d, 0x19be,
+  0x8276, 0x18f9, 0x824f, 0x1833, 0x822a, 0x176e, 0x8205, 0x16a8,
+  0x81e2, 0x15e2, 0x81c1, 0x151c, 0x81a0, 0x1455, 0x8181, 0x138f,
+  0x8163, 0x12c8, 0x8146, 0x1201, 0x812a, 0x113a, 0x8110, 0x1073,
+  0x80f6, 0xfab, 0x80de, 0xee4, 0x80c8, 0xe1c, 0x80b2, 0xd54,
+  0x809e, 0xc8c, 0x808b, 0xbc4, 0x8079, 0xafb, 0x8068, 0xa33,
+  0x8059, 0x96b, 0x804b, 0x8a2, 0x803e, 0x7d9, 0x8032, 0x711,
+  0x8027, 0x648, 0x801e, 0x57f, 0x8016, 0x4b6, 0x800f, 0x3ed,
+  0x800a, 0x324, 0x8006, 0x25b, 0x8002, 0x192, 0x8001, 0xc9,
+  0x8000, 0x0, 0x8001, 0xff37, 0x8002, 0xfe6e, 0x8006, 0xfda5,
+  0x800a, 0xfcdc, 0x800f, 0xfc13, 0x8016, 0xfb4a, 0x801e, 0xfa81,
+  0x8027, 0xf9b8, 0x8032, 0xf8ef, 0x803e, 0xf827, 0x804b, 0xf75e,
+  0x8059, 0xf695, 0x8068, 0xf5cd, 0x8079, 0xf505, 0x808b, 0xf43c,
+  0x809e, 0xf374, 0x80b2, 0xf2ac, 0x80c8, 0xf1e4, 0x80de, 0xf11c,
+  0x80f6, 0xf055, 0x8110, 0xef8d, 0x812a, 0xeec6, 0x8146, 0xedff,
+  0x8163, 0xed38, 0x8181, 0xec71, 0x81a0, 0xebab, 0x81c1, 0xeae4,
+  0x81e2, 0xea1e, 0x8205, 0xe958, 0x822a, 0xe892, 0x824f, 0xe7cd,
+  0x8276, 0xe707, 0x829d, 0xe642, 0x82c6, 0xe57d, 0x82f1, 0xe4b9,
+  0x831c, 0xe3f4, 0x8349, 0xe330, 0x8377, 0xe26d, 0x83a6, 0xe1a9,
+  0x83d6, 0xe0e6, 0x8407, 0xe023, 0x843a, 0xdf61, 0x846e, 0xde9e,
+  0x84a3, 0xdddc, 0x84d9, 0xdd1b, 0x8511, 0xdc59, 0x8549, 0xdb99,
+  0x8583, 0xdad8, 0x85be, 0xda18, 0x85fa, 0xd958, 0x8637, 0xd898,
+  0x8676, 0xd7d9, 0x86b6, 0xd71b, 0x86f6, 0xd65c, 0x8738, 0xd59e,
+  0x877b, 0xd4e1, 0x87c0, 0xd424, 0x8805, 0xd367, 0x884c, 0xd2ab,
+  0x8894, 0xd1ef, 0x88dd, 0xd134, 0x8927, 0xd079, 0x8972, 0xcfbe,
+  0x89be, 0xcf04, 0x8a0c, 0xce4b, 0x8a5a, 0xcd92, 0x8aaa, 0xccd9,
+  0x8afb, 0xcc21, 0x8b4d, 0xcb69, 0x8ba0, 0xcab2, 0x8bf5, 0xc9fc,
+  0x8c4a, 0xc946, 0x8ca1, 0xc890, 0x8cf8, 0xc7db, 0x8d51, 0xc727,
+  0x8dab, 0xc673, 0x8e06, 0xc5c0, 0x8e62, 0xc50d, 0x8ebf, 0xc45b,
+  0x8f1d, 0xc3a9, 0x8f7d, 0xc2f8, 0x8fdd, 0xc248, 0x903e, 0xc198,
+  0x90a1, 0xc0e9, 0x9105, 0xc03a, 0x9169, 0xbf8c, 0x91cf, 0xbedf,
+  0x9236, 0xbe32, 0x929e, 0xbd86, 0x9307, 0xbcda, 0x9371, 0xbc2f,
+  0x93dc, 0xbb85, 0x9448, 0xbadc, 0x94b5, 0xba33, 0x9523, 0xb98b,
+  0x9592, 0xb8e3, 0x9603, 0xb83c, 0x9674, 0xb796, 0x96e6, 0xb6f1,
+  0x9759, 0xb64c, 0x97ce, 0xb5a8, 0x9843, 0xb505, 0x98b9, 0xb462,
+  0x9930, 0xb3c0, 0x99a9, 0xb31f, 0x9a22, 0xb27f, 0x9a9c, 0xb1df,
+  0x9b17, 0xb140, 0x9b94, 0xb0a2, 0x9c11, 0xb005, 0x9c8f, 0xaf68,
+  0x9d0e, 0xaecc, 0x9d8e, 0xae31, 0x9e0f, 0xad97, 0x9e91, 0xacfd,
+  0x9f14, 0xac65, 0x9f98, 0xabcd, 0xa01c, 0xab36, 0xa0a2, 0xaaa0,
+  0xa129, 0xaa0a, 0xa1b0, 0xa976, 0xa238, 0xa8e2, 0xa2c2, 0xa84f,
+  0xa34c, 0xa7bd, 0xa3d7, 0xa72c, 0xa463, 0xa69c, 0xa4f0, 0xa60c,
+  0xa57e, 0xa57e, 0xa60c, 0xa4f0, 0xa69c, 0xa463, 0xa72c, 0xa3d7,
+  0xa7bd, 0xa34c, 0xa84f, 0xa2c2, 0xa8e2, 0xa238, 0xa976, 0xa1b0,
+  0xaa0a, 0xa129, 0xaaa0, 0xa0a2, 0xab36, 0xa01c, 0xabcd, 0x9f98,
+  0xac65, 0x9f14, 0xacfd, 0x9e91, 0xad97, 0x9e0f, 0xae31, 0x9d8e,
+  0xaecc, 0x9d0e, 0xaf68, 0x9c8f, 0xb005, 0x9c11, 0xb0a2, 0x9b94,
+  0xb140, 0x9b17, 0xb1df, 0x9a9c, 0xb27f, 0x9a22, 0xb31f, 0x99a9,
+  0xb3c0, 0x9930, 0xb462, 0x98b9, 0xb505, 0x9843, 0xb5a8, 0x97ce,
+  0xb64c, 0x9759, 0xb6f1, 0x96e6, 0xb796, 0x9674, 0xb83c, 0x9603,
+  0xb8e3, 0x9592, 0xb98b, 0x9523, 0xba33, 0x94b5, 0xbadc, 0x9448,
+  0xbb85, 0x93dc, 0xbc2f, 0x9371, 0xbcda, 0x9307, 0xbd86, 0x929e,
+  0xbe32, 0x9236, 0xbedf, 0x91cf, 0xbf8c, 0x9169, 0xc03a, 0x9105,
+  0xc0e9, 0x90a1, 0xc198, 0x903e, 0xc248, 0x8fdd, 0xc2f8, 0x8f7d,
+  0xc3a9, 0x8f1d, 0xc45b, 0x8ebf, 0xc50d, 0x8e62, 0xc5c0, 0x8e06,
+  0xc673, 0x8dab, 0xc727, 0x8d51, 0xc7db, 0x8cf8, 0xc890, 0x8ca1,
+  0xc946, 0x8c4a, 0xc9fc, 0x8bf5, 0xcab2, 0x8ba0, 0xcb69, 0x8b4d,
+  0xcc21, 0x8afb, 0xccd9, 0x8aaa, 0xcd92, 0x8a5a, 0xce4b, 0x8a0c,
+  0xcf04, 0x89be, 0xcfbe, 0x8972, 0xd079, 0x8927, 0xd134, 0x88dd,
+  0xd1ef, 0x8894, 0xd2ab, 0x884c, 0xd367, 0x8805, 0xd424, 0x87c0,
+  0xd4e1, 0x877b, 0xd59e, 0x8738, 0xd65c, 0x86f6, 0xd71b, 0x86b6,
+  0xd7d9, 0x8676, 0xd898, 0x8637, 0xd958, 0x85fa, 0xda18, 0x85be,
+  0xdad8, 0x8583, 0xdb99, 0x8549, 0xdc59, 0x8511, 0xdd1b, 0x84d9,
+  0xdddc, 0x84a3, 0xde9e, 0x846e, 0xdf61, 0x843a, 0xe023, 0x8407,
+  0xe0e6, 0x83d6, 0xe1a9, 0x83a6, 0xe26d, 0x8377, 0xe330, 0x8349,
+  0xe3f4, 0x831c, 0xe4b9, 0x82f1, 0xe57d, 0x82c6, 0xe642, 0x829d,
+  0xe707, 0x8276, 0xe7cd, 0x824f, 0xe892, 0x822a, 0xe958, 0x8205,
+  0xea1e, 0x81e2, 0xeae4, 0x81c1, 0xebab, 0x81a0, 0xec71, 0x8181,
+  0xed38, 0x8163, 0xedff, 0x8146, 0xeec6, 0x812a, 0xef8d, 0x8110,
+  0xf055, 0x80f6, 0xf11c, 0x80de, 0xf1e4, 0x80c8, 0xf2ac, 0x80b2,
+  0xf374, 0x809e, 0xf43c, 0x808b, 0xf505, 0x8079, 0xf5cd, 0x8068,
+  0xf695, 0x8059, 0xf75e, 0x804b, 0xf827, 0x803e, 0xf8ef, 0x8032,
+  0xf9b8, 0x8027, 0xfa81, 0x801e, 0xfb4a, 0x8016, 0xfc13, 0x800f,
+  0xfcdc, 0x800a, 0xfda5, 0x8006, 0xfe6e, 0x8002, 0xff37, 0x8001,
+  0x0, 0x8000, 0xc9, 0x8001, 0x192, 0x8002, 0x25b, 0x8006,
+  0x324, 0x800a, 0x3ed, 0x800f, 0x4b6, 0x8016, 0x57f, 0x801e,
+  0x648, 0x8027, 0x711, 0x8032, 0x7d9, 0x803e, 0x8a2, 0x804b,
+  0x96b, 0x8059, 0xa33, 0x8068, 0xafb, 0x8079, 0xbc4, 0x808b,
+  0xc8c, 0x809e, 0xd54, 0x80b2, 0xe1c, 0x80c8, 0xee4, 0x80de,
+  0xfab, 0x80f6, 0x1073, 0x8110, 0x113a, 0x812a, 0x1201, 0x8146,
+  0x12c8, 0x8163, 0x138f, 0x8181, 0x1455, 0x81a0, 0x151c, 0x81c1,
+  0x15e2, 0x81e2, 0x16a8, 0x8205, 0x176e, 0x822a, 0x1833, 0x824f,
+  0x18f9, 0x8276, 0x19be, 0x829d, 0x1a83, 0x82c6, 0x1b47, 0x82f1,
+  0x1c0c, 0x831c, 0x1cd0, 0x8349, 0x1d93, 0x8377, 0x1e57, 0x83a6,
+  0x1f1a, 0x83d6, 0x1fdd, 0x8407, 0x209f, 0x843a, 0x2162, 0x846e,
+  0x2224, 0x84a3, 0x22e5, 0x84d9, 0x23a7, 0x8511, 0x2467, 0x8549,
+  0x2528, 0x8583, 0x25e8, 0x85be, 0x26a8, 0x85fa, 0x2768, 0x8637,
+  0x2827, 0x8676, 0x28e5, 0x86b6, 0x29a4, 0x86f6, 0x2a62, 0x8738,
+  0x2b1f, 0x877b, 0x2bdc, 0x87c0, 0x2c99, 0x8805, 0x2d55, 0x884c,
+  0x2e11, 0x8894, 0x2ecc, 0x88dd, 0x2f87, 0x8927, 0x3042, 0x8972,
+  0x30fc, 0x89be, 0x31b5, 0x8a0c, 0x326e, 0x8a5a, 0x3327, 0x8aaa,
+  0x33df, 0x8afb, 0x3497, 0x8b4d, 0x354e, 0x8ba0, 0x3604, 0x8bf5,
+  0x36ba, 0x8c4a, 0x3770, 0x8ca1, 0x3825, 0x8cf8, 0x38d9, 0x8d51,
+  0x398d, 0x8dab, 0x3a40, 0x8e06, 0x3af3, 0x8e62, 0x3ba5, 0x8ebf,
+  0x3c57, 0x8f1d, 0x3d08, 0x8f7d, 0x3db8, 0x8fdd, 0x3e68, 0x903e,
+  0x3f17, 0x90a1, 0x3fc6, 0x9105, 0x4074, 0x9169, 0x4121, 0x91cf,
+  0x41ce, 0x9236, 0x427a, 0x929e, 0x4326, 0x9307, 0x43d1, 0x9371,
+  0x447b, 0x93dc, 0x4524, 0x9448, 0x45cd, 0x94b5, 0x4675, 0x9523,
+  0x471d, 0x9592, 0x47c4, 0x9603, 0x486a, 0x9674, 0x490f, 0x96e6,
+  0x49b4, 0x9759, 0x4a58, 0x97ce, 0x4afb, 0x9843, 0x4b9e, 0x98b9,
+  0x4c40, 0x9930, 0x4ce1, 0x99a9, 0x4d81, 0x9a22, 0x4e21, 0x9a9c,
+  0x4ec0, 0x9b17, 0x4f5e, 0x9b94, 0x4ffb, 0x9c11, 0x5098, 0x9c8f,
+  0x5134, 0x9d0e, 0x51cf, 0x9d8e, 0x5269, 0x9e0f, 0x5303, 0x9e91,
+  0x539b, 0x9f14, 0x5433, 0x9f98, 0x54ca, 0xa01c, 0x5560, 0xa0a2,
+  0x55f6, 0xa129, 0x568a, 0xa1b0, 0x571e, 0xa238, 0x57b1, 0xa2c2,
+  0x5843, 0xa34c, 0x58d4, 0xa3d7, 0x5964, 0xa463, 0x59f4, 0xa4f0,
+  0x5a82, 0xa57e, 0x5b10, 0xa60c, 0x5b9d, 0xa69c, 0x5c29, 0xa72c,
+  0x5cb4, 0xa7bd, 0x5d3e, 0xa84f, 0x5dc8, 0xa8e2, 0x5e50, 0xa976,
+  0x5ed7, 0xaa0a, 0x5f5e, 0xaaa0, 0x5fe4, 0xab36, 0x6068, 0xabcd,
+  0x60ec, 0xac65, 0x616f, 0xacfd, 0x61f1, 0xad97, 0x6272, 0xae31,
+  0x62f2, 0xaecc, 0x6371, 0xaf68, 0x63ef, 0xb005, 0x646c, 0xb0a2,
+  0x64e9, 0xb140, 0x6564, 0xb1df, 0x65de, 0xb27f, 0x6657, 0xb31f,
+  0x66d0, 0xb3c0, 0x6747, 0xb462, 0x67bd, 0xb505, 0x6832, 0xb5a8,
+  0x68a7, 0xb64c, 0x691a, 0xb6f1, 0x698c, 0xb796, 0x69fd, 0xb83c,
+  0x6a6e, 0xb8e3, 0x6add, 0xb98b, 0x6b4b, 0xba33, 0x6bb8, 0xbadc,
+  0x6c24, 0xbb85, 0x6c8f, 0xbc2f, 0x6cf9, 0xbcda, 0x6d62, 0xbd86,
+  0x6dca, 0xbe32, 0x6e31, 0xbedf, 0x6e97, 0xbf8c, 0x6efb, 0xc03a,
+  0x6f5f, 0xc0e9, 0x6fc2, 0xc198, 0x7023, 0xc248, 0x7083, 0xc2f8,
+  0x70e3, 0xc3a9, 0x7141, 0xc45b, 0x719e, 0xc50d, 0x71fa, 0xc5c0,
+  0x7255, 0xc673, 0x72af, 0xc727, 0x7308, 0xc7db, 0x735f, 0xc890,
+  0x73b6, 0xc946, 0x740b, 0xc9fc, 0x7460, 0xcab2, 0x74b3, 0xcb69,
+  0x7505, 0xcc21, 0x7556, 0xccd9, 0x75a6, 0xcd92, 0x75f4, 0xce4b,
+  0x7642, 0xcf04, 0x768e, 0xcfbe, 0x76d9, 0xd079, 0x7723, 0xd134,
+  0x776c, 0xd1ef, 0x77b4, 0xd2ab, 0x77fb, 0xd367, 0x7840, 0xd424,
+  0x7885, 0xd4e1, 0x78c8, 0xd59e, 0x790a, 0xd65c, 0x794a, 0xd71b,
+  0x798a, 0xd7d9, 0x79c9, 0xd898, 0x7a06, 0xd958, 0x7a42, 0xda18,
+  0x7a7d, 0xdad8, 0x7ab7, 0xdb99, 0x7aef, 0xdc59, 0x7b27, 0xdd1b,
+  0x7b5d, 0xdddc, 0x7b92, 0xde9e, 0x7bc6, 0xdf61, 0x7bf9, 0xe023,
+  0x7c2a, 0xe0e6, 0x7c5a, 0xe1a9, 0x7c89, 0xe26d, 0x7cb7, 0xe330,
+  0x7ce4, 0xe3f4, 0x7d0f, 0xe4b9, 0x7d3a, 0xe57d, 0x7d63, 0xe642,
+  0x7d8a, 0xe707, 0x7db1, 0xe7cd, 0x7dd6, 0xe892, 0x7dfb, 0xe958,
+  0x7e1e, 0xea1e, 0x7e3f, 0xeae4, 0x7e60, 0xebab, 0x7e7f, 0xec71,
+  0x7e9d, 0xed38, 0x7eba, 0xedff, 0x7ed6, 0xeec6, 0x7ef0, 0xef8d,
+  0x7f0a, 0xf055, 0x7f22, 0xf11c, 0x7f38, 0xf1e4, 0x7f4e, 0xf2ac,
+  0x7f62, 0xf374, 0x7f75, 0xf43c, 0x7f87, 0xf505, 0x7f98, 0xf5cd,
+  0x7fa7, 0xf695, 0x7fb5, 0xf75e, 0x7fc2, 0xf827, 0x7fce, 0xf8ef,
+  0x7fd9, 0xf9b8, 0x7fe2, 0xfa81, 0x7fea, 0xfb4a, 0x7ff1, 0xfc13,
+  0x7ff6, 0xfcdc, 0x7ffa, 0xfda5, 0x7ffe, 0xfe6e, 0x7fff, 0xff37
+};
+
+
+/**   
+* @brief Initialization function for the Q15 CFFT/CIFFT.  
+* @param[in,out] *S             points to an instance of the Q15 CFFT/CIFFT structure.  
+* @param[in]     fftLen         length of the FFT.  
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
+*   
+* \par Description:  
+* \par   
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par   
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
+* \par   
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
+*/
+
+arm_status arm_cfft_radix4_init_q15(
+  arm_cfft_radix4_instance_q15 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (q15_t *) twiddleCoefQ15;
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of structure parameters depending on the FFT length */
+  switch (S->fftLen)
+  {
+    /*  Initializations of structure parameters for 1024 point FFT */
+  case 1024u:
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = armBitRevTable;
+
+    break;
+  case 256u:
+    /*  Initializations of structure parameters for 2566 point FFT */
+    S->twidCoefModifier = 4u;
+    S->bitRevFactor = 4u;
+    S->pBitRevTable = &armBitRevTable[3];
+
+    break;
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = &armBitRevTable[15];
+
+    break;
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = &armBitRevTable[63];
+
+    break;
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**   
+ * @} end of CFFT_CIFFT group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
new file mode 100644
index 000000000..eba07ed54
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_init_q31.c
@@ -0,0 +1,670 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix4_init_q31.c   
+*   
+* Description:	Radix-4 Decimation in Frequency Q31 FFT & IFFT initialization function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup CFFT_CIFFT   
+ * @{   
+ */
+
+/*   
+* @brief  Twiddle factors Table   
+*/
+
+/**   
+* \par  
+* Example code for Q31 Twiddle factors Generation::   
+* \par   
+* 
    for(i = 0; i< N; i++)   
+* {   
+*    twiddleCoefQ31[2*i]= cos(i * 2*PI/(float)N);   
+*    twiddleCoefQ31[2*i+1]= sin(i * 2*PI/(float)N);   
+* } 
       
+* \par   
+* where N = 1024	and PI = 3.14159265358979   
+* \par   
+* Cos and Sin values are interleaved fashion   
+* \par   
+* Convert Floating point to Q31(Fixed point 1.31):   
+*	round(twiddleCoefQ31(i) * pow(2, 31))   
+*   
+*/
+
+static const q31_t twiddleCoefQ31[2048] = {
+  0x7fffffff, 0x0, 0x7fff6216, 0xc90f88, 0x7ffd885a, 0x1921d20, 0x7ffa72d1,
+  0x25b26d7,
+  0x7ff62182, 0x3242abf, 0x7ff09478, 0x3ed26e6, 0x7fe9cbc0, 0x4b6195d,
+  0x7fe1c76b, 0x57f0035,
+  0x7fd8878e, 0x647d97c, 0x7fce0c3e, 0x710a345, 0x7fc25596, 0x7d95b9e,
+  0x7fb563b3, 0x8a2009a,
+  0x7fa736b4, 0x96a9049, 0x7f97cebd, 0xa3308bd, 0x7f872bf3, 0xafb6805,
+  0x7f754e80, 0xbc3ac35,
+  0x7f62368f, 0xc8bd35e, 0x7f4de451, 0xd53db92, 0x7f3857f6, 0xe1bc2e4,
+  0x7f2191b4, 0xee38766,
+  0x7f0991c4, 0xfab272b, 0x7ef05860, 0x1072a048, 0x7ed5e5c6, 0x1139f0cf,
+  0x7eba3a39, 0x120116d5,
+  0x7e9d55fc, 0x12c8106f, 0x7e7f3957, 0x138edbb1, 0x7e5fe493, 0x145576b1,
+  0x7e3f57ff, 0x151bdf86,
+  0x7e1d93ea, 0x15e21445, 0x7dfa98a8, 0x16a81305, 0x7dd6668f, 0x176dd9de,
+  0x7db0fdf8, 0x183366e9,
+  0x7d8a5f40, 0x18f8b83c, 0x7d628ac6, 0x19bdcbf3, 0x7d3980ec, 0x1a82a026,
+  0x7d0f4218, 0x1b4732ef,
+  0x7ce3ceb2, 0x1c0b826a, 0x7cb72724, 0x1ccf8cb3, 0x7c894bde, 0x1d934fe5,
+  0x7c5a3d50, 0x1e56ca1e,
+  0x7c29fbee, 0x1f19f97b, 0x7bf88830, 0x1fdcdc1b, 0x7bc5e290, 0x209f701c,
+  0x7b920b89, 0x2161b3a0,
+  0x7b5d039e, 0x2223a4c5, 0x7b26cb4f, 0x22e541af, 0x7aef6323, 0x23a6887f,
+  0x7ab6cba4, 0x24677758,
+  0x7a7d055b, 0x25280c5e, 0x7a4210d8, 0x25e845b6, 0x7a05eead, 0x26a82186,
+  0x79c89f6e, 0x27679df4,
+  0x798a23b1, 0x2826b928, 0x794a7c12, 0x28e5714b, 0x7909a92d, 0x29a3c485,
+  0x78c7aba2, 0x2a61b101,
+  0x78848414, 0x2b1f34eb, 0x78403329, 0x2bdc4e6f, 0x77fab989, 0x2c98fbba,
+  0x77b417df, 0x2d553afc,
+  0x776c4edb, 0x2e110a62, 0x77235f2d, 0x2ecc681e, 0x76d94989, 0x2f875262,
+  0x768e0ea6, 0x3041c761,
+  0x7641af3d, 0x30fbc54d, 0x75f42c0b, 0x31b54a5e, 0x75a585cf, 0x326e54c7,
+  0x7555bd4c, 0x3326e2c3,
+  0x7504d345, 0x33def287, 0x74b2c884, 0x34968250, 0x745f9dd1, 0x354d9057,
+  0x740b53fb, 0x36041ad9,
+  0x73b5ebd1, 0x36ba2014, 0x735f6626, 0x376f9e46, 0x7307c3d0, 0x382493b0,
+  0x72af05a7, 0x38d8fe93,
+  0x72552c85, 0x398cdd32, 0x71fa3949, 0x3a402dd2, 0x719e2cd2, 0x3af2eeb7,
+  0x71410805, 0x3ba51e29,
+  0x70e2cbc6, 0x3c56ba70, 0x708378ff, 0x3d07c1d6, 0x7023109a, 0x3db832a6,
+  0x6fc19385, 0x3e680b2c,
+  0x6f5f02b2, 0x3f1749b8, 0x6efb5f12, 0x3fc5ec98, 0x6e96a99d, 0x4073f21d,
+  0x6e30e34a, 0x4121589b,
+  0x6dca0d14, 0x41ce1e65, 0x6d6227fa, 0x427a41d0, 0x6cf934fc, 0x4325c135,
+  0x6c8f351c, 0x43d09aed,
+  0x6c242960, 0x447acd50, 0x6bb812d1, 0x452456bd, 0x6b4af279, 0x45cd358f,
+  0x6adcc964, 0x46756828,
+  0x6a6d98a4, 0x471cece7, 0x69fd614a, 0x47c3c22f, 0x698c246c, 0x4869e665,
+  0x6919e320, 0x490f57ee,
+  0x68a69e81, 0x49b41533, 0x683257ab, 0x4a581c9e, 0x67bd0fbd, 0x4afb6c98,
+  0x6746c7d8, 0x4b9e0390,
+  0x66cf8120, 0x4c3fdff4, 0x66573cbb, 0x4ce10034, 0x65ddfbd3, 0x4d8162c4,
+  0x6563bf92, 0x4e210617,
+  0x64e88926, 0x4ebfe8a5, 0x646c59bf, 0x4f5e08e3, 0x63ef3290, 0x4ffb654d,
+  0x637114cc, 0x5097fc5e,
+  0x62f201ac, 0x5133cc94, 0x6271fa69, 0x51ced46e, 0x61f1003f, 0x5269126e,
+  0x616f146c, 0x53028518,
+  0x60ec3830, 0x539b2af0, 0x60686ccf, 0x5433027d, 0x5fe3b38d, 0x54ca0a4b,
+  0x5f5e0db3, 0x556040e2,
+  0x5ed77c8a, 0x55f5a4d2, 0x5e50015d, 0x568a34a9, 0x5dc79d7c, 0x571deefa,
+  0x5d3e5237, 0x57b0d256,
+  0x5cb420e0, 0x5842dd54, 0x5c290acc, 0x58d40e8c, 0x5b9d1154, 0x59646498,
+  0x5b1035cf, 0x59f3de12,
+  0x5a82799a, 0x5a82799a, 0x59f3de12, 0x5b1035cf, 0x59646498, 0x5b9d1154,
+  0x58d40e8c, 0x5c290acc,
+  0x5842dd54, 0x5cb420e0, 0x57b0d256, 0x5d3e5237, 0x571deefa, 0x5dc79d7c,
+  0x568a34a9, 0x5e50015d,
+  0x55f5a4d2, 0x5ed77c8a, 0x556040e2, 0x5f5e0db3, 0x54ca0a4b, 0x5fe3b38d,
+  0x5433027d, 0x60686ccf,
+  0x539b2af0, 0x60ec3830, 0x53028518, 0x616f146c, 0x5269126e, 0x61f1003f,
+  0x51ced46e, 0x6271fa69,
+  0x5133cc94, 0x62f201ac, 0x5097fc5e, 0x637114cc, 0x4ffb654d, 0x63ef3290,
+  0x4f5e08e3, 0x646c59bf,
+  0x4ebfe8a5, 0x64e88926, 0x4e210617, 0x6563bf92, 0x4d8162c4, 0x65ddfbd3,
+  0x4ce10034, 0x66573cbb,
+  0x4c3fdff4, 0x66cf8120, 0x4b9e0390, 0x6746c7d8, 0x4afb6c98, 0x67bd0fbd,
+  0x4a581c9e, 0x683257ab,
+  0x49b41533, 0x68a69e81, 0x490f57ee, 0x6919e320, 0x4869e665, 0x698c246c,
+  0x47c3c22f, 0x69fd614a,
+  0x471cece7, 0x6a6d98a4, 0x46756828, 0x6adcc964, 0x45cd358f, 0x6b4af279,
+  0x452456bd, 0x6bb812d1,
+  0x447acd50, 0x6c242960, 0x43d09aed, 0x6c8f351c, 0x4325c135, 0x6cf934fc,
+  0x427a41d0, 0x6d6227fa,
+  0x41ce1e65, 0x6dca0d14, 0x4121589b, 0x6e30e34a, 0x4073f21d, 0x6e96a99d,
+  0x3fc5ec98, 0x6efb5f12,
+  0x3f1749b8, 0x6f5f02b2, 0x3e680b2c, 0x6fc19385, 0x3db832a6, 0x7023109a,
+  0x3d07c1d6, 0x708378ff,
+  0x3c56ba70, 0x70e2cbc6, 0x3ba51e29, 0x71410805, 0x3af2eeb7, 0x719e2cd2,
+  0x3a402dd2, 0x71fa3949,
+  0x398cdd32, 0x72552c85, 0x38d8fe93, 0x72af05a7, 0x382493b0, 0x7307c3d0,
+  0x376f9e46, 0x735f6626,
+  0x36ba2014, 0x73b5ebd1, 0x36041ad9, 0x740b53fb, 0x354d9057, 0x745f9dd1,
+  0x34968250, 0x74b2c884,
+  0x33def287, 0x7504d345, 0x3326e2c3, 0x7555bd4c, 0x326e54c7, 0x75a585cf,
+  0x31b54a5e, 0x75f42c0b,
+  0x30fbc54d, 0x7641af3d, 0x3041c761, 0x768e0ea6, 0x2f875262, 0x76d94989,
+  0x2ecc681e, 0x77235f2d,
+  0x2e110a62, 0x776c4edb, 0x2d553afc, 0x77b417df, 0x2c98fbba, 0x77fab989,
+  0x2bdc4e6f, 0x78403329,
+  0x2b1f34eb, 0x78848414, 0x2a61b101, 0x78c7aba2, 0x29a3c485, 0x7909a92d,
+  0x28e5714b, 0x794a7c12,
+  0x2826b928, 0x798a23b1, 0x27679df4, 0x79c89f6e, 0x26a82186, 0x7a05eead,
+  0x25e845b6, 0x7a4210d8,
+  0x25280c5e, 0x7a7d055b, 0x24677758, 0x7ab6cba4, 0x23a6887f, 0x7aef6323,
+  0x22e541af, 0x7b26cb4f,
+  0x2223a4c5, 0x7b5d039e, 0x2161b3a0, 0x7b920b89, 0x209f701c, 0x7bc5e290,
+  0x1fdcdc1b, 0x7bf88830,
+  0x1f19f97b, 0x7c29fbee, 0x1e56ca1e, 0x7c5a3d50, 0x1d934fe5, 0x7c894bde,
+  0x1ccf8cb3, 0x7cb72724,
+  0x1c0b826a, 0x7ce3ceb2, 0x1b4732ef, 0x7d0f4218, 0x1a82a026, 0x7d3980ec,
+  0x19bdcbf3, 0x7d628ac6,
+  0x18f8b83c, 0x7d8a5f40, 0x183366e9, 0x7db0fdf8, 0x176dd9de, 0x7dd6668f,
+  0x16a81305, 0x7dfa98a8,
+  0x15e21445, 0x7e1d93ea, 0x151bdf86, 0x7e3f57ff, 0x145576b1, 0x7e5fe493,
+  0x138edbb1, 0x7e7f3957,
+  0x12c8106f, 0x7e9d55fc, 0x120116d5, 0x7eba3a39, 0x1139f0cf, 0x7ed5e5c6,
+  0x1072a048, 0x7ef05860,
+  0xfab272b, 0x7f0991c4, 0xee38766, 0x7f2191b4, 0xe1bc2e4, 0x7f3857f6,
+  0xd53db92, 0x7f4de451,
+  0xc8bd35e, 0x7f62368f, 0xbc3ac35, 0x7f754e80, 0xafb6805, 0x7f872bf3,
+  0xa3308bd, 0x7f97cebd,
+  0x96a9049, 0x7fa736b4, 0x8a2009a, 0x7fb563b3, 0x7d95b9e, 0x7fc25596,
+  0x710a345, 0x7fce0c3e,
+  0x647d97c, 0x7fd8878e, 0x57f0035, 0x7fe1c76b, 0x4b6195d, 0x7fe9cbc0,
+  0x3ed26e6, 0x7ff09478,
+  0x3242abf, 0x7ff62182, 0x25b26d7, 0x7ffa72d1, 0x1921d20, 0x7ffd885a,
+  0xc90f88, 0x7fff6216,
+  0x0, 0x7fffffff, 0xff36f078, 0x7fff6216, 0xfe6de2e0, 0x7ffd885a, 0xfda4d929,
+  0x7ffa72d1,
+  0xfcdbd541, 0x7ff62182, 0xfc12d91a, 0x7ff09478, 0xfb49e6a3, 0x7fe9cbc0,
+  0xfa80ffcb, 0x7fe1c76b,
+  0xf9b82684, 0x7fd8878e, 0xf8ef5cbb, 0x7fce0c3e, 0xf826a462, 0x7fc25596,
+  0xf75dff66, 0x7fb563b3,
+  0xf6956fb7, 0x7fa736b4, 0xf5ccf743, 0x7f97cebd, 0xf50497fb, 0x7f872bf3,
+  0xf43c53cb, 0x7f754e80,
+  0xf3742ca2, 0x7f62368f, 0xf2ac246e, 0x7f4de451, 0xf1e43d1c, 0x7f3857f6,
+  0xf11c789a, 0x7f2191b4,
+  0xf054d8d5, 0x7f0991c4, 0xef8d5fb8, 0x7ef05860, 0xeec60f31, 0x7ed5e5c6,
+  0xedfee92b, 0x7eba3a39,
+  0xed37ef91, 0x7e9d55fc, 0xec71244f, 0x7e7f3957, 0xebaa894f, 0x7e5fe493,
+  0xeae4207a, 0x7e3f57ff,
+  0xea1debbb, 0x7e1d93ea, 0xe957ecfb, 0x7dfa98a8, 0xe8922622, 0x7dd6668f,
+  0xe7cc9917, 0x7db0fdf8,
+  0xe70747c4, 0x7d8a5f40, 0xe642340d, 0x7d628ac6, 0xe57d5fda, 0x7d3980ec,
+  0xe4b8cd11, 0x7d0f4218,
+  0xe3f47d96, 0x7ce3ceb2, 0xe330734d, 0x7cb72724, 0xe26cb01b, 0x7c894bde,
+  0xe1a935e2, 0x7c5a3d50,
+  0xe0e60685, 0x7c29fbee, 0xe02323e5, 0x7bf88830, 0xdf608fe4, 0x7bc5e290,
+  0xde9e4c60, 0x7b920b89,
+  0xdddc5b3b, 0x7b5d039e, 0xdd1abe51, 0x7b26cb4f, 0xdc597781, 0x7aef6323,
+  0xdb9888a8, 0x7ab6cba4,
+  0xdad7f3a2, 0x7a7d055b, 0xda17ba4a, 0x7a4210d8, 0xd957de7a, 0x7a05eead,
+  0xd898620c, 0x79c89f6e,
+  0xd7d946d8, 0x798a23b1, 0xd71a8eb5, 0x794a7c12, 0xd65c3b7b, 0x7909a92d,
+  0xd59e4eff, 0x78c7aba2,
+  0xd4e0cb15, 0x78848414, 0xd423b191, 0x78403329, 0xd3670446, 0x77fab989,
+  0xd2aac504, 0x77b417df,
+  0xd1eef59e, 0x776c4edb, 0xd13397e2, 0x77235f2d, 0xd078ad9e, 0x76d94989,
+  0xcfbe389f, 0x768e0ea6,
+  0xcf043ab3, 0x7641af3d, 0xce4ab5a2, 0x75f42c0b, 0xcd91ab39, 0x75a585cf,
+  0xccd91d3d, 0x7555bd4c,
+  0xcc210d79, 0x7504d345, 0xcb697db0, 0x74b2c884, 0xcab26fa9, 0x745f9dd1,
+  0xc9fbe527, 0x740b53fb,
+  0xc945dfec, 0x73b5ebd1, 0xc89061ba, 0x735f6626, 0xc7db6c50, 0x7307c3d0,
+  0xc727016d, 0x72af05a7,
+  0xc67322ce, 0x72552c85, 0xc5bfd22e, 0x71fa3949, 0xc50d1149, 0x719e2cd2,
+  0xc45ae1d7, 0x71410805,
+  0xc3a94590, 0x70e2cbc6, 0xc2f83e2a, 0x708378ff, 0xc247cd5a, 0x7023109a,
+  0xc197f4d4, 0x6fc19385,
+  0xc0e8b648, 0x6f5f02b2, 0xc03a1368, 0x6efb5f12, 0xbf8c0de3, 0x6e96a99d,
+  0xbedea765, 0x6e30e34a,
+  0xbe31e19b, 0x6dca0d14, 0xbd85be30, 0x6d6227fa, 0xbcda3ecb, 0x6cf934fc,
+  0xbc2f6513, 0x6c8f351c,
+  0xbb8532b0, 0x6c242960, 0xbadba943, 0x6bb812d1, 0xba32ca71, 0x6b4af279,
+  0xb98a97d8, 0x6adcc964,
+  0xb8e31319, 0x6a6d98a4, 0xb83c3dd1, 0x69fd614a, 0xb796199b, 0x698c246c,
+  0xb6f0a812, 0x6919e320,
+  0xb64beacd, 0x68a69e81, 0xb5a7e362, 0x683257ab, 0xb5049368, 0x67bd0fbd,
+  0xb461fc70, 0x6746c7d8,
+  0xb3c0200c, 0x66cf8120, 0xb31effcc, 0x66573cbb, 0xb27e9d3c, 0x65ddfbd3,
+  0xb1def9e9, 0x6563bf92,
+  0xb140175b, 0x64e88926, 0xb0a1f71d, 0x646c59bf, 0xb0049ab3, 0x63ef3290,
+  0xaf6803a2, 0x637114cc,
+  0xaecc336c, 0x62f201ac, 0xae312b92, 0x6271fa69, 0xad96ed92, 0x61f1003f,
+  0xacfd7ae8, 0x616f146c,
+  0xac64d510, 0x60ec3830, 0xabccfd83, 0x60686ccf, 0xab35f5b5, 0x5fe3b38d,
+  0xaa9fbf1e, 0x5f5e0db3,
+  0xaa0a5b2e, 0x5ed77c8a, 0xa975cb57, 0x5e50015d, 0xa8e21106, 0x5dc79d7c,
+  0xa84f2daa, 0x5d3e5237,
+  0xa7bd22ac, 0x5cb420e0, 0xa72bf174, 0x5c290acc, 0xa69b9b68, 0x5b9d1154,
+  0xa60c21ee, 0x5b1035cf,
+  0xa57d8666, 0x5a82799a, 0xa4efca31, 0x59f3de12, 0xa462eeac, 0x59646498,
+  0xa3d6f534, 0x58d40e8c,
+  0xa34bdf20, 0x5842dd54, 0xa2c1adc9, 0x57b0d256, 0xa2386284, 0x571deefa,
+  0xa1affea3, 0x568a34a9,
+  0xa1288376, 0x55f5a4d2, 0xa0a1f24d, 0x556040e2, 0xa01c4c73, 0x54ca0a4b,
+  0x9f979331, 0x5433027d,
+  0x9f13c7d0, 0x539b2af0, 0x9e90eb94, 0x53028518, 0x9e0effc1, 0x5269126e,
+  0x9d8e0597, 0x51ced46e,
+  0x9d0dfe54, 0x5133cc94, 0x9c8eeb34, 0x5097fc5e, 0x9c10cd70, 0x4ffb654d,
+  0x9b93a641, 0x4f5e08e3,
+  0x9b1776da, 0x4ebfe8a5, 0x9a9c406e, 0x4e210617, 0x9a22042d, 0x4d8162c4,
+  0x99a8c345, 0x4ce10034,
+  0x99307ee0, 0x4c3fdff4, 0x98b93828, 0x4b9e0390, 0x9842f043, 0x4afb6c98,
+  0x97cda855, 0x4a581c9e,
+  0x9759617f, 0x49b41533, 0x96e61ce0, 0x490f57ee, 0x9673db94, 0x4869e665,
+  0x96029eb6, 0x47c3c22f,
+  0x9592675c, 0x471cece7, 0x9523369c, 0x46756828, 0x94b50d87, 0x45cd358f,
+  0x9447ed2f, 0x452456bd,
+  0x93dbd6a0, 0x447acd50, 0x9370cae4, 0x43d09aed, 0x9306cb04, 0x4325c135,
+  0x929dd806, 0x427a41d0,
+  0x9235f2ec, 0x41ce1e65, 0x91cf1cb6, 0x4121589b, 0x91695663, 0x4073f21d,
+  0x9104a0ee, 0x3fc5ec98,
+  0x90a0fd4e, 0x3f1749b8, 0x903e6c7b, 0x3e680b2c, 0x8fdcef66, 0x3db832a6,
+  0x8f7c8701, 0x3d07c1d6,
+  0x8f1d343a, 0x3c56ba70, 0x8ebef7fb, 0x3ba51e29, 0x8e61d32e, 0x3af2eeb7,
+  0x8e05c6b7, 0x3a402dd2,
+  0x8daad37b, 0x398cdd32, 0x8d50fa59, 0x38d8fe93, 0x8cf83c30, 0x382493b0,
+  0x8ca099da, 0x376f9e46,
+  0x8c4a142f, 0x36ba2014, 0x8bf4ac05, 0x36041ad9, 0x8ba0622f, 0x354d9057,
+  0x8b4d377c, 0x34968250,
+  0x8afb2cbb, 0x33def287, 0x8aaa42b4, 0x3326e2c3, 0x8a5a7a31, 0x326e54c7,
+  0x8a0bd3f5, 0x31b54a5e,
+  0x89be50c3, 0x30fbc54d, 0x8971f15a, 0x3041c761, 0x8926b677, 0x2f875262,
+  0x88dca0d3, 0x2ecc681e,
+  0x8893b125, 0x2e110a62, 0x884be821, 0x2d553afc, 0x88054677, 0x2c98fbba,
+  0x87bfccd7, 0x2bdc4e6f,
+  0x877b7bec, 0x2b1f34eb, 0x8738545e, 0x2a61b101, 0x86f656d3, 0x29a3c485,
+  0x86b583ee, 0x28e5714b,
+  0x8675dc4f, 0x2826b928, 0x86376092, 0x27679df4, 0x85fa1153, 0x26a82186,
+  0x85bdef28, 0x25e845b6,
+  0x8582faa5, 0x25280c5e, 0x8549345c, 0x24677758, 0x85109cdd, 0x23a6887f,
+  0x84d934b1, 0x22e541af,
+  0x84a2fc62, 0x2223a4c5, 0x846df477, 0x2161b3a0, 0x843a1d70, 0x209f701c,
+  0x840777d0, 0x1fdcdc1b,
+  0x83d60412, 0x1f19f97b, 0x83a5c2b0, 0x1e56ca1e, 0x8376b422, 0x1d934fe5,
+  0x8348d8dc, 0x1ccf8cb3,
+  0x831c314e, 0x1c0b826a, 0x82f0bde8, 0x1b4732ef, 0x82c67f14, 0x1a82a026,
+  0x829d753a, 0x19bdcbf3,
+  0x8275a0c0, 0x18f8b83c, 0x824f0208, 0x183366e9, 0x82299971, 0x176dd9de,
+  0x82056758, 0x16a81305,
+  0x81e26c16, 0x15e21445, 0x81c0a801, 0x151bdf86, 0x81a01b6d, 0x145576b1,
+  0x8180c6a9, 0x138edbb1,
+  0x8162aa04, 0x12c8106f, 0x8145c5c7, 0x120116d5, 0x812a1a3a, 0x1139f0cf,
+  0x810fa7a0, 0x1072a048,
+  0x80f66e3c, 0xfab272b, 0x80de6e4c, 0xee38766, 0x80c7a80a, 0xe1bc2e4,
+  0x80b21baf, 0xd53db92,
+  0x809dc971, 0xc8bd35e, 0x808ab180, 0xbc3ac35, 0x8078d40d, 0xafb6805,
+  0x80683143, 0xa3308bd,
+  0x8058c94c, 0x96a9049, 0x804a9c4d, 0x8a2009a, 0x803daa6a, 0x7d95b9e,
+  0x8031f3c2, 0x710a345,
+  0x80277872, 0x647d97c, 0x801e3895, 0x57f0035, 0x80163440, 0x4b6195d,
+  0x800f6b88, 0x3ed26e6,
+  0x8009de7e, 0x3242abf, 0x80058d2f, 0x25b26d7, 0x800277a6, 0x1921d20,
+  0x80009dea, 0xc90f88,
+  0x80000000, 0x0, 0x80009dea, 0xff36f078, 0x800277a6, 0xfe6de2e0, 0x80058d2f,
+  0xfda4d929,
+  0x8009de7e, 0xfcdbd541, 0x800f6b88, 0xfc12d91a, 0x80163440, 0xfb49e6a3,
+  0x801e3895, 0xfa80ffcb,
+  0x80277872, 0xf9b82684, 0x8031f3c2, 0xf8ef5cbb, 0x803daa6a, 0xf826a462,
+  0x804a9c4d, 0xf75dff66,
+  0x8058c94c, 0xf6956fb7, 0x80683143, 0xf5ccf743, 0x8078d40d, 0xf50497fb,
+  0x808ab180, 0xf43c53cb,
+  0x809dc971, 0xf3742ca2, 0x80b21baf, 0xf2ac246e, 0x80c7a80a, 0xf1e43d1c,
+  0x80de6e4c, 0xf11c789a,
+  0x80f66e3c, 0xf054d8d5, 0x810fa7a0, 0xef8d5fb8, 0x812a1a3a, 0xeec60f31,
+  0x8145c5c7, 0xedfee92b,
+  0x8162aa04, 0xed37ef91, 0x8180c6a9, 0xec71244f, 0x81a01b6d, 0xebaa894f,
+  0x81c0a801, 0xeae4207a,
+  0x81e26c16, 0xea1debbb, 0x82056758, 0xe957ecfb, 0x82299971, 0xe8922622,
+  0x824f0208, 0xe7cc9917,
+  0x8275a0c0, 0xe70747c4, 0x829d753a, 0xe642340d, 0x82c67f14, 0xe57d5fda,
+  0x82f0bde8, 0xe4b8cd11,
+  0x831c314e, 0xe3f47d96, 0x8348d8dc, 0xe330734d, 0x8376b422, 0xe26cb01b,
+  0x83a5c2b0, 0xe1a935e2,
+  0x83d60412, 0xe0e60685, 0x840777d0, 0xe02323e5, 0x843a1d70, 0xdf608fe4,
+  0x846df477, 0xde9e4c60,
+  0x84a2fc62, 0xdddc5b3b, 0x84d934b1, 0xdd1abe51, 0x85109cdd, 0xdc597781,
+  0x8549345c, 0xdb9888a8,
+  0x8582faa5, 0xdad7f3a2, 0x85bdef28, 0xda17ba4a, 0x85fa1153, 0xd957de7a,
+  0x86376092, 0xd898620c,
+  0x8675dc4f, 0xd7d946d8, 0x86b583ee, 0xd71a8eb5, 0x86f656d3, 0xd65c3b7b,
+  0x8738545e, 0xd59e4eff,
+  0x877b7bec, 0xd4e0cb15, 0x87bfccd7, 0xd423b191, 0x88054677, 0xd3670446,
+  0x884be821, 0xd2aac504,
+  0x8893b125, 0xd1eef59e, 0x88dca0d3, 0xd13397e2, 0x8926b677, 0xd078ad9e,
+  0x8971f15a, 0xcfbe389f,
+  0x89be50c3, 0xcf043ab3, 0x8a0bd3f5, 0xce4ab5a2, 0x8a5a7a31, 0xcd91ab39,
+  0x8aaa42b4, 0xccd91d3d,
+  0x8afb2cbb, 0xcc210d79, 0x8b4d377c, 0xcb697db0, 0x8ba0622f, 0xcab26fa9,
+  0x8bf4ac05, 0xc9fbe527,
+  0x8c4a142f, 0xc945dfec, 0x8ca099da, 0xc89061ba, 0x8cf83c30, 0xc7db6c50,
+  0x8d50fa59, 0xc727016d,
+  0x8daad37b, 0xc67322ce, 0x8e05c6b7, 0xc5bfd22e, 0x8e61d32e, 0xc50d1149,
+  0x8ebef7fb, 0xc45ae1d7,
+  0x8f1d343a, 0xc3a94590, 0x8f7c8701, 0xc2f83e2a, 0x8fdcef66, 0xc247cd5a,
+  0x903e6c7b, 0xc197f4d4,
+  0x90a0fd4e, 0xc0e8b648, 0x9104a0ee, 0xc03a1368, 0x91695663, 0xbf8c0de3,
+  0x91cf1cb6, 0xbedea765,
+  0x9235f2ec, 0xbe31e19b, 0x929dd806, 0xbd85be30, 0x9306cb04, 0xbcda3ecb,
+  0x9370cae4, 0xbc2f6513,
+  0x93dbd6a0, 0xbb8532b0, 0x9447ed2f, 0xbadba943, 0x94b50d87, 0xba32ca71,
+  0x9523369c, 0xb98a97d8,
+  0x9592675c, 0xb8e31319, 0x96029eb6, 0xb83c3dd1, 0x9673db94, 0xb796199b,
+  0x96e61ce0, 0xb6f0a812,
+  0x9759617f, 0xb64beacd, 0x97cda855, 0xb5a7e362, 0x9842f043, 0xb5049368,
+  0x98b93828, 0xb461fc70,
+  0x99307ee0, 0xb3c0200c, 0x99a8c345, 0xb31effcc, 0x9a22042d, 0xb27e9d3c,
+  0x9a9c406e, 0xb1def9e9,
+  0x9b1776da, 0xb140175b, 0x9b93a641, 0xb0a1f71d, 0x9c10cd70, 0xb0049ab3,
+  0x9c8eeb34, 0xaf6803a2,
+  0x9d0dfe54, 0xaecc336c, 0x9d8e0597, 0xae312b92, 0x9e0effc1, 0xad96ed92,
+  0x9e90eb94, 0xacfd7ae8,
+  0x9f13c7d0, 0xac64d510, 0x9f979331, 0xabccfd83, 0xa01c4c73, 0xab35f5b5,
+  0xa0a1f24d, 0xaa9fbf1e,
+  0xa1288376, 0xaa0a5b2e, 0xa1affea3, 0xa975cb57, 0xa2386284, 0xa8e21106,
+  0xa2c1adc9, 0xa84f2daa,
+  0xa34bdf20, 0xa7bd22ac, 0xa3d6f534, 0xa72bf174, 0xa462eeac, 0xa69b9b68,
+  0xa4efca31, 0xa60c21ee,
+  0xa57d8666, 0xa57d8666, 0xa60c21ee, 0xa4efca31, 0xa69b9b68, 0xa462eeac,
+  0xa72bf174, 0xa3d6f534,
+  0xa7bd22ac, 0xa34bdf20, 0xa84f2daa, 0xa2c1adc9, 0xa8e21106, 0xa2386284,
+  0xa975cb57, 0xa1affea3,
+  0xaa0a5b2e, 0xa1288376, 0xaa9fbf1e, 0xa0a1f24d, 0xab35f5b5, 0xa01c4c73,
+  0xabccfd83, 0x9f979331,
+  0xac64d510, 0x9f13c7d0, 0xacfd7ae8, 0x9e90eb94, 0xad96ed92, 0x9e0effc1,
+  0xae312b92, 0x9d8e0597,
+  0xaecc336c, 0x9d0dfe54, 0xaf6803a2, 0x9c8eeb34, 0xb0049ab3, 0x9c10cd70,
+  0xb0a1f71d, 0x9b93a641,
+  0xb140175b, 0x9b1776da, 0xb1def9e9, 0x9a9c406e, 0xb27e9d3c, 0x9a22042d,
+  0xb31effcc, 0x99a8c345,
+  0xb3c0200c, 0x99307ee0, 0xb461fc70, 0x98b93828, 0xb5049368, 0x9842f043,
+  0xb5a7e362, 0x97cda855,
+  0xb64beacd, 0x9759617f, 0xb6f0a812, 0x96e61ce0, 0xb796199b, 0x9673db94,
+  0xb83c3dd1, 0x96029eb6,
+  0xb8e31319, 0x9592675c, 0xb98a97d8, 0x9523369c, 0xba32ca71, 0x94b50d87,
+  0xbadba943, 0x9447ed2f,
+  0xbb8532b0, 0x93dbd6a0, 0xbc2f6513, 0x9370cae4, 0xbcda3ecb, 0x9306cb04,
+  0xbd85be30, 0x929dd806,
+  0xbe31e19b, 0x9235f2ec, 0xbedea765, 0x91cf1cb6, 0xbf8c0de3, 0x91695663,
+  0xc03a1368, 0x9104a0ee,
+  0xc0e8b648, 0x90a0fd4e, 0xc197f4d4, 0x903e6c7b, 0xc247cd5a, 0x8fdcef66,
+  0xc2f83e2a, 0x8f7c8701,
+  0xc3a94590, 0x8f1d343a, 0xc45ae1d7, 0x8ebef7fb, 0xc50d1149, 0x8e61d32e,
+  0xc5bfd22e, 0x8e05c6b7,
+  0xc67322ce, 0x8daad37b, 0xc727016d, 0x8d50fa59, 0xc7db6c50, 0x8cf83c30,
+  0xc89061ba, 0x8ca099da,
+  0xc945dfec, 0x8c4a142f, 0xc9fbe527, 0x8bf4ac05, 0xcab26fa9, 0x8ba0622f,
+  0xcb697db0, 0x8b4d377c,
+  0xcc210d79, 0x8afb2cbb, 0xccd91d3d, 0x8aaa42b4, 0xcd91ab39, 0x8a5a7a31,
+  0xce4ab5a2, 0x8a0bd3f5,
+  0xcf043ab3, 0x89be50c3, 0xcfbe389f, 0x8971f15a, 0xd078ad9e, 0x8926b677,
+  0xd13397e2, 0x88dca0d3,
+  0xd1eef59e, 0x8893b125, 0xd2aac504, 0x884be821, 0xd3670446, 0x88054677,
+  0xd423b191, 0x87bfccd7,
+  0xd4e0cb15, 0x877b7bec, 0xd59e4eff, 0x8738545e, 0xd65c3b7b, 0x86f656d3,
+  0xd71a8eb5, 0x86b583ee,
+  0xd7d946d8, 0x8675dc4f, 0xd898620c, 0x86376092, 0xd957de7a, 0x85fa1153,
+  0xda17ba4a, 0x85bdef28,
+  0xdad7f3a2, 0x8582faa5, 0xdb9888a8, 0x8549345c, 0xdc597781, 0x85109cdd,
+  0xdd1abe51, 0x84d934b1,
+  0xdddc5b3b, 0x84a2fc62, 0xde9e4c60, 0x846df477, 0xdf608fe4, 0x843a1d70,
+  0xe02323e5, 0x840777d0,
+  0xe0e60685, 0x83d60412, 0xe1a935e2, 0x83a5c2b0, 0xe26cb01b, 0x8376b422,
+  0xe330734d, 0x8348d8dc,
+  0xe3f47d96, 0x831c314e, 0xe4b8cd11, 0x82f0bde8, 0xe57d5fda, 0x82c67f14,
+  0xe642340d, 0x829d753a,
+  0xe70747c4, 0x8275a0c0, 0xe7cc9917, 0x824f0208, 0xe8922622, 0x82299971,
+  0xe957ecfb, 0x82056758,
+  0xea1debbb, 0x81e26c16, 0xeae4207a, 0x81c0a801, 0xebaa894f, 0x81a01b6d,
+  0xec71244f, 0x8180c6a9,
+  0xed37ef91, 0x8162aa04, 0xedfee92b, 0x8145c5c7, 0xeec60f31, 0x812a1a3a,
+  0xef8d5fb8, 0x810fa7a0,
+  0xf054d8d5, 0x80f66e3c, 0xf11c789a, 0x80de6e4c, 0xf1e43d1c, 0x80c7a80a,
+  0xf2ac246e, 0x80b21baf,
+  0xf3742ca2, 0x809dc971, 0xf43c53cb, 0x808ab180, 0xf50497fb, 0x8078d40d,
+  0xf5ccf743, 0x80683143,
+  0xf6956fb7, 0x8058c94c, 0xf75dff66, 0x804a9c4d, 0xf826a462, 0x803daa6a,
+  0xf8ef5cbb, 0x8031f3c2,
+  0xf9b82684, 0x80277872, 0xfa80ffcb, 0x801e3895, 0xfb49e6a3, 0x80163440,
+  0xfc12d91a, 0x800f6b88,
+  0xfcdbd541, 0x8009de7e, 0xfda4d929, 0x80058d2f, 0xfe6de2e0, 0x800277a6,
+  0xff36f078, 0x80009dea,
+  0x0, 0x80000000, 0xc90f88, 0x80009dea, 0x1921d20, 0x800277a6, 0x25b26d7,
+  0x80058d2f,
+  0x3242abf, 0x8009de7e, 0x3ed26e6, 0x800f6b88, 0x4b6195d, 0x80163440,
+  0x57f0035, 0x801e3895,
+  0x647d97c, 0x80277872, 0x710a345, 0x8031f3c2, 0x7d95b9e, 0x803daa6a,
+  0x8a2009a, 0x804a9c4d,
+  0x96a9049, 0x8058c94c, 0xa3308bd, 0x80683143, 0xafb6805, 0x8078d40d,
+  0xbc3ac35, 0x808ab180,
+  0xc8bd35e, 0x809dc971, 0xd53db92, 0x80b21baf, 0xe1bc2e4, 0x80c7a80a,
+  0xee38766, 0x80de6e4c,
+  0xfab272b, 0x80f66e3c, 0x1072a048, 0x810fa7a0, 0x1139f0cf, 0x812a1a3a,
+  0x120116d5, 0x8145c5c7,
+  0x12c8106f, 0x8162aa04, 0x138edbb1, 0x8180c6a9, 0x145576b1, 0x81a01b6d,
+  0x151bdf86, 0x81c0a801,
+  0x15e21445, 0x81e26c16, 0x16a81305, 0x82056758, 0x176dd9de, 0x82299971,
+  0x183366e9, 0x824f0208,
+  0x18f8b83c, 0x8275a0c0, 0x19bdcbf3, 0x829d753a, 0x1a82a026, 0x82c67f14,
+  0x1b4732ef, 0x82f0bde8,
+  0x1c0b826a, 0x831c314e, 0x1ccf8cb3, 0x8348d8dc, 0x1d934fe5, 0x8376b422,
+  0x1e56ca1e, 0x83a5c2b0,
+  0x1f19f97b, 0x83d60412, 0x1fdcdc1b, 0x840777d0, 0x209f701c, 0x843a1d70,
+  0x2161b3a0, 0x846df477,
+  0x2223a4c5, 0x84a2fc62, 0x22e541af, 0x84d934b1, 0x23a6887f, 0x85109cdd,
+  0x24677758, 0x8549345c,
+  0x25280c5e, 0x8582faa5, 0x25e845b6, 0x85bdef28, 0x26a82186, 0x85fa1153,
+  0x27679df4, 0x86376092,
+  0x2826b928, 0x8675dc4f, 0x28e5714b, 0x86b583ee, 0x29a3c485, 0x86f656d3,
+  0x2a61b101, 0x8738545e,
+  0x2b1f34eb, 0x877b7bec, 0x2bdc4e6f, 0x87bfccd7, 0x2c98fbba, 0x88054677,
+  0x2d553afc, 0x884be821,
+  0x2e110a62, 0x8893b125, 0x2ecc681e, 0x88dca0d3, 0x2f875262, 0x8926b677,
+  0x3041c761, 0x8971f15a,
+  0x30fbc54d, 0x89be50c3, 0x31b54a5e, 0x8a0bd3f5, 0x326e54c7, 0x8a5a7a31,
+  0x3326e2c3, 0x8aaa42b4,
+  0x33def287, 0x8afb2cbb, 0x34968250, 0x8b4d377c, 0x354d9057, 0x8ba0622f,
+  0x36041ad9, 0x8bf4ac05,
+  0x36ba2014, 0x8c4a142f, 0x376f9e46, 0x8ca099da, 0x382493b0, 0x8cf83c30,
+  0x38d8fe93, 0x8d50fa59,
+  0x398cdd32, 0x8daad37b, 0x3a402dd2, 0x8e05c6b7, 0x3af2eeb7, 0x8e61d32e,
+  0x3ba51e29, 0x8ebef7fb,
+  0x3c56ba70, 0x8f1d343a, 0x3d07c1d6, 0x8f7c8701, 0x3db832a6, 0x8fdcef66,
+  0x3e680b2c, 0x903e6c7b,
+  0x3f1749b8, 0x90a0fd4e, 0x3fc5ec98, 0x9104a0ee, 0x4073f21d, 0x91695663,
+  0x4121589b, 0x91cf1cb6,
+  0x41ce1e65, 0x9235f2ec, 0x427a41d0, 0x929dd806, 0x4325c135, 0x9306cb04,
+  0x43d09aed, 0x9370cae4,
+  0x447acd50, 0x93dbd6a0, 0x452456bd, 0x9447ed2f, 0x45cd358f, 0x94b50d87,
+  0x46756828, 0x9523369c,
+  0x471cece7, 0x9592675c, 0x47c3c22f, 0x96029eb6, 0x4869e665, 0x9673db94,
+  0x490f57ee, 0x96e61ce0,
+  0x49b41533, 0x9759617f, 0x4a581c9e, 0x97cda855, 0x4afb6c98, 0x9842f043,
+  0x4b9e0390, 0x98b93828,
+  0x4c3fdff4, 0x99307ee0, 0x4ce10034, 0x99a8c345, 0x4d8162c4, 0x9a22042d,
+  0x4e210617, 0x9a9c406e,
+  0x4ebfe8a5, 0x9b1776da, 0x4f5e08e3, 0x9b93a641, 0x4ffb654d, 0x9c10cd70,
+  0x5097fc5e, 0x9c8eeb34,
+  0x5133cc94, 0x9d0dfe54, 0x51ced46e, 0x9d8e0597, 0x5269126e, 0x9e0effc1,
+  0x53028518, 0x9e90eb94,
+  0x539b2af0, 0x9f13c7d0, 0x5433027d, 0x9f979331, 0x54ca0a4b, 0xa01c4c73,
+  0x556040e2, 0xa0a1f24d,
+  0x55f5a4d2, 0xa1288376, 0x568a34a9, 0xa1affea3, 0x571deefa, 0xa2386284,
+  0x57b0d256, 0xa2c1adc9,
+  0x5842dd54, 0xa34bdf20, 0x58d40e8c, 0xa3d6f534, 0x59646498, 0xa462eeac,
+  0x59f3de12, 0xa4efca31,
+  0x5a82799a, 0xa57d8666, 0x5b1035cf, 0xa60c21ee, 0x5b9d1154, 0xa69b9b68,
+  0x5c290acc, 0xa72bf174,
+  0x5cb420e0, 0xa7bd22ac, 0x5d3e5237, 0xa84f2daa, 0x5dc79d7c, 0xa8e21106,
+  0x5e50015d, 0xa975cb57,
+  0x5ed77c8a, 0xaa0a5b2e, 0x5f5e0db3, 0xaa9fbf1e, 0x5fe3b38d, 0xab35f5b5,
+  0x60686ccf, 0xabccfd83,
+  0x60ec3830, 0xac64d510, 0x616f146c, 0xacfd7ae8, 0x61f1003f, 0xad96ed92,
+  0x6271fa69, 0xae312b92,
+  0x62f201ac, 0xaecc336c, 0x637114cc, 0xaf6803a2, 0x63ef3290, 0xb0049ab3,
+  0x646c59bf, 0xb0a1f71d,
+  0x64e88926, 0xb140175b, 0x6563bf92, 0xb1def9e9, 0x65ddfbd3, 0xb27e9d3c,
+  0x66573cbb, 0xb31effcc,
+  0x66cf8120, 0xb3c0200c, 0x6746c7d8, 0xb461fc70, 0x67bd0fbd, 0xb5049368,
+  0x683257ab, 0xb5a7e362,
+  0x68a69e81, 0xb64beacd, 0x6919e320, 0xb6f0a812, 0x698c246c, 0xb796199b,
+  0x69fd614a, 0xb83c3dd1,
+  0x6a6d98a4, 0xb8e31319, 0x6adcc964, 0xb98a97d8, 0x6b4af279, 0xba32ca71,
+  0x6bb812d1, 0xbadba943,
+  0x6c242960, 0xbb8532b0, 0x6c8f351c, 0xbc2f6513, 0x6cf934fc, 0xbcda3ecb,
+  0x6d6227fa, 0xbd85be30,
+  0x6dca0d14, 0xbe31e19b, 0x6e30e34a, 0xbedea765, 0x6e96a99d, 0xbf8c0de3,
+  0x6efb5f12, 0xc03a1368,
+  0x6f5f02b2, 0xc0e8b648, 0x6fc19385, 0xc197f4d4, 0x7023109a, 0xc247cd5a,
+  0x708378ff, 0xc2f83e2a,
+  0x70e2cbc6, 0xc3a94590, 0x71410805, 0xc45ae1d7, 0x719e2cd2, 0xc50d1149,
+  0x71fa3949, 0xc5bfd22e,
+  0x72552c85, 0xc67322ce, 0x72af05a7, 0xc727016d, 0x7307c3d0, 0xc7db6c50,
+  0x735f6626, 0xc89061ba,
+  0x73b5ebd1, 0xc945dfec, 0x740b53fb, 0xc9fbe527, 0x745f9dd1, 0xcab26fa9,
+  0x74b2c884, 0xcb697db0,
+  0x7504d345, 0xcc210d79, 0x7555bd4c, 0xccd91d3d, 0x75a585cf, 0xcd91ab39,
+  0x75f42c0b, 0xce4ab5a2,
+  0x7641af3d, 0xcf043ab3, 0x768e0ea6, 0xcfbe389f, 0x76d94989, 0xd078ad9e,
+  0x77235f2d, 0xd13397e2,
+  0x776c4edb, 0xd1eef59e, 0x77b417df, 0xd2aac504, 0x77fab989, 0xd3670446,
+  0x78403329, 0xd423b191,
+  0x78848414, 0xd4e0cb15, 0x78c7aba2, 0xd59e4eff, 0x7909a92d, 0xd65c3b7b,
+  0x794a7c12, 0xd71a8eb5,
+  0x798a23b1, 0xd7d946d8, 0x79c89f6e, 0xd898620c, 0x7a05eead, 0xd957de7a,
+  0x7a4210d8, 0xda17ba4a,
+  0x7a7d055b, 0xdad7f3a2, 0x7ab6cba4, 0xdb9888a8, 0x7aef6323, 0xdc597781,
+  0x7b26cb4f, 0xdd1abe51,
+  0x7b5d039e, 0xdddc5b3b, 0x7b920b89, 0xde9e4c60, 0x7bc5e290, 0xdf608fe4,
+  0x7bf88830, 0xe02323e5,
+  0x7c29fbee, 0xe0e60685, 0x7c5a3d50, 0xe1a935e2, 0x7c894bde, 0xe26cb01b,
+  0x7cb72724, 0xe330734d,
+  0x7ce3ceb2, 0xe3f47d96, 0x7d0f4218, 0xe4b8cd11, 0x7d3980ec, 0xe57d5fda,
+  0x7d628ac6, 0xe642340d,
+  0x7d8a5f40, 0xe70747c4, 0x7db0fdf8, 0xe7cc9917, 0x7dd6668f, 0xe8922622,
+  0x7dfa98a8, 0xe957ecfb,
+  0x7e1d93ea, 0xea1debbb, 0x7e3f57ff, 0xeae4207a, 0x7e5fe493, 0xebaa894f,
+  0x7e7f3957, 0xec71244f,
+  0x7e9d55fc, 0xed37ef91, 0x7eba3a39, 0xedfee92b, 0x7ed5e5c6, 0xeec60f31,
+  0x7ef05860, 0xef8d5fb8,
+  0x7f0991c4, 0xf054d8d5, 0x7f2191b4, 0xf11c789a, 0x7f3857f6, 0xf1e43d1c,
+  0x7f4de451, 0xf2ac246e,
+  0x7f62368f, 0xf3742ca2, 0x7f754e80, 0xf43c53cb, 0x7f872bf3, 0xf50497fb,
+  0x7f97cebd, 0xf5ccf743,
+  0x7fa736b4, 0xf6956fb7, 0x7fb563b3, 0xf75dff66, 0x7fc25596, 0xf826a462,
+  0x7fce0c3e, 0xf8ef5cbb,
+  0x7fd8878e, 0xf9b82684, 0x7fe1c76b, 0xfa80ffcb, 0x7fe9cbc0, 0xfb49e6a3,
+  0x7ff09478, 0xfc12d91a,
+  0x7ff62182, 0xfcdbd541, 0x7ffa72d1, 0xfda4d929, 0x7ffd885a, 0xfe6de2e0,
+  0x7fff6216, 0xff36f078
+};
+
+/**   
+*   
+* @brief  Initialization function for the Q31 CFFT/CIFFT.  
+* @param[in,out] *S             points to an instance of the Q31 CFFT/CIFFT structure.  
+* @param[in]     fftLen         length of the FFT.  
+* @param[in]     ifftFlag       flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform.  
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return        The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.  
+*   
+* \par Description:  
+* \par   
+* The parameter ifftFlag controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlag for calculation of CIFFT otherwise  CFFT is calculated  
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.   
+* \par   
+* The parameter fftLen	Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024.   
+* \par   
+* This Function also initializes Twiddle factor table pointer and Bit reversal table pointer.   
+*/
+
+arm_status arm_cfft_radix4_init_q31(
+  arm_cfft_radix4_instance_q31 * S,
+  uint16_t fftLen,
+  uint8_t ifftFlag,
+  uint8_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+  /*  Initialise the FFT length */
+  S->fftLen = fftLen;
+  /*  Initialise the Twiddle coefficient pointer */
+  S->pTwiddle = (q31_t *) twiddleCoefQ31;
+  /*  Initialise the Flag for selection of CFFT or CIFFT */
+  S->ifftFlag = ifftFlag;
+  /*  Initialise the Flag for calculation Bit reversal or not */
+  S->bitReverseFlag = bitReverseFlag;
+
+  /*  Initializations of Instance structure depending on the FFT length */
+  switch (S->fftLen)
+  {
+    /*  Initializations of structure parameters for 1024 point FFT */
+  case 1024u:
+    /*  Initialise the twiddle coef modifier value */
+    S->twidCoefModifier = 1u;
+    /*  Initialise the bit reversal table modifier */
+    S->bitRevFactor = 1u;
+    /*  Initialise the bit reversal table pointer */
+    S->pBitRevTable = armBitRevTable;
+    break;
+
+  case 256u:
+    /*  Initializations of structure parameters for 256 point FFT */
+    S->twidCoefModifier = 4u;
+    S->bitRevFactor = 4u;
+    S->pBitRevTable = (uint16_t *) & armBitRevTable[3];
+    break;
+
+  case 64u:
+    /*  Initializations of structure parameters for 64 point FFT */
+    S->twidCoefModifier = 16u;
+    S->bitRevFactor = 16u;
+    S->pBitRevTable = &armBitRevTable[15];
+    break;
+
+  case 16u:
+    /*  Initializations of structure parameters for 16 point FFT */
+    S->twidCoefModifier = 64u;
+    S->bitRevFactor = 64u;
+    S->pBitRevTable = &armBitRevTable[63];
+    break;
+
+  default:
+    /*  Reporting argument error if fftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  return (status);
+}
+
+/**   
+ * @} end of CFFT_CIFFT group   
+ */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
new file mode 100644
index 000000000..0f45b5255
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q15.c
@@ -0,0 +1,1952 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix4_q15.c   
+*   
+* Description:	This file has function definition of Radix-4 FFT & IFFT function and   
+*				In-place bit reversal using bit reversal table   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup CFFT_CIFFT   
+ * @{   
+ */
+
+
+/**   
+ * @details   
+ * @brief Processing function for the Q15 CFFT/CIFFT.  
+ * @param[in]      *S    points to an instance of the Q15 CFFT/CIFFT structure.  
+ * @param[in, out] *pSrc points to the complex data buffer. Processing occurs in-place.  
+ * @return none.  
+ *    
+ * \par Input and output formats:   
+ * \par   
+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.  
+ * Hence the output format is different for different FFT sizes.   
+ * The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT:  
+ * \par  
+ * \image html CFFTQ15.gif "Input and Output Formats for Q15 CFFT"   
+ * \image html CIFFTQ15.gif "Input and Output Formats for Q15 CIFFT"   
+ */
+
+void arm_cfft_radix4_q15(
+  const arm_cfft_radix4_instance_q15 * S,
+  q15_t * pSrc)
+{
+  if(S->ifftFlag == 1u)
+  {
+    /*  Complex IFFT radix-4  */
+    arm_radix4_butterfly_inverse_q15(pSrc, S->fftLen, S->pTwiddle,
+                                     S->twidCoefModifier);
+  }
+  else
+  {
+    /*  Complex FFT radix-4  */
+    arm_radix4_butterfly_q15(pSrc, S->fftLen, S->pTwiddle,
+                             S->twidCoefModifier);
+  }
+
+  if(S->bitReverseFlag == 1u)
+  {
+    /*  Bit Reversal */
+    arm_bitreversal_q15(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+  }
+
+}
+
+/**   
+ * @} end of CFFT_CIFFT group   
+ */
+
+/*   
+* Radix-4 FFT algorithm used is :   
+*   
+* Input real and imaginary data:   
+* x(n) = xa + j * ya   
+* x(n+N/4 ) = xb + j * yb   
+* x(n+N/2 ) = xc + j * yc   
+* x(n+3N 4) = xd + j * yd   
+*   
+*   
+* Output real and imaginary data:   
+* x(4r) = xa'+ j * ya'   
+* x(4r+1) = xb'+ j * yb'   
+* x(4r+2) = xc'+ j * yc'   
+* x(4r+3) = xd'+ j * yd'   
+*   
+*   
+* Twiddle factors for radix-4 FFT:   
+* Wn = co1 + j * (- si1)   
+* W2n = co2 + j * (- si2)   
+* W3n = co3 + j * (- si3)   
+   
+* The real and imaginary output values for the radix-4 butterfly are   
+* xa' = xa + xb + xc + xd   
+* ya' = ya + yb + yc + yd   
+* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)   
+* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)   
+* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)   
+* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)   
+* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)   
+* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)   
+*   
+*/
+
+/**   
+ * @brief  Core function for the Q15 CFFT butterfly process.  
+ * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.  
+ * @param[in]      fftLen           length of the FFT.  
+ * @param[in]      *pCoef16         points to twiddle coefficient buffer.  
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.  
+ */
+
+void arm_radix4_butterfly_q15(
+  q15_t * pSrc16,
+  uint32_t fftLen,
+  q15_t * pCoef16,
+  uint32_t twidCoefModifier)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t R, S, T, U;
+  q31_t C1, C2, C3, out1, out2;
+  q31_t *pSrc, *pCoeff;
+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
+  q15_t in;
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+  /*  pointer initializations for SIMD calculations */
+  pSrc = (q31_t *) pSrc16;
+  pCoeff = (q31_t *) pCoef16;
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+
+  /* Index for twiddle coefficient */
+  ic = 0u;
+
+  /* Index for input read and output write */
+  i0 = 0u;
+  j = n2;
+
+  /* Input is in 1.15(q15) format */
+
+  /*  start of first stage process */
+  do
+  {
+    /*  Butterfly implementation */
+
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T = pSrc[i0];
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+    /* Read yc (real), xc(imag) input */
+    S = pSrc[i2];
+    in = ((int16_t) (S & 0xFFFF)) >> 2;
+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+    /* R = packed((ya + yc), (xa + xc) ) */
+    R = __QADD16(T, S);
+    /* S = packed((ya - yc), (xa - xc) ) */
+    S = __QSUB16(T, S);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T = pSrc[i1];
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+    /* Read yd (real), xd(imag) input */
+    U = pSrc[i3];
+    in = ((int16_t) (U & 0xFFFF)) >> 2;
+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+    /* T = packed((yb + yd), (xb + xd) ) */
+    T = __QADD16(T, U);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc[i0] = __SHADD16(R, T);
+
+    /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */
+    R = __QSUB16(R, T);
+
+    /* co2 & si2 are read from SIMD Coefficient pointer */
+    C2 = pCoeff[2u * ic];
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+    out1 = __SMUAD(C2, R) >> 16u;
+    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+    out2 = __SMUSDX(C2, R);
+
+#else
+
+    /* xc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+    out1 = __SMUSDX(R, C2) >> 16u;
+    /* yc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+    out2 = __SMUAD(C2, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /*  Reading i0+fftLen/4 */
+    /* T = packed(yb, xb) */
+    T = pSrc[i1];
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* writing the butterfly processed i0 + fftLen/4 sample */
+    /* writing output(xc', yc') in little endian format */
+    pSrc[i1] = (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    /*  Butterfly calculations */
+    /* U = packed(yd, xd) */
+    U = pSrc[i3];
+    in = ((int16_t) (U & 0xFFFF)) >> 2;
+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+    /* T = packed(yb-yd, xb-xd) */
+    T = __QSUB16(T, U);
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+    R = __QASX(S, T);
+    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+    S = __QSAX(S, T);
+
+#else
+
+    /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+    R = __QSAX(S, T);
+    /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+    S = __QASX(S, T);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* co1 & si1 are read from SIMD Coefficient pointer */
+    C1 = pCoeff[ic];
+    /*  Butterfly process for the i0+fftLen/2 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+    out1 = __SMUAD(C1, S) >> 16u;
+    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+    out2 = __SMUSDX(C1, S);
+
+#else
+
+    /* xb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+    out1 = __SMUSDX(S, C1) >> 16u;
+    /* yb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+    out2 = __SMUAD(C1, S);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* writing output(xb', yb') in little endian format */
+    pSrc[i2] = ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF);
+
+
+    /* co3 & si3 are read from SIMD Coefficient pointer */
+    C3 = pCoeff[3u * ic];
+    /*  Butterfly process for the i0+3fftLen/4 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+    out1 = __SMUAD(C3, R) >> 16u;
+    /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+    out2 = __SMUSDX(C3, R);
+
+#else
+
+    /* xd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+    out1 = __SMUSDX(R, C3) >> 16u;
+    /* yd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+    out2 = __SMUAD(C3, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* writing output(xd', yd') in little endian format */
+    pSrc[i3] = ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    /*  Twiddle coefficients index modifier */
+    ic = ic + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+  /* data is in 4.11(q11) format */
+
+  /* end of first stage process */
+
+
+  /* start of middle stage process */
+
+  /*  Twiddle coefficients index modifier */
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of Middle stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the middle stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ic = 0u;
+
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      C1 = pCoeff[ic];
+      C2 = pCoeff[2u * ic];
+      C3 = pCoeff[3u * ic];
+
+      /*  Twiddle coefficients index modifier */
+      ic = ic + twidCoefModifier;
+
+      /*  Butterfly implementation */
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Reading i0, i0+fftLen/2 inputs */
+        /* Read ya (real), xa(imag) input */
+        T = pSrc[i0];
+
+        /* Read yc (real), xc(imag) input */
+        S = pSrc[i2];
+
+        /* R = packed( (ya + yc), (xa + xc)) */
+        R = __QADD16(T, S);
+
+        /* S = packed((ya - yc), (xa - xc)) */
+        S = __QSUB16(T, S);
+
+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+        /* Read yb (real), xb(imag) input */
+        T = pSrc[i1];
+
+        /* Read yd (real), xd(imag) input */
+        U = pSrc[i3];
+
+
+        /* T = packed( (yb + yd), (xb + xd)) */
+        T = __QADD16(T, U);
+
+
+        /*  writing the butterfly processed i0 sample */
+
+        /* xa' = xa + xb + xc + xd */
+        /* ya' = ya + yb + yc + yd */
+        out1 = __SHADD16(R, T);
+        in = ((int16_t) (out1 & 0xFFFF)) >> 1;
+        out1 = ((out1 >> 1) & 0xFFFF0000) | (in & 0xFFFF);
+        pSrc[i0] = out1;
+
+        /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */
+        R = __SHSUB16(R, T);
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
+        out1 = __SMUAD(C2, R) >> 16u;
+
+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        out2 = __SMUSDX(C2, R);
+
+#else
+
+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        out1 = __SMUSDX(R, C2) >> 16u;
+
+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
+        out2 = __SMUAD(C2, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /*  Reading i0+3fftLen/4 */
+        /* Read yb (real), xb(imag) input */
+        T = pSrc[i1];
+
+        /*  writing the butterfly processed i0 + fftLen/4 sample */
+        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        pSrc[i1] = ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        /*  Butterfly calculations */
+
+        /* Read yd (real), xd(imag) input */
+        U = pSrc[i3];
+
+        /* T = packed(yb-yd, xb-xd) */
+        T = __QSUB16(T, U);
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+        R = __SHASX(S, T);
+
+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+        S = __SHSAX(S, T);
+
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = __SMUAD(C1, S) >> 16u;
+        out2 = __SMUSDX(C1, S);
+
+#else
+
+        /* R = packed((ya-yc) + (xb- xd) , (xa-xc) - (yb-yd)) */
+        R = __SHSAX(S, T);
+
+        /* S = packed((ya-yc) - (xb- xd),  (xa-xc) + (yb-yd)) */
+        S = __SHASX(S, T);
+
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = __SMUSDX(S, C1) >> 16u;
+        out2 = __SMUAD(C1, S);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+        pSrc[i2] = ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        /*  Butterfly process for the i0+3fftLen/4 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        out1 = __SMUAD(C3, R) >> 16u;
+        out2 = __SMUSDX(C3, R);
+
+#else
+
+        out1 = __SMUSDX(R, C3) >> 16u;
+        out2 = __SMUAD(C3, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3) */
+        /* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3) */
+        pSrc[i3] = ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+      }
+    }
+    /*  Twiddle coefficients index modifier */
+    twidCoefModifier <<= 2u;
+  }
+  /* end of middle stage process */
+
+
+  /* data is in 10.6(q6) format for the 1024 point */
+  /* data is in 8.8(q8) format for the 256 point */
+  /* data is in 6.10(q10) format for the 64 point */
+  /* data is in 4.12(q12) format for the 16 point */
+
+  /*  Initializations for the last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /* start of last stage process */
+
+  /*  Butterfly implementation */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T = pSrc[i0];
+    /* Read yc (real), xc(imag) input */
+    S = pSrc[i2];
+
+    /* R = packed((ya + yc), (xa + xc)) */
+    R = __QADD16(T, S);
+    /* S = packed((ya - yc), (xa - xc)) */
+    S = __QSUB16(T, S);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T = pSrc[i1];
+    /* Read yd (real), xd(imag) input */
+    U = pSrc[i3];
+
+    /* T = packed((yb + yd), (xb + xd)) */
+    T = __QADD16(T, U);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc[i0] = __SHADD16(R, T);
+
+    /* R = packed((ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */
+    R = __SHSUB16(R, T);
+
+    /* Read yb (real), xb(imag) input */
+    T = pSrc[i1];
+
+    /*  writing the butterfly processed i0 + fftLen/4 sample */
+    /* xc' = (xa-xb+xc-xd) */
+    /* yc' = (ya-yb+yc-yd) */
+    pSrc[i1] = R;
+
+    /* Read yd (real), xd(imag) input */
+    U = pSrc[i3];
+    /* T = packed( (yb - yd), (xb - xd))  */
+    T = __QSUB16(T, U);
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /*  writing the butterfly processed i0 + fftLen/2 sample */
+    /* xb' = (xa+yb-xc-yd) */
+    /* yb' = (ya-xb-yc+xd) */
+    pSrc[i2] = __SHSAX(S, T);
+
+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
+    /* xd' = (xa-yb-xc+yd) */
+    /* yd' = (ya+xb-yc-xd) */
+    pSrc[i3] = __SHASX(S, T);
+
+#else
+
+    /*  writing the butterfly processed i0 + fftLen/2 sample */
+    /* xb' = (xa+yb-xc-yd) */
+    /* yb' = (ya-xb-yc+xd) */
+    pSrc[i2] = __SHASX(S, T);
+
+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
+    /* xd' = (xa-yb-xc+yd) */
+    /* yd' = (ya+xb-yc-xd) */
+    pSrc[i3] = __SHSAX(S, T);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+  }
+
+  /* end of last stage process */
+
+  /* output is in 11.5(q5) format for the 1024 point */
+  /* output is in 9.7(q7) format for the 256 point   */
+  /* output is in 7.9(q9) format for the 64 point  */
+  /* output is in 5.11(q11) format for the 16 point  */
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t R0, R1, S0, S1, T0, T1, U0, U1;
+  q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2;
+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+
+  /* Index for twiddle coefficient */
+  ic = 0u;
+
+  /* Index for input read and output write */
+  i0 = 0u;
+  j = n2;
+
+  /* Input is in 1.15(q15) format */
+
+  /*  start of first stage process */
+  do
+  {
+    /*  Butterfly implementation */
+
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+
+    /* input is down scale by 4 to avoid overflow */
+    /* Read ya (real), xa(imag) input */
+    T0 = pSrc16[i0 * 2u] >> 2u;
+    T1 = pSrc16[(i0 * 2u) + 1u] >> 2u;
+
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yc (real), xc(imag) input */
+    S0 = pSrc16[i2 * 2u] >> 2u;
+    S1 = pSrc16[(i2 * 2u) + 1u] >> 2u;
+
+    /* R0 = (ya + yc) */
+    R0 = __SSAT(T0 + S0, 16u);
+    /* R1 = (xa + xc) */
+    R1 = __SSAT(T1 + S1, 16u);
+
+    /* S0 = (ya - yc) */
+    S0 = __SSAT(T0 - S0, 16);
+    /* S1 = (xa - xc) */
+    S1 = __SSAT(T1 - S1, 16);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u] >> 2u;
+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
+
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u] >> 2u;
+    U1 = pSrc16[(i3 * 2u) + 1] >> 2u;
+
+    /* T0 = (yb + yd) */
+    T0 = __SSAT(T0 + U0, 16u);
+    /* T1 = (xb + xd) */
+    T1 = __SSAT(T1 + U1, 16u);
+
+    /*  writing the butterfly processed i0 sample */
+    /* ya' = ya + yb + yc + yd */
+    /* xa' = xa + xb + xc + xd */
+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
+
+    /* R0 = (ya + yc) - (yb + yd) */
+    /* R1 = (xa + xc) - (xb + xd) */
+    R0 = __SSAT(R0 - T0, 16u);
+    R1 = __SSAT(R1 - T1, 16u);
+
+    /* co2 & si2 are read from Coefficient pointer */
+    Co2 = pCoef16[2u * ic * 2u];
+    Si2 = pCoef16[(2u * ic * 2u) + 1];
+
+    /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+    out1 = (short) ((Co2 * R0 + Si2 * R1) >> 16u);
+    /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+    out2 = (short) ((-Si2 * R0 + Co2 * R1) >> 16u);
+
+    /*  Reading i0+fftLen/4 */
+    /* input is down scale by 4 to avoid overflow */
+    /* T0 = yb, T1 =  xb */
+    T0 = pSrc16[i1 * 2u] >> 2;
+    T1 = pSrc16[(i1 * 2u) + 1] >> 2;
+
+    /* writing the butterfly processed i0 + fftLen/4 sample */
+    /* writing output(xc', yc') in little endian format */
+    pSrc16[i1 * 2u] = out1;
+    pSrc16[(i1 * 2u) + 1] = out2;
+
+    /*  Butterfly calculations */
+    /* input is down scale by 4 to avoid overflow */
+    /* U0 = yd, U1 = xd */
+    U0 = pSrc16[i3 * 2u] >> 2;
+    U1 = pSrc16[(i3 * 2u) + 1] >> 2;
+    /* T0 = yb-yd */
+    T0 = __SSAT(T0 - U0, 16);
+    /* T1 = xb-xd */
+    T1 = __SSAT(T1 - U1, 16);
+
+    /* R1 = (ya-yc) + (xb- xd),  R0 = (xa-xc) - (yb-yd)) */
+    R0 = (short) __SSAT((q31_t) (S0 - T1), 16);
+    R1 = (short) __SSAT((q31_t) (S1 + T0), 16);
+
+    /* S1 = (ya-yc) - (xb- xd), S0 = (xa-xc) + (yb-yd)) */
+    S0 = (short) __SSAT(((q31_t) S0 + T1), 16u);
+    S1 = (short) __SSAT(((q31_t) S1 - T0), 16u);
+
+    /* co1 & si1 are read from Coefficient pointer */
+    Co1 = pCoef16[ic * 2u];
+    Si1 = pCoef16[(ic * 2u) + 1];
+    /*  Butterfly process for the i0+fftLen/2 sample */
+    /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+    out1 = (short) ((Si1 * S1 + Co1 * S0) >> 16);
+    /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+    out2 = (short) ((-Si1 * S0 + Co1 * S1) >> 16);
+
+    /* writing output(xb', yb') in little endian format */
+    pSrc16[i2 * 2u] = out1;
+    pSrc16[(i2 * 2u) + 1] = out2;
+
+    /* Co3 & si3 are read from Coefficient pointer */
+    Co3 = pCoef16[3u * (ic * 2u)];
+    Si3 = pCoef16[(3u * (ic * 2u)) + 1];
+    /*  Butterfly process for the i0+3fftLen/4 sample */
+    /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */
+    out1 = (short) ((Si3 * R1 + Co3 * R0) >> 16u);
+    /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */
+    out2 = (short) ((-Si3 * R0 + Co3 * R1) >> 16u);
+    /* writing output(xd', yd') in little endian format */
+    pSrc16[i3 * 2u] = out1;
+    pSrc16[(i3 * 2u) + 1] = out2;
+
+    /*  Twiddle coefficients index modifier */
+    ic = ic + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+  /* data is in 4.11(q11) format */
+
+  /* end of first stage process */
+
+
+  /* start of middle stage process */
+
+  /*  Twiddle coefficients index modifier */
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of Middle stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the middle stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ic = 0u;
+
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      Co1 = pCoef16[ic * 2u];
+      Si1 = pCoef16[(ic * 2u) + 1u];
+      Co2 = pCoef16[2u * (ic * 2u)];
+      Si2 = pCoef16[(2u * (ic * 2u)) + 1u];
+      Co3 = pCoef16[3u * (ic * 2u)];
+      Si3 = pCoef16[(3u * (ic * 2u)) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ic = ic + twidCoefModifier;
+
+      /*  Butterfly implementation */
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Reading i0, i0+fftLen/2 inputs */
+        /* Read ya (real), xa(imag) input */
+        T0 = pSrc16[i0 * 2u];
+        T1 = pSrc16[(i0 * 2u) + 1u];
+
+        /* Read yc (real), xc(imag) input */
+        S0 = pSrc16[i2 * 2u];
+        S1 = pSrc16[(i2 * 2u) + 1u];
+
+        /* R0 = (ya + yc), R1 = (xa + xc) */
+        R0 = __SSAT(T0 + S0, 16);
+        R1 = __SSAT(T1 + S1, 16);
+
+        /* S0 = (ya - yc), S1 =(xa - xc) */
+        S0 = __SSAT(T0 - S0, 16);
+        S1 = __SSAT(T1 - S1, 16);
+
+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+        /* Read yb (real), xb(imag) input */
+        T0 = pSrc16[i1 * 2u];
+        T1 = pSrc16[(i1 * 2u) + 1u];
+
+        /* Read yd (real), xd(imag) input */
+        U0 = pSrc16[i3 * 2u];
+        U1 = pSrc16[(i3 * 2u) + 1u];
+
+
+        /* T0 = (yb + yd), T1 = (xb + xd) */
+        T0 = __SSAT(T0 + U0, 16);
+        T1 = __SSAT(T1 + U1, 16);
+
+        /*  writing the butterfly processed i0 sample */
+
+        /* xa' = xa + xb + xc + xd */
+        /* ya' = ya + yb + yc + yd */
+        out1 = ((R0 >> 1u) + (T0 >> 1u)) >> 1u;
+        out2 = ((R1 >> 1u) + (T1 >> 1u)) >> 1u;
+
+        pSrc16[i0 * 2u] = out1;
+        pSrc16[(2u * i0) + 1u] = out2;
+
+        /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
+        R0 = (R0 >> 1u) - (T0 >> 1u);
+        R1 = (R1 >> 1u) - (T1 >> 1u);
+
+        /* (ya-yb+yc-yd)* (si2) + (xa-xb+xc-xd)* co2 */
+        out1 = (short) ((Co2 * R0 + Si2 * R1) >> 16u);
+
+        /* (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        out2 = (short) ((-Si2 * R0 + Co2 * R1) >> 16u);
+
+        /*  Reading i0+3fftLen/4 */
+        /* Read yb (real), xb(imag) input */
+        T0 = pSrc16[i1 * 2u];
+        T1 = pSrc16[(i1 * 2u) + 1u];
+
+        /*  writing the butterfly processed i0 + fftLen/4 sample */
+        /* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2) */
+        /* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2) */
+        pSrc16[i1 * 2u] = out1;
+        pSrc16[(i1 * 2u) + 1u] = out2;
+
+        /*  Butterfly calculations */
+
+        /* Read yd (real), xd(imag) input */
+        U0 = pSrc16[i3 * 2u];
+        U1 = pSrc16[(i3 * 2u) + 1u];
+
+        /* T0 = yb-yd, T1 = xb-xd */
+        T0 = __SSAT(T0 - U0, 16);
+        T1 = __SSAT(T1 - U1, 16);
+
+        /* R0 = (ya-yc) + (xb- xd), R1 = (xa-xc) - (yb-yd)) */
+        R0 = (S0 >> 1u) - (T1 >> 1u);
+        R1 = (S1 >> 1u) + (T0 >> 1u);
+
+        /* S0 = (ya-yc) - (xb- xd), S1 = (xa-xc) + (yb-yd)) */
+        S0 = (S0 >> 1u) + (T1 >> 1u);
+        S1 = (S1 >> 1u) - (T0 >> 1u);
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = (short) ((Co1 * S0 + Si1 * S1) >> 16u);
+
+        out2 = (short) ((-Si1 * S0 + Co1 * S1) >> 16u);
+
+        /* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1) */
+        /* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1) */
+        pSrc16[i2 * 2u] = out1;
+        pSrc16[(i2 * 2u) + 1u] = out2;
+
+        /*  Butterfly process for the i0+3fftLen/4 sample */
+        out1 = (short) ((Si3 * R1 + Co3 * R0) >> 16u);
+
+        out2 = (short) ((-Si3 * R0 + Co3 * R1) >> 16u);
+        /* xd' = (xa-yb-xc+yd)* Co3 + (ya+xb-yc-xd)* (si3) */
+        /* yd' = (ya+xb-yc-xd)* Co3 - (xa-yb-xc+yd)* (si3) */
+        pSrc16[i3 * 2u] = out1;
+        pSrc16[(i3 * 2u) + 1u] = out2;
+      }
+    }
+    /*  Twiddle coefficients index modifier */
+    twidCoefModifier <<= 2u;
+  }
+  /* end of middle stage process */
+
+
+  /* data is in 10.6(q6) format for the 1024 point */
+  /* data is in 8.8(q8) format for the 256 point */
+  /* data is in 6.10(q10) format for the 64 point */
+  /* data is in 4.12(q12) format for the 16 point */
+
+  /*  Initializations for the last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /* start of last stage process */
+
+  /*  Butterfly implementation */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T0 = pSrc16[i0 * 2u];
+    T1 = pSrc16[(i0 * 2u) + 1u];
+
+    /* Read yc (real), xc(imag) input */
+    S0 = pSrc16[i2 * 2u];
+    S1 = pSrc16[(i2 * 2u) + 1u];
+
+    /* R0 = (ya + yc), R1 = (xa + xc) */
+    R0 = __SSAT(T0 + S0, 16u);
+    R1 = __SSAT(T1 + S1, 16u);
+
+    /* S0 = (ya - yc), S1 = (xa - xc) */
+    S0 = __SSAT(T0 - S0, 16u);
+    S1 = __SSAT(T1 - S1, 16u);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u];
+    T1 = pSrc16[(i1 * 2u) + 1u];
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u];
+    U1 = pSrc16[(i3 * 2u) + 1u];
+
+    /* T0 = (yb + yd), T1 = (xb + xd)) */
+    T0 = __SSAT(T0 + U0, 16u);
+    T1 = __SSAT(T1 + U1, 16u);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
+
+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
+    R0 = (R0 >> 1u) - (T0 >> 1u);
+    R1 = (R1 >> 1u) - (T1 >> 1u);
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u];
+    T1 = pSrc16[(i1 * 2u) + 1u];
+
+    /*  writing the butterfly processed i0 + fftLen/4 sample */
+    /* xc' = (xa-xb+xc-xd) */
+    /* yc' = (ya-yb+yc-yd) */
+    pSrc16[i1 * 2u] = R0;
+    pSrc16[(i1 * 2u) + 1u] = R1;
+
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u];
+    U1 = pSrc16[(i3 * 2u) + 1u];
+    /* T0 = (yb - yd), T1 = (xb - xd)  */
+    T0 = __SSAT(T0 - U0, 16u);
+    T1 = __SSAT(T1 - U1, 16u);
+
+    /*  writing the butterfly processed i0 + fftLen/2 sample */
+    /* xb' = (xa+yb-xc-yd) */
+    /* yb' = (ya-xb-yc+xd) */
+    pSrc16[i2 * 2u] = (S0 >> 1u) + (T1 >> 1u);
+    pSrc16[(i2 * 2u) + 1u] = (S1 >> 1u) - (T0 >> 1u);
+
+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
+    /* xd' = (xa-yb-xc+yd) */
+    /* yd' = (ya+xb-yc-xd) */
+    pSrc16[i3 * 2u] = (S0 >> 1u) - (T1 >> 1u);
+    pSrc16[(i3 * 2u) + 1u] = (S1 >> 1u) + (T0 >> 1u);
+
+  }
+
+  /* end of last stage process */
+
+  /* output is in 11.5(q5) format for the 1024 point */
+  /* output is in 9.7(q7) format for the 256 point   */
+  /* output is in 7.9(q9) format for the 64 point  */
+  /* output is in 5.11(q11) format for the 16 point  */
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/**   
+ * @brief  Core function for the Q15 CIFFT butterfly process.  
+ * @param[in, out] *pSrc16          points to the in-place buffer of Q15 data type.  
+ * @param[in]      fftLen           length of the FFT.  
+ * @param[in]      *pCoef16         points to twiddle coefficient buffer.  
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.  
+ */
+
+/*   
+* Radix-4 IFFT algorithm used is :   
+*   
+* CIFFT uses same twiddle coefficients as CFFT function   
+*  x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4]   
+*   
+*   
+* IFFT is implemented with following changes in equations from FFT   
+*   
+* Input real and imaginary data:   
+* x(n) = xa + j * ya   
+* x(n+N/4 ) = xb + j * yb   
+* x(n+N/2 ) = xc + j * yc   
+* x(n+3N 4) = xd + j * yd   
+*   
+*   
+* Output real and imaginary data:   
+* x(4r) = xa'+ j * ya'   
+* x(4r+1) = xb'+ j * yb'   
+* x(4r+2) = xc'+ j * yc'   
+* x(4r+3) = xd'+ j * yd'   
+*   
+*   
+* Twiddle factors for radix-4 IFFT:   
+* Wn = co1 + j * (si1)   
+* W2n = co2 + j * (si2)   
+* W3n = co3 + j * (si3)   
+   
+* The real and imaginary output values for the radix-4 butterfly are   
+* xa' = xa + xb + xc + xd   
+* ya' = ya + yb + yc + yd   
+* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)   
+* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)   
+* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)   
+* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)   
+* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)   
+* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)   
+*   
+*/
+
+void arm_radix4_butterfly_inverse_q15(
+  q15_t * pSrc16,
+  uint32_t fftLen,
+  q15_t * pCoef16,
+  uint32_t twidCoefModifier)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  q31_t R, S, T, U;
+  q31_t C1, C2, C3, out1, out2;
+  q31_t *pSrc, *pCoeff;
+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
+  q15_t in;
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+  /*  pointer initializations for SIMD calculations */
+  pSrc = (q31_t *) pSrc16;
+  pCoeff = (q31_t *) pCoef16;
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+
+  /* Index for twiddle coefficient */
+  ic = 0u;
+
+  /* Index for input read and output write */
+  i0 = 0u;
+
+  j = n2;
+
+  /* Input is in 1.15(q15) format */
+
+  /*  Start of first stage process */
+  do
+  {
+    /*  Butterfly implementation */
+
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T = pSrc[i0];
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+    /* Read yc (real), xc(imag) input */
+    S = pSrc[i2];
+    in = ((int16_t) (S & 0xFFFF)) >> 2;
+    S = ((S >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* R = packed((ya + yc), (xa + xc) ) */
+    R = __QADD16(T, S);
+    /* S = packed((ya - yc), (xa - xc) ) */
+    S = __QSUB16(T, S);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T = pSrc[i1];
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+    /* Read yd (real), xd(imag) input */
+    U = pSrc[i3];
+    in = ((int16_t) (U & 0xFFFF)) >> 2;
+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* T = packed((yb + yd), (xb + xd) ) */
+    T = __QADD16(T, U);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc[i0] = __SHADD16(R, T);
+
+    /* R = packed((ya + yc) - (yb + yd), (xa + xc)- (xb + xd)) */
+    R = __QSUB16(R, T);
+    /* co2 & si2 are read from SIMD Coefficient pointer */
+    C2 = pCoeff[2u * ic];
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
+    out1 = __SMUSD(C2, R) >> 16u;
+    /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+    out2 = __SMUADX(C2, R);
+
+#else
+
+    /* xc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+    out1 = __SMUADX(C2, R) >> 16u;
+    /* yc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
+    out2 = __SMUSD(-C2, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /*  Reading i0+fftLen/4 */
+    /* T = packed(yb, xb) */
+    T = pSrc[i1];
+    in = ((int16_t) (T & 0xFFFF)) >> 2;
+    T = ((T >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* writing the butterfly processed i0 + fftLen/4 sample */
+    /* writing output(xc', yc') in little endian format */
+    pSrc[i1] = (q31_t) ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    /*  Butterfly calculations */
+    /* U = packed(yd, xd) */
+    U = pSrc[i3];
+    in = ((int16_t) (U & 0xFFFF)) >> 2;
+    U = ((U >> 2) & 0xFFFF0000) | (in & 0xFFFF);
+
+    /* T = packed(yb-yd, xb-xd) */
+    T = __QSUB16(T, U);
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* R = packed((ya-yc) - (xb- xd) , (xa-xc) + (yb-yd)) */
+    R = __QSAX(S, T);
+    /* S = packed((ya-yc) + (xb- xd),  (xa-xc) - (yb-yd)) */
+    S = __QASX(S, T);
+
+#else
+
+    /* R = packed((ya-yc) - (xb- xd) , (xa-xc) + (yb-yd)) */
+    R = __QASX(S, T);
+    /* S = packed((ya-yc) + (xb- xd),  (xa-xc) - (yb-yd)) */
+    S = __QSAX(S, T);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* co1 & si1 are read from SIMD Coefficient pointer */
+    C1 = pCoeff[ic];
+    /*  Butterfly process for the i0+fftLen/2 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
+    out1 = __SMUSD(C1, S) >> 16u;
+    /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
+    out2 = __SMUADX(C1, S);
+
+#else
+
+    /* xb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
+    out1 = __SMUADX(C1, S) >> 16u;
+    /* yb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
+    out2 = __SMUSD(-C1, S);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* writing output(xb', yb') in little endian format */
+    pSrc[i2] = ((out2) & 0xFFFF0000) | ((out1) & 0x0000FFFF);
+
+    /* co3 & si3 are read from SIMD Coefficient pointer */
+    C3 = pCoeff[3u * ic];
+    /*  Butterfly process for the i0+3fftLen/4 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3) */
+    out1 = __SMUSD(C3, R) >> 16u;
+    /* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3) */
+    out2 = __SMUADX(C3, R);
+
+#else
+
+    /* xd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3) */
+    out1 = __SMUADX(C3, R) >> 16u;
+    /* yd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3) */
+    out2 = __SMUSD(-C3, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* writing output(xd', yd') in little endian format */
+    pSrc[i3] = ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+    /*  Twiddle coefficients index modifier */
+    ic = ic + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+
+  /*  End of first stage process */
+
+  /* data is in 4.11(q11) format */
+
+
+  /*  Start of Middle stage process */
+
+  /*  Twiddle coefficients index modifier */
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of Middle stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the middle stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ic = 0u;
+
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      C1 = pCoeff[ic];
+      C2 = pCoeff[2u * ic];
+      C3 = pCoeff[3u * ic];
+
+      /*  Twiddle coefficients index modifier */
+      ic = ic + twidCoefModifier;
+
+      /*  Butterfly implementation */
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Reading i0, i0+fftLen/2 inputs */
+        /* Read ya (real), xa(imag) input */
+        T = pSrc[i0];
+
+        /* Read yc (real), xc(imag) input */
+        S = pSrc[i2];
+
+
+        /* R = packed( (ya + yc), (xa + xc)) */
+        R = __QADD16(T, S);
+        /* S = packed((ya - yc), (xa - xc)) */
+        S = __QSUB16(T, S);
+
+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+        /* Read yb (real), xb(imag) input */
+        T = pSrc[i1];
+
+        /* Read yd (real), xd(imag) input */
+        U = pSrc[i3];
+
+
+        /* T = packed( (yb + yd), (xb + xd)) */
+        T = __QADD16(T, U);
+
+        /*  writing the butterfly processed i0 sample */
+        /* xa' = xa + xb + xc + xd */
+        /* ya' = ya + yb + yc + yd */
+        out1 = __SHADD16(R, T);
+        in = ((int16_t) (out1 & 0xFFFF)) >> 1;
+        out1 = ((out1 >> 1) & 0xFFFF0000) | (in & 0xFFFF);
+        pSrc[i0] = out1;
+
+
+
+        /* R = packed( (ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */
+        R = __SHSUB16(R, T);
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        /* (ya-yb+yc-yd)* (si2) - (xa-xb+xc-xd)* co2 */
+        out1 = __SMUSD(C2, R) >> 16u;
+        /* (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+        out2 = __SMUADX(C2, R);
+
+#else
+
+        /* (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+        out1 = __SMUADX(R, C2) >> 16u;
+        /* (ya-yb+yc-yd)* (si2) - (xa-xb+xc-xd)* co2 */
+        out2 = __SMUSD(-C2, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /*  Reading i0+3fftLen/4 */
+        /* Read yb (real), xb(imag) input */
+        T = pSrc[i1];
+
+        /*  writing the butterfly processed i0 + fftLen/4 sample */
+        /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
+        /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+        pSrc[i1] = ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        /*  Butterfly calculations */
+        /* Read yd (real), xd(imag) input */
+        U = pSrc[i3];
+
+        /* T = packed(yb-yd, xb-xd) */
+        T = __QSUB16(T, U);
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        /* R = packed((ya-yc) - (xb- xd) , (xa-xc) + (yb-yd)) */
+        R = __SHSAX(S, T);
+
+        /* S = packed((ya-yc) + (xb- xd),  (xa-xc) - (yb-yd)) */
+        S = __SHASX(S, T);
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = __SMUSD(C1, S) >> 16u;
+        out2 = __SMUADX(C1, S);
+
+#else
+
+        /* R = packed((ya-yc) - (xb- xd) , (xa-xc) + (yb-yd)) */
+        R = __SHASX(S, T);
+
+        /* S = packed((ya-yc) + (xb- xd),  (xa-xc) - (yb-yd)) */
+        S = __SHSAX(S, T);
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = __SMUADX(S, C1) >> 16u;
+        out2 = __SMUSD(-C1, S);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
+        /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
+        pSrc[i2] = ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+        /*  Butterfly process for the i0+3fftLen/4 sample */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+        out1 = __SMUSD(C3, R) >> 16u;
+        out2 = __SMUADX(C3, R);
+
+#else
+
+        out1 = __SMUADX(C3, R) >> 16u;
+        out2 = __SMUSD(-C3, R);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+        /* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3) */
+        /* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3) */
+        pSrc[i3] = ((out2) & 0xFFFF0000) | (out1 & 0x0000FFFF);
+
+
+      }
+    }
+    /*  Twiddle coefficients index modifier */
+    twidCoefModifier <<= 2u;
+  }
+  /*  End of Middle stages process */
+
+
+  /* data is in 10.6(q6) format for the 1024 point */
+  /* data is in 8.8(q8) format for the 256 point   */
+  /* data is in 6.10(q10) format for the 64 point  */
+  /* data is in 4.12(q12) format for the 16 point  */
+
+  /* start of last stage process */
+
+
+  /*  Initializations for the last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Butterfly implementation */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T = pSrc[i0];
+    /* Read yc (real), xc(imag) input */
+    S = pSrc[i2];
+
+    /* R = packed((ya + yc), (xa + xc)) */
+    R = __QADD16(T, S);
+    /* S = packed((ya - yc), (xa - xc)) */
+    S = __QSUB16(T, S);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T = pSrc[i1];
+    /* Read yd (real), xd(imag) input */
+    U = pSrc[i3];
+
+    /* T = packed((yb + yd), (xb + xd)) */
+    T = __QADD16(T, U);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc[i0] = __SHADD16(R, T);
+
+    /* R = packed((ya + yc) - (yb + yd), (xa + xc) - (xb + xd)) */
+    R = __SHSUB16(R, T);
+
+    /* Read yb (real), xb(imag) input */
+    T = pSrc[i1];
+
+    /*  writing the butterfly processed i0 + fftLen/4 sample */
+    /* xc' = (xa-xb+xc-xd) */
+    /* yc' = (ya-yb+yc-yd) */
+    pSrc[i1] = R;
+
+    /* Read yd (real), xd(imag) input */
+    U = pSrc[i3];
+    /* T = packed( (yb - yd), (xb - xd))  */
+    T = __QSUB16(T, U);
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /*  writing the butterfly processed i0 + fftLen/2 sample */
+    /* xb' = (xa-yb-xc+yd) */
+    /* yb' = (ya+xb-yc-xd) */
+    pSrc[i2] = __SHASX(S, T);
+
+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
+    /* xd' = (xa+yb-xc-yd) */
+    /* yd' = (ya-xb-yc+xd) */
+    pSrc[i3] = __SHSAX(S, T);
+
+
+#else
+
+    /*  writing the butterfly processed i0 + fftLen/2 sample */
+    /* xb' = (xa-yb-xc+yd) */
+    /* yb' = (ya+xb-yc-xd) */
+    pSrc[i2] = __SHSAX(S, T);
+
+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
+    /* xd' = (xa+yb-xc-yd) */
+    /* yd' = (ya-xb-yc+xd) */
+    pSrc[i3] = __SHASX(S, T);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+  }
+  /* end of last stage  process */
+
+  /* output is in 11.5(q5) format for the 1024 point */
+  /* output is in 9.7(q7) format for the 256 point   */
+  /* output is in 7.9(q9) format for the 64 point  */
+  /* output is in 5.11(q11) format for the 16 point  */
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q15_t R0, R1, S0, S1, T0, T1, U0, U1;
+  q15_t Co1, Si1, Co2, Si2, Co3, Si3, out1, out2;
+  uint32_t n1, n2, ic, i0, i1, i2, i3, j, k;
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+
+  /* Index for twiddle coefficient */
+  ic = 0u;
+
+  /* Index for input read and output write */
+  i0 = 0u;
+
+  j = n2;
+
+  /* Input is in 1.15(q15) format */
+
+  /*  Start of first stage process */
+  do
+  {
+    /*  Butterfly implementation */
+
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* input is down scale by 4 to avoid overflow */
+    /* Read ya (real), xa(imag) input */
+    T0 = pSrc16[i0 * 2u] >> 2u;
+    T1 = pSrc16[(i0 * 2u) + 1u] >> 2u;
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yc (real), xc(imag) input */
+    S0 = pSrc16[i2 * 2u] >> 2u;
+    S1 = pSrc16[(i2 * 2u) + 1u] >> 2u;
+
+    /* R0 = (ya + yc), R1 = (xa + xc) */
+    R0 = __SSAT(T0 + S0, 16u);
+    R1 = __SSAT(T1 + S1, 16u);
+    /* S0 = (ya - yc), S1 = (xa - xc) */
+    S0 = __SSAT(T0 - S0, 16u);
+    S1 = __SSAT(T1 - S1, 16u);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* input is down scale by 4 to avoid overflow */
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u] >> 2u;
+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
+    /* Read yd (real), xd(imag) input */
+    /* input is down scale by 4 to avoid overflow */
+    U0 = pSrc16[i3 * 2u] >> 2u;
+    U1 = pSrc16[(i3 * 2u) + 1u] >> 2u;
+
+    /* T0 = (yb + yd), T1 = (xb + xd) */
+    T0 = __SSAT(T0 + U0, 16u);
+    T1 = __SSAT(T1 + U1, 16u);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
+
+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc)- (xb + xd) */
+    R0 = __SSAT(R0 - T0, 16u);
+    R1 = __SSAT(R1 - T1, 16u);
+    /* co2 & si2 are read from Coefficient pointer */
+    Co2 = pCoef16[2u * ic * 2u];
+    Si2 = pCoef16[(2u * ic * 2u) + 1u];
+    /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
+    out1 = (short) ((Co2 * R0 - Si2 * R1) >> 16u);
+    /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+    out2 = (short) ((Si2 * R0 + Co2 * R1) >> 16u);
+
+    /*  Reading i0+fftLen/4 */
+    /* input is down scale by 4 to avoid overflow */
+    /* T0 = yb, T1 = xb */
+    T0 = pSrc16[i1 * 2u] >> 2u;
+    T1 = pSrc16[(i1 * 2u) + 1u] >> 2u;
+
+    /* writing the butterfly processed i0 + fftLen/4 sample */
+    /* writing output(xc', yc') in little endian format */
+    pSrc16[i1 * 2u] = out1;
+    pSrc16[(i1 * 2u) + 1u] = out2;
+
+    /*  Butterfly calculations */
+    /* input is down scale by 4 to avoid overflow */
+    /* U0 = yd, U1 = xd) */
+    U0 = pSrc16[i3 * 2u] >> 2u;
+    U1 = pSrc16[(i3 * 2u) + 1u] >> 2u;
+
+    /* T0 = yb-yd, T1 = xb-xd) */
+    T0 = __SSAT(T0 - U0, 16u);
+    T1 = __SSAT(T1 - U1, 16u);
+    /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */
+    R0 = (short) __SSAT((q31_t) (S0 + T1), 16);
+    R1 = (short) __SSAT((q31_t) (S1 - T0), 16);
+    /* S = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */
+    S0 = (short) __SSAT((q31_t) (S0 - T1), 16);
+    S1 = (short) __SSAT((q31_t) (S1 + T0), 16);
+
+    /* co1 & si1 are read from Coefficient pointer */
+    Co1 = pCoef16[ic * 2u];
+    Si1 = pCoef16[(ic * 2u) + 1u];
+    /*  Butterfly process for the i0+fftLen/2 sample */
+    /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
+    out1 = (short) ((Co1 * S0 - Si1 * S1) >> 16u);
+    /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
+    out2 = (short) ((Si1 * S0 + Co1 * S1) >> 16u);
+    /* writing output(xb', yb') in little endian format */
+    pSrc16[i2 * 2u] = out1;
+    pSrc16[(i2 * 2u) + 1u] = out2;
+
+    /* Co3 & si3 are read from Coefficient pointer */
+    Co3 = pCoef16[3u * ic * 2u];
+    Si3 = pCoef16[(3u * ic * 2u) + 1u];
+    /*  Butterfly process for the i0+3fftLen/4 sample */
+    /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */
+    out1 = (short) ((Co3 * R0 - Si3 * R1) >> 16u);
+    /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */
+    out2 = (short) ((Si3 * R0 + Co3 * R1) >> 16u);
+    /* writing output(xd', yd') in little endian format */
+    pSrc16[i3 * 2u] = out1;
+    pSrc16[(i3 * 2u) + 1u] = out2;
+
+    /*  Twiddle coefficients index modifier */
+    ic = ic + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+
+  /*  End of first stage process */
+
+  /* data is in 4.11(q11) format */
+
+
+  /*  Start of Middle stage process */
+
+  /*  Twiddle coefficients index modifier */
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of Middle stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the middle stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ic = 0u;
+
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      Co1 = pCoef16[ic * 2u];
+      Si1 = pCoef16[(ic * 2u) + 1u];
+      Co2 = pCoef16[2u * ic * 2u];
+      Si2 = pCoef16[2u * ic * 2u + 1u];
+      Co3 = pCoef16[3u * ic * 2u];
+      Si3 = pCoef16[(3u * ic * 2u) + 1u];
+
+      /*  Twiddle coefficients index modifier */
+      ic = ic + twidCoefModifier;
+
+      /*  Butterfly implementation */
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Reading i0, i0+fftLen/2 inputs */
+        /* Read ya (real), xa(imag) input */
+        T0 = pSrc16[i0 * 2u];
+        T1 = pSrc16[(i0 * 2u) + 1u];
+
+        /* Read yc (real), xc(imag) input */
+        S0 = pSrc16[i2 * 2u];
+        S1 = pSrc16[(i2 * 2u) + 1u];
+
+
+        /* R0 = (ya + yc), R1 = (xa + xc) */
+        R0 = __SSAT(T0 + S0, 16u);
+        R1 = __SSAT(T1 + S1, 16u);
+        /* S0 = (ya - yc), S1 = (xa - xc) */
+        S0 = __SSAT(T0 - S0, 16u);
+        S1 = __SSAT(T1 - S1, 16u);
+
+        /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+        /* Read yb (real), xb(imag) input */
+        T0 = pSrc16[i1 * 2u];
+        T1 = pSrc16[(i1 * 2u) + 1u];
+
+        /* Read yd (real), xd(imag) input */
+        U0 = pSrc16[i3 * 2u];
+        U1 = pSrc16[(i3 * 2u) + 1u];
+
+        /* T0 = (yb + yd), T1 = (xb + xd) */
+        T0 = __SSAT(T0 + U0, 16u);
+        T1 = __SSAT(T1 + U1, 16u);
+
+        /*  writing the butterfly processed i0 sample */
+        /* xa' = xa + xb + xc + xd */
+        /* ya' = ya + yb + yc + yd */
+        pSrc16[i0 * 2u] = ((R0 >> 1u) + (T0 >> 1u)) >> 1u;
+        pSrc16[(i0 * 2u) + 1u] = ((R1 >> 1u) + (T1 >> 1u)) >> 1u;
+
+        /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
+        R0 = (R0 >> 1u) - (T0 >> 1u);
+        R1 = (R1 >> 1u) - (T1 >> 1u);
+
+        /* (ya-yb+yc-yd)* (si2) - (xa-xb+xc-xd)* co2 */
+        out1 = (short) ((Co2 * R0 - Si2 * R1) >> 16);
+        /* (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+        out2 = (short) ((Si2 * R0 + Co2 * R1) >> 16);
+
+        /*  Reading i0+3fftLen/4 */
+        /* Read yb (real), xb(imag) input */
+        T0 = pSrc16[i1 * 2u];
+        T1 = pSrc16[(i1 * 2u) + 1u];
+
+        /*  writing the butterfly processed i0 + fftLen/4 sample */
+        /* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2) */
+        /* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2) */
+        pSrc16[i1 * 2u] = out1;
+        pSrc16[(i1 * 2u) + 1u] = out2;
+
+        /*  Butterfly calculations */
+        /* Read yd (real), xd(imag) input */
+        U0 = pSrc16[i3 * 2u];
+        U1 = pSrc16[(i3 * 2u) + 1u];
+
+        /* T0 = yb-yd, T1 = xb-xd) */
+        T0 = __SSAT(T0 - U0, 16u);
+        T1 = __SSAT(T1 - U1, 16u);
+
+        /* R0 = (ya-yc) - (xb- xd) , R1 = (xa-xc) + (yb-yd) */
+        R0 = (S0 >> 1u) + (T1 >> 1u);
+        R1 = (S1 >> 1u) - (T0 >> 1u);
+
+        /* S1 = (ya-yc) + (xb- xd), S1 = (xa-xc) - (yb-yd) */
+        S0 = (S0 >> 1u) - (T1 >> 1u);
+        S1 = (S1 >> 1u) + (T0 >> 1u);
+
+        /*  Butterfly process for the i0+fftLen/2 sample */
+        out1 = (short) ((Co1 * S0 - Si1 * S1) >> 16u);
+        out2 = (short) ((Si1 * S0 + Co1 * S1) >> 16u);
+        /* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1) */
+        /* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1) */
+        pSrc16[i2 * 2u] = out1;
+        pSrc16[(i2 * 2u) + 1u] = out2;
+
+        /*  Butterfly process for the i0+3fftLen/4 sample */
+        out1 = (short) ((Co3 * R0 - Si3 * R1) >> 16u);
+
+        out2 = (short) ((Si3 * R0 + Co3 * R1) >> 16u);
+        /* xd' = (xa+yb-xc-yd)* Co3 - (ya-xb-yc+xd)* (si3) */
+        /* yd' = (ya-xb-yc+xd)* Co3 + (xa+yb-xc-yd)* (si3) */
+        pSrc16[i3 * 2u] = out1;
+        pSrc16[(i3 * 2u) + 1u] = out2;
+
+
+      }
+    }
+    /*  Twiddle coefficients index modifier */
+    twidCoefModifier <<= 2u;
+  }
+  /*  End of Middle stages process */
+
+
+  /* data is in 10.6(q6) format for the 1024 point */
+  /* data is in 8.8(q8) format for the 256 point   */
+  /* data is in 6.10(q10) format for the 64 point  */
+  /* data is in 4.12(q12) format for the 16 point  */
+
+  /* start of last stage process */
+
+
+  /*  Initializations for the last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Butterfly implementation */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc16[i0 + 0], pSrc16[i0 + fftLen/4], pSrc16[i0 + fftLen/2], pSrc16[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Reading i0, i0+fftLen/2 inputs */
+    /* Read ya (real), xa(imag) input */
+    T0 = pSrc16[i0 * 2u];
+    T1 = pSrc16[(i0 * 2u) + 1u];
+    /* Read yc (real), xc(imag) input */
+    S0 = pSrc16[i2 * 2u];
+    S1 = pSrc16[(i2 * 2u) + 1u];
+
+    /* R0 = (ya + yc), R1 = (xa + xc) */
+    R0 = __SSAT(T0 + S0, 16u);
+    R1 = __SSAT(T1 + S1, 16u);
+    /* S0 = (ya - yc), S1 = (xa - xc) */
+    S0 = __SSAT(T0 - S0, 16u);
+    S1 = __SSAT(T1 - S1, 16u);
+
+    /*  Reading i0+fftLen/4 , i0+3fftLen/4 inputs */
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u];
+    T1 = pSrc16[(i1 * 2u) + 1u];
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u];
+    U1 = pSrc16[(i3 * 2u) + 1u];
+
+    /* T0 = (yb + yd), T1 = (xb + xd) */
+    T0 = __SSAT(T0 + U0, 16u);
+    T1 = __SSAT(T1 + U1, 16u);
+
+    /*  writing the butterfly processed i0 sample */
+    /* xa' = xa + xb + xc + xd */
+    /* ya' = ya + yb + yc + yd */
+    pSrc16[i0 * 2u] = (R0 >> 1u) + (T0 >> 1u);
+    pSrc16[(i0 * 2u) + 1u] = (R1 >> 1u) + (T1 >> 1u);
+
+    /* R0 = (ya + yc) - (yb + yd), R1 = (xa + xc) - (xb + xd) */
+    R0 = (R0 >> 1u) - (T0 >> 1u);
+    R1 = (R1 >> 1u) - (T1 >> 1u);
+
+    /* Read yb (real), xb(imag) input */
+    T0 = pSrc16[i1 * 2u];
+    T1 = pSrc16[(i1 * 2u) + 1u];
+
+    /*  writing the butterfly processed i0 + fftLen/4 sample */
+    /* xc' = (xa-xb+xc-xd) */
+    /* yc' = (ya-yb+yc-yd) */
+    pSrc16[i1 * 2u] = R0;
+    pSrc16[(i1 * 2u) + 1u] = R1;
+
+    /* Read yd (real), xd(imag) input */
+    U0 = pSrc16[i3 * 2u];
+    U1 = pSrc16[(i3 * 2u) + 1u];
+    /* T0 = (yb - yd), T1 = (xb - xd) */
+    T0 = __SSAT(T0 - U0, 16u);
+    T1 = __SSAT(T1 - U1, 16u);
+
+    /*  writing the butterfly processed i0 + fftLen/2 sample */
+    /* xb' = (xa-yb-xc+yd) */
+    /* yb' = (ya+xb-yc-xd) */
+    pSrc16[i2 * 2u] = (S0 >> 1u) - (T1 >> 1u);
+    pSrc16[(i2 * 2u) + 1u] = (S1 >> 1u) + (T0 >> 1u);
+
+
+    /*  writing the butterfly processed i0 + 3fftLen/4 sample */
+    /* xd' = (xa+yb-xc-yd) */
+    /* yd' = (ya-xb-yc+xd) */
+    pSrc16[i3 * 2u] = (S0 >> 1u) + (T1 >> 1u);
+    pSrc16[(i3 * 2u) + 1u] = (S1 >> 1u) - (T0 >> 1u);
+  }
+  /* end of last stage  process */
+
+  /* output is in 11.5(q5) format for the 1024 point */
+  /* output is in 9.7(q7) format for the 256 point   */
+  /* output is in 7.9(q9) format for the 64 point  */
+  /* output is in 5.11(q11) format for the 16 point  */
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/*   
+   * @brief  In-place bit reversal function.  
+   * @param[in, out] *pSrc        points to the in-place buffer of Q15 data type.  
+   * @param[in]      fftLen       length of the FFT.  
+   * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table  
+   * @param[in]      *pBitRevTab  points to bit reversal table.  
+   * @return none.  
+ */
+
+void arm_bitreversal_q15(
+  q15_t * pSrc16,
+  uint32_t fftLen,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTab)
+{
+  q31_t *pSrc = (q31_t *) pSrc16;
+  q31_t in;
+  uint32_t fftLenBy2, fftLenBy2p1;
+  uint32_t i, j;
+
+  /*  Initializations */
+  j = 0u;
+  fftLenBy2 = fftLen / 2u;
+  fftLenBy2p1 = (fftLen / 2u) + 1u;
+
+  /* Bit Reversal Implementation */
+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
+  {
+    if(i < j)
+    {
+      /*  pSrc[i] <-> pSrc[j]; */
+      /*  pSrc[i+1u] <-> pSrc[j+1u] */
+      in = pSrc[i];
+      pSrc[i] = pSrc[j];
+      pSrc[j] = in;
+
+      /*  pSrc[i + fftLenBy2p1] <-> pSrc[j + fftLenBy2p1];  */
+      /*  pSrc[i + fftLenBy2p1+1u] <-> pSrc[j + fftLenBy2p1+1u] */
+      in = pSrc[i + fftLenBy2p1];
+      pSrc[i + fftLenBy2p1] = pSrc[j + fftLenBy2p1];
+      pSrc[j + fftLenBy2p1] = in;
+    }
+
+    /*  pSrc[i+1u] <-> pSrc[j+fftLenBy2];         */
+    /*  pSrc[i+2] <-> pSrc[j+fftLenBy2+1u]  */
+    in = pSrc[i + 1u];
+    pSrc[i + 1u] = pSrc[j + fftLenBy2];
+    pSrc[j + fftLenBy2] = in;
+
+    /*  Reading the index for the bit reversal */
+    j = *pBitRevTab;
+
+    /*  Updating the bit reversal index depending on the fft length  */
+    pBitRevTab += bitRevFactor;
+  }
+}
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
new file mode 100644
index 000000000..f61aa0892
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_cfft_radix4_q31.c
@@ -0,0 +1,906 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_cfft_radix4_q31.c   
+*   
+* Description:	This file has function definition of Radix-4 FFT & IFFT function and   
+*				In-place bit reversal using bit reversal table   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.5  2010/04/26    
+* 	 incorporated review comments and updated with latest CMSIS layer   
+*   
+* Version 0.0.3  2010/03/10    
+*    Initial version   
+* -------------------------------------------------------------------- */
+#include "arm_math.h"
+
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup CFFT_CIFFT   
+ * @{   
+ */
+
+/**   
+ * @details   
+ * @brief Processing function for the Q31 CFFT/CIFFT.   
+ * @param[in]      *S    points to an instance of the Q31 CFFT/CIFFT structure.  
+ * @param[in, out] *pSrc points to the complex data buffer of size 2*fftLen. Processing occurs in-place.  
+ * @return none.   
+ *    
+ * \par Input and output formats:   
+ * \par   
+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.  
+ * Hence the output format is different for different FFT sizes.   
+ * The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT:  
+ * \par  
+ * \image html CFFTQ31.gif "Input and Output Formats for Q31 CFFT"   
+ * \image html CIFFTQ31.gif "Input and Output Formats for Q31 CIFFT"   
+ *   
+ */
+
+void arm_cfft_radix4_q31(
+  const arm_cfft_radix4_instance_q31 * S,
+  q31_t * pSrc)
+{
+  if(S->ifftFlag == 1u)
+  {
+    /* Complex IFFT radix-4 */
+    arm_radix4_butterfly_inverse_q31(pSrc, S->fftLen, S->pTwiddle,
+                                     S->twidCoefModifier);
+  }
+  else
+  {
+    /* Complex FFT radix-4 */
+    arm_radix4_butterfly_q31(pSrc, S->fftLen, S->pTwiddle,
+                             S->twidCoefModifier);
+  }
+
+
+  if(S->bitReverseFlag == 1u)
+  {
+    /*  Bit Reversal */
+    arm_bitreversal_q31(pSrc, S->fftLen, S->bitRevFactor, S->pBitRevTable);
+  }
+
+}
+
+/**   
+ * @} end of CFFT_CIFFT group   
+ */
+
+/*   
+* Radix-4 FFT algorithm used is :   
+*   
+* Input real and imaginary data:   
+* x(n) = xa + j * ya   
+* x(n+N/4 ) = xb + j * yb   
+* x(n+N/2 ) = xc + j * yc   
+* x(n+3N 4) = xd + j * yd   
+*   
+*   
+* Output real and imaginary data:   
+* x(4r) = xa'+ j * ya'   
+* x(4r+1) = xb'+ j * yb'   
+* x(4r+2) = xc'+ j * yc'   
+* x(4r+3) = xd'+ j * yd'   
+*   
+*   
+* Twiddle factors for radix-4 FFT:   
+* Wn = co1 + j * (- si1)   
+* W2n = co2 + j * (- si2)   
+* W3n = co3 + j * (- si3)   
+*   
+*  Butterfly implementation:   
+* xa' = xa + xb + xc + xd   
+* ya' = ya + yb + yc + yd   
+* xb' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)   
+* yb' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)   
+* xc' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)   
+* yc' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)   
+* xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)   
+* yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)   
+*   
+*/
+
+/**   
+ * @brief  Core function for the Q31 CFFT butterfly process.  
+ * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.  
+ * @param[in]      fftLen           length of the FFT.  
+ * @param[in]      *pCoef           points to twiddle coefficient buffer.  
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.  
+ */
+
+void arm_radix4_butterfly_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint32_t twidCoefModifier)
+{
+  uint32_t n1, n2, ia1, ia2, ia3, i0, i1, i2, i3, j, k;
+  q31_t t1, t2, r1, r2, s1, s2, co1, co2, co3, si1, si2, si3;
+
+
+  /* Total process is divided into three stages */
+
+  /* process first stage, middle stages, & last stage */
+
+
+  /* start of first stage process */
+
+  /*  Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+  i0 = 0u;
+  ia1 = 0u;
+
+  j = n2;
+
+  /*  Calculation of first stage */
+  do
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /* input is in 1.31(q31) format and provide 4 guard bits for the input */
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = (pSrc[(2u * i0)] >> 4u) + (pSrc[(2u * i2)] >> 4u);
+    /* xa - xc */
+    r2 = (pSrc[2u * i0] >> 4u) - (pSrc[2u * i2] >> 4u);
+
+    /* ya + yc */
+    s1 = (pSrc[(2u * i0) + 1u] >> 4u) + (pSrc[(2u * i2) + 1u] >> 4u);
+    /* ya - yc */
+    s2 = (pSrc[(2u * i0) + 1u] >> 4u) - (pSrc[(2u * i2) + 1u] >> 4u);
+
+    /* xb + xd */
+    t1 = (pSrc[2u * i1] >> 4u) + (pSrc[2u * i3] >> 4u);
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1);
+    /* (xa + xc) - (xb + xd) */
+    r1 = r1 - t1;
+    /* yb + yd */
+    t2 = (pSrc[(2u * i1) + 1u] >> 4u) + (pSrc[(2u * i3) + 1u] >> 4u);
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2);
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* yb - yd */
+    t1 = (pSrc[(2u * i1) + 1u] >> 4u) - (pSrc[(2u * i3) + 1u] >> 4u);
+    /* xb - xd */
+    t2 = (pSrc[2u * i1] >> 4u) - (pSrc[2u * i3] >> 4u);
+
+    /*  index calculation for the coefficients */
+    ia2 = 2u * ia1;
+    co2 = pCoef[ia2 * 2u];
+    si2 = pCoef[(ia2 * 2u) + 1u];
+
+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) +
+                     ((int32_t) (((q63_t) s1 * si2) >> 32))) << 1u;
+
+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) -
+                            ((int32_t) (((q63_t) r1 * si2) >> 32))) << 1u;
+
+    /* (xa - xc) + (yb - yd) */
+    r1 = r2 + t1;
+    /* (xa - xc) - (yb - yd) */
+    r2 = r2 - t1;
+
+    /* (ya - yc) - (xb - xd) */
+    s1 = s2 - t2;
+    /* (ya - yc) + (xb - xd) */
+    s2 = s2 + t2;
+
+    co1 = pCoef[ia1 * 2u];
+    si1 = pCoef[(ia1 * 2u) + 1u];
+
+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) +
+                     ((int32_t) (((q63_t) s1 * si1) >> 32))) << 1u;
+
+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) -
+                            ((int32_t) (((q63_t) r1 * si1) >> 32))) << 1u;
+
+    /*  index calculation for the coefficients */
+    ia3 = 3u * ia1;
+    co3 = pCoef[ia3 * 2u];
+    si3 = pCoef[(ia3 * 2u) + 1u];
+
+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) +
+                     ((int32_t) (((q63_t) s2 * si3) >> 32))) << 1u;
+
+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) -
+                            ((int32_t) (((q63_t) r2 * si3) >> 32))) << 1u;
+
+    /*  Twiddle coefficients index modifier */
+    ia1 = ia1 + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+
+  /* end of first stage process */
+
+  /* data is in 5.27(q27) format */
+
+
+  /* start of Middle stages process */
+
+
+  /* each stage in middle stages provides two down scaling of the input */
+
+  twidCoefModifier <<= 2u;
+
+
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    /*  Calculation of first stage */
+    for (j = 0u; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Butterfly implementation */
+        /* xa + xc */
+        r1 = pSrc[2u * i0] + pSrc[2u * i2];
+        /* xa - xc */
+        r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = (r1 + t1) >> 2u;
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = (s1 + t2) >> 2u;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) +
+                         ((int32_t) (((q63_t) s1 * si2) >> 32))) >> 1u;
+
+        /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) -
+                                ((int32_t) (((q63_t) r1 * si2) >> 32))) >> 1u;
+
+        /* (xa - xc) + (yb - yd) */
+        r1 = r2 + t1;
+        /* (xa - xc) - (yb - yd) */
+        r2 = r2 - t1;
+
+        /* (ya - yc) -  (xb - xd) */
+        s1 = s2 - t2;
+        /* (ya - yc) +  (xb - xd) */
+        s2 = s2 + t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) +
+                         ((int32_t) (((q63_t) s1 * si1) >> 32))) >> 1u;
+
+        /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) -
+                                ((int32_t) (((q63_t) r1 * si1) >> 32))) >> 1u;
+
+        /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+        pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) +
+                         ((int32_t) (((q63_t) s2 * si3) >> 32))) >> 1u;
+
+        /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) -
+                                ((int32_t) (((q63_t) r2 * si3) >> 32))) >> 1u;
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+  /* End of Middle stages process */
+
+  /* data is in 11.21(q21) format for the 1024 point as there are 3 middle stages */
+  /* data is in 9.23(q23) format for the 256 point as there are 2 middle stages */
+  /* data is in 7.25(q25) format for the 64 point as there are 1 middle stage */
+  /* data is in 5.27(q27) format for the 16 point as there are no middle stages */
+
+
+  /* start of Last stage process */
+
+  /*  Initializations of last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Calculations of last stage */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    /* xa + xb */
+    r1 = pSrc[2u * i0] + pSrc[2u * i2];
+    /* xa - xb */
+    r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+    /* ya + yc */
+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+    /* ya - yc */
+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+    /* xc + xd */
+    t1 = pSrc[2u * i1] + pSrc[2u * i3];
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1);
+    /* (xa + xb) - (xc + xd) */
+    r1 = r1 - t1;
+
+    /* yb + yd */
+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2);
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* (yb-yd) */
+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+    /* (xb-xd) */
+    t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+    /* xc' = (xa-xb+xc-xd)co2 + (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = r1;
+    /* yc' = (ya-yb+yc-yd)co2 - (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = s1;
+
+    /* (xa+yb-xc-yd) */
+    r1 = r2 + t1;
+    /* (xa-yb-xc+yd) */
+    r2 = r2 - t1;
+
+    /* (ya-xb-yc+xd) */
+    s1 = s2 - t2;
+    /* (ya+xb-yc-xd) */
+    s2 = s2 + t2;
+
+    /* xb' = (xa+yb-xc-yd)co1 + (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = r1;
+    /* yb' = (ya-xb-yc+xd)co1 - (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = s1;
+
+    /* xd' = (xa-yb-xc+yd)co3 + (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = r2;
+    /* yd' = (ya+xb-yc-xd)co3 - (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = s2;
+
+
+  }
+
+  /* output is in 11.21(q21) format for the 1024 point */
+  /* output is in 9.23(q23) format for the 256 point */
+  /* output is in 7.25(q25) format for the 64 point */
+  /* output is in 5.27(q27) format for the 16 point */
+
+  /* End of last stage process */
+
+}
+
+
+/**   
+ * @brief  Core function for the Q31 CIFFT butterfly process.  
+ * @param[in, out] *pSrc            points to the in-place buffer of Q31 data type.  
+ * @param[in]      fftLen           length of the FFT.  
+ * @param[in]      *pCoef           points to twiddle coefficient buffer.  
+ * @param[in]      twidCoefModifier twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.  
+ */
+
+
+/*   
+* Radix-4 IFFT algorithm used is :   
+*   
+* CIFFT uses same twiddle coefficients as CFFT Function   
+*  x[k] = x[n] + (j)k * x[n + fftLen/4] + (-1)k * x[n+fftLen/2] + (-j)k * x[n+3*fftLen/4]   
+*   
+*   
+* IFFT is implemented with following changes in equations from FFT   
+*   
+* Input real and imaginary data:   
+* x(n) = xa + j * ya   
+* x(n+N/4 ) = xb + j * yb   
+* x(n+N/2 ) = xc + j * yc   
+* x(n+3N 4) = xd + j * yd   
+*   
+*   
+* Output real and imaginary data:   
+* x(4r) = xa'+ j * ya'   
+* x(4r+1) = xb'+ j * yb'   
+* x(4r+2) = xc'+ j * yc'   
+* x(4r+3) = xd'+ j * yd'   
+*   
+*   
+* Twiddle factors for radix-4 IFFT:   
+* Wn = co1 + j * (si1)   
+* W2n = co2 + j * (si2)   
+* W3n = co3 + j * (si3)   
+   
+* The real and imaginary output values for the radix-4 butterfly are   
+* xa' = xa + xb + xc + xd   
+* ya' = ya + yb + yc + yd   
+* xb' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)   
+* yb' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)   
+* xc' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)   
+* yc' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)   
+* xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)   
+* yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)   
+*   
+*/
+
+void arm_radix4_butterfly_inverse_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pCoef,
+  uint32_t twidCoefModifier)
+{
+  uint32_t n1, n2, ia1, ia2, ia3, i0, i1, i2, i3, j, k;
+  q31_t t1, t2, r1, r2, s1, s2, co1, co2, co3, si1, si2, si3;
+
+  /* input is be 1.31(q31) format for all FFT sizes */
+  /* Total process is divided into three stages */
+  /* process first stage, middle stages, & last stage */
+
+  /* Start of first stage process */
+
+  /* Initializations for the first stage */
+  n2 = fftLen;
+  n1 = n2;
+  /* n2 = fftLen/4 */
+  n2 >>= 2u;
+  i0 = 0u;
+  ia1 = 0u;
+
+  j = n2;
+
+  do
+  {
+
+    /* input is in 1.31(q31) format and provide 4 guard bits for the input */
+
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = (pSrc[2u * i0] >> 4u) + (pSrc[2u * i2] >> 4u);
+    /* xa - xc */
+    r2 = (pSrc[2u * i0] >> 4u) - (pSrc[2u * i2] >> 4u);
+
+    /* ya + yc */
+    s1 = (pSrc[(2u * i0) + 1u] >> 4u) + (pSrc[(2u * i2) + 1u] >> 4u);
+    /* ya - yc */
+    s2 = (pSrc[(2u * i0) + 1u] >> 4u) - (pSrc[(2u * i2) + 1u] >> 4u);
+
+    /* xb + xd */
+    t1 = (pSrc[2u * i1] >> 4u) + (pSrc[2u * i3] >> 4u);
+
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1);
+    /* (xa + xc) - (xb + xd) */
+    r1 = r1 - t1;
+    /* yb + yd */
+    t2 = (pSrc[(2u * i1) + 1u] >> 4u) + (pSrc[(2u * i3) + 1u] >> 4u);
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2);
+
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* yb - yd */
+    t1 = (pSrc[(2u * i1) + 1u] >> 4u) - (pSrc[(2u * i3) + 1u] >> 4u);
+    /* xb - xd */
+    t2 = (pSrc[2u * i1] >> 4u) - (pSrc[2u * i3] >> 4u);
+
+    /*  index calculation for the coefficients */
+    ia2 = 2u * ia1;
+    co2 = pCoef[ia2 * 2u];
+    si2 = pCoef[(ia2 * 2u) + 1u];
+
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32)) -
+                     ((int32_t) (((q63_t) s1 * si2) >> 32))) << 1u;
+
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    pSrc[2u * i1 + 1u] = (((int32_t) (((q63_t) s1 * co2) >> 32)) +
+                          ((int32_t) (((q63_t) r1 * si2) >> 32))) << 1u;
+
+    /* (xa - xc) - (yb - yd) */
+    r1 = r2 - t1;
+    /* (xa - xc) + (yb - yd) */
+    r2 = r2 + t1;
+
+    /* (ya - yc) + (xb - xd) */
+    s1 = s2 + t2;
+    /* (ya - yc) - (xb - xd) */
+    s2 = s2 - t2;
+
+    co1 = pCoef[ia1 * 2u];
+    si1 = pCoef[(ia1 * 2u) + 1u];
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) -
+                     ((int32_t) (((q63_t) s1 * si1) >> 32))) << 1u;
+
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) +
+                            ((int32_t) (((q63_t) r1 * si1) >> 32))) << 1u;
+
+    /*  index calculation for the coefficients */
+    ia3 = 3u * ia1;
+    co3 = pCoef[ia3 * 2u];
+    si3 = pCoef[(ia3 * 2u) + 1u];
+
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = (((int32_t) (((q63_t) r2 * co3) >> 32)) -
+                     ((int32_t) (((q63_t) s2 * si3) >> 32))) << 1u;
+
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) +
+                            ((int32_t) (((q63_t) r2 * si3) >> 32))) << 1u;
+
+    /*  Twiddle coefficients index modifier */
+    ia1 = ia1 + twidCoefModifier;
+
+    /*  Updating input index */
+    i0 = i0 + 1u;
+
+  } while(--j);
+
+  /* data is in 5.27(q27) format */
+  /* each stage provides two down scaling of the input */
+
+
+  /* Start of Middle stages process */
+
+  twidCoefModifier <<= 2u;
+
+  /*  Calculation of second stage to excluding last stage */
+  for (k = fftLen / 4u; k > 4u; k >>= 2u)
+  {
+    /*  Initializations for the first stage */
+    n1 = n2;
+    n2 >>= 2u;
+    ia1 = 0u;
+
+    for (j = 0; j <= (n2 - 1u); j++)
+    {
+      /*  index calculation for the coefficients */
+      ia2 = ia1 + ia1;
+      ia3 = ia2 + ia1;
+      co1 = pCoef[ia1 * 2u];
+      si1 = pCoef[(ia1 * 2u) + 1u];
+      co2 = pCoef[ia2 * 2u];
+      si2 = pCoef[(ia2 * 2u) + 1u];
+      co3 = pCoef[ia3 * 2u];
+      si3 = pCoef[(ia3 * 2u) + 1u];
+      /*  Twiddle coefficients index modifier */
+      ia1 = ia1 + twidCoefModifier;
+
+      for (i0 = j; i0 < fftLen; i0 += n1)
+      {
+        /*  index calculation for the input as, */
+        /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+        i1 = i0 + n2;
+        i2 = i1 + n2;
+        i3 = i2 + n2;
+
+        /*  Butterfly implementation */
+        /* xa + xc */
+        r1 = pSrc[2u * i0] + pSrc[2u * i2];
+        /* xa - xc */
+        r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+        /* ya + yc */
+        s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+        /* ya - yc */
+        s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+        /* xb + xd */
+        t1 = pSrc[2u * i1] + pSrc[2u * i3];
+
+        /* xa' = xa + xb + xc + xd */
+        pSrc[2u * i0] = (r1 + t1) >> 2u;
+        /* xa + xc -(xb + xd) */
+        r1 = r1 - t1;
+        /* yb + yd */
+        t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+        /* ya' = ya + yb + yc + yd */
+        pSrc[(2u * i0) + 1u] = (s1 + t2) >> 2u;
+
+        /* (ya + yc) - (yb + yd) */
+        s1 = s1 - t2;
+
+        /* (yb - yd) */
+        t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+        /* (xb - xd) */
+        t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+        /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+        pSrc[2u * i1] = (((int32_t) (((q63_t) r1 * co2) >> 32u)) -
+                         ((int32_t) (((q63_t) s1 * si2) >> 32u))) >> 1u;
+
+        /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+        pSrc[(2u * i1) + 1u] =
+          (((int32_t) (((q63_t) s1 * co2) >> 32u)) +
+           ((int32_t) (((q63_t) r1 * si2) >> 32u))) >> 1u;
+
+        /* (xa - xc) - (yb - yd) */
+        r1 = r2 - t1;
+        /* (xa - xc) + (yb - yd) */
+        r2 = r2 + t1;
+
+        /* (ya - yc) +  (xb - xd) */
+        s1 = s2 + t2;
+        /* (ya - yc) -  (xb - xd) */
+        s2 = s2 - t2;
+
+        /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+        pSrc[2u * i2] = (((int32_t) (((q63_t) r1 * co1) >> 32)) -
+                         ((int32_t) (((q63_t) s1 * si1) >> 32))) >> 1u;
+
+        /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+        pSrc[(2u * i2) + 1u] = (((int32_t) (((q63_t) s1 * co1) >> 32)) +
+                                ((int32_t) (((q63_t) r1 * si1) >> 32))) >> 1u;
+
+        /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+        pSrc[(2u * i3)] = (((int32_t) (((q63_t) r2 * co3) >> 32)) -
+                           ((int32_t) (((q63_t) s2 * si3) >> 32))) >> 1u;
+
+        /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+        pSrc[(2u * i3) + 1u] = (((int32_t) (((q63_t) s2 * co3) >> 32)) +
+                                ((int32_t) (((q63_t) r2 * si3) >> 32))) >> 1u;
+      }
+    }
+    twidCoefModifier <<= 2u;
+  }
+
+  /* End of Middle stages process */
+
+  /* data is in 11.21(q21) format for the 1024 point as there are 3 middle stages */
+  /* data is in 9.23(q23) format for the 256 point as there are 2 middle stages */
+  /* data is in 7.25(q25) format for the 64 point as there are 1 middle stage */
+  /* data is in 5.27(q27) format for the 16 point as there are no middle stages */
+
+
+  /* Start of last stage process */
+
+
+  /*  Initializations of last stage */
+  n1 = n2;
+  n2 >>= 2u;
+
+  /*  Calculations of last stage */
+  for (i0 = 0u; i0 <= (fftLen - n1); i0 += n1)
+  {
+    /*  index calculation for the input as, */
+    /*  pSrc[i0 + 0], pSrc[i0 + fftLen/4], pSrc[i0 + fftLen/2u], pSrc[i0 + 3fftLen/4] */
+    i1 = i0 + n2;
+    i2 = i1 + n2;
+    i3 = i2 + n2;
+
+    /*  Butterfly implementation */
+    /* xa + xc */
+    r1 = pSrc[2u * i0] + pSrc[2u * i2];
+    /* xa - xc */
+    r2 = pSrc[2u * i0] - pSrc[2u * i2];
+
+    /* ya + yc */
+    s1 = pSrc[(2u * i0) + 1u] + pSrc[(2u * i2) + 1u];
+    /* ya - yc */
+    s2 = pSrc[(2u * i0) + 1u] - pSrc[(2u * i2) + 1u];
+
+    /* xc + xd */
+    t1 = pSrc[2u * i1] + pSrc[2u * i3];
+    /* xa' = xa + xb + xc + xd */
+    pSrc[2u * i0] = (r1 + t1);
+    /* (xa + xb) - (xc + xd) */
+    r1 = r1 - t1;
+
+    /* yb + yd */
+    t2 = pSrc[(2u * i1) + 1u] + pSrc[(2u * i3) + 1u];
+    /* ya' = ya + yb + yc + yd */
+    pSrc[(2u * i0) + 1u] = (s1 + t2);
+    /* (ya + yc) - (yb + yd) */
+    s1 = s1 - t2;
+
+    /* (yb-yd) */
+    t1 = pSrc[(2u * i1) + 1u] - pSrc[(2u * i3) + 1u];
+    /* (xb-xd) */
+    t2 = pSrc[2u * i1] - pSrc[2u * i3];
+
+    /* xc' = (xa-xb+xc-xd)co2 - (ya-yb+yc-yd)(si2) */
+    pSrc[2u * i1] = r1;
+    /* yc' = (ya-yb+yc-yd)co2 + (xa-xb+xc-xd)(si2) */
+    pSrc[(2u * i1) + 1u] = s1;
+
+    /* (xa - xc) - (yb-yd) */
+    r1 = r2 - t1;
+
+    /* (xa - xc) + (yb-yd) */
+    r2 = r2 + t1;
+
+    /* (ya - yc) + (xb-xd) */
+    s1 = s2 + t2;
+
+    /* (ya - yc) - (xb-xd) */
+    s2 = s2 - t2;
+
+    /* xb' = (xa+yb-xc-yd)co1 - (ya-xb-yc+xd)(si1) */
+    pSrc[2u * i2] = r1;
+    /* yb' = (ya-xb-yc+xd)co1 + (xa+yb-xc-yd)(si1) */
+    pSrc[(2u * i2) + 1u] = s1;
+
+    /* xd' = (xa-yb-xc+yd)co3 - (ya+xb-yc-xd)(si3) */
+    pSrc[2u * i3] = r2;
+    /* yd' = (ya+xb-yc-xd)co3 + (xa-yb-xc+yd)(si3) */
+    pSrc[(2u * i3) + 1u] = s2;
+
+  }
+
+  /* output is in 11.21(q21) format for the 1024 point */
+  /* output is in 9.23(q23) format for the 256 point */
+  /* output is in 7.25(q25) format for the 64 point */
+  /* output is in 5.27(q27) format for the 16 point */
+
+  /* End of last stage process */
+}
+
+
+/*   
+ * @brief  In-place bit reversal function.  
+ * @param[in, out] *pSrc        points to the in-place buffer of Q31 data type.  
+ * @param[in]      fftLen       length of the FFT.  
+ * @param[in]      bitRevFactor bit reversal modifier that supports different size FFTs with the same bit reversal table  
+ * @param[in]      *pBitRevTab  points to bit reversal table.  
+ * @return none.  
+ */
+
+void arm_bitreversal_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  uint16_t bitRevFactor,
+  uint16_t * pBitRevTable)
+{
+  uint32_t fftLenBy2, fftLenBy2p1, i, j;
+  q31_t in;
+
+  /*  Initializations      */
+  j = 0u;
+  fftLenBy2 = fftLen / 2u;
+  fftLenBy2p1 = (fftLen / 2u) + 1u;
+
+  /* Bit Reversal Implementation */
+  for (i = 0u; i <= (fftLenBy2 - 2u); i += 2u)
+  {
+    if(i < j)
+    {
+      /*  pSrc[i] <-> pSrc[j]; */
+      in = pSrc[2u * i];
+      pSrc[2u * i] = pSrc[2u * j];
+      pSrc[2u * j] = in;
+
+      /*  pSrc[i+1u] <-> pSrc[j+1u] */
+      in = pSrc[(2u * i) + 1u];
+      pSrc[(2u * i) + 1u] = pSrc[(2u * j) + 1u];
+      pSrc[(2u * j) + 1u] = in;
+
+      /*  pSrc[i+fftLenBy2p1] <-> pSrc[j+fftLenBy2p1] */
+      in = pSrc[2u * (i + fftLenBy2p1)];
+      pSrc[2u * (i + fftLenBy2p1)] = pSrc[2u * (j + fftLenBy2p1)];
+      pSrc[2u * (j + fftLenBy2p1)] = in;
+
+      /*  pSrc[i+fftLenBy2p1+1u] <-> pSrc[j+fftLenBy2p1+1u] */
+      in = pSrc[(2u * (i + fftLenBy2p1)) + 1u];
+      pSrc[(2u * (i + fftLenBy2p1)) + 1u] =
+        pSrc[(2u * (j + fftLenBy2p1)) + 1u];
+      pSrc[(2u * (j + fftLenBy2p1)) + 1u] = in;
+
+    }
+
+    /*  pSrc[i+1u] <-> pSrc[j+1u] */
+    in = pSrc[2u * (i + 1u)];
+    pSrc[2u * (i + 1u)] = pSrc[2u * (j + fftLenBy2)];
+    pSrc[2u * (j + fftLenBy2)] = in;
+
+    /*  pSrc[i+2u] <-> pSrc[j+2u] */
+    in = pSrc[(2u * (i + 1u)) + 1u];
+    pSrc[(2u * (i + 1u)) + 1u] = pSrc[(2u * (j + fftLenBy2)) + 1u];
+    pSrc[(2u * (j + fftLenBy2)) + 1u] = in;
+
+    /*  Reading the index for the bit reversal */
+    j = *pBitRevTable;
+
+    /*  Updating the bit reversal index depending on the fft length */
+    pBitRevTable += bitRevFactor;
+  }
+}
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
new file mode 100644
index 000000000..2e94a19ab
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_f32.c
@@ -0,0 +1,450 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_dct4_f32.c   
+*   
+* Description:	Processing function of DCT4 & IDCT4 F32.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @defgroup DCT4_IDCT4 DCT Type IV Functions   
+ * Representation of signals by minimum number of values is important for storage and transmission.   
+ * The possibility of large discontinuity between the beginning and end of a period of a signal   
+ * in DFT can be avoided by extending the signal so that it is even-symmetric.   
+ * Discrete Cosine Transform (DCT) is constructed such that its energy is heavily concentrated in the lower part of the   
+ * spectrum and is very widely used in signal and image coding applications.   
+ * The family of DCTs (DCT type- 1,2,3,4) is the outcome of different combinations of homogeneous boundary conditions.   
+ * DCT has an excellent energy-packing capability, hence has many applications and in data compression in particular.   
+ *   
+ * DCT is essentially the Discrete Fourier Transform(DFT) of an even-extended real signal.   
+ * Reordering of the input data makes the computation of DCT just a problem of   
+ * computing the DFT of a real signal with a few additional operations.   
+ * This approach provides regular, simple, and very efficient DCT algorithms for practical hardware and software implementations.   
+ *    
+ * DCT type-II can be implemented using Fast fourier transform (FFT) internally, as the transform is applied on real values, Real FFT can be used.   
+ * DCT4 is implemented using DCT2 as their implementations are similar except with some added pre-processing and post-processing.   
+ * DCT2 implementation can be described in the following steps:   
+ * - Re-ordering input   
+ * - Calculating Real FFT   
+ * - Multiplication of weights and Real FFT output and getting real part from the product.   
+ *   
+ * This process is explained by the block diagram below:   
+ * \image html DCT4.gif "Discrete Cosine Transform - type-IV"   
+ *   
+ * \par Algorithm:   
+ * The N-point type-IV DCT is defined as a real, linear transformation by the formula:   
+ * \image html DCT4Equation.gif   
+ * where k = 0,1,2,.....N-1   
+ *\par   
+ * Its inverse is defined as follows:   
+ * \image html IDCT4Equation.gif   
+ * where n = 0,1,2,.....N-1   
+ *\par   
+ * The DCT4 matrices become involutory (i.e. they are self-inverse) by multiplying with an overall scale factor of sqrt(2/N).   
+ * The symmetry of the transform matrix indicates that the fast algorithms for the forward   
+ * and inverse transform computation are identical.   
+ * Note that the implementation of Inverse DCT4 and DCT4 is same, hence same process function can be used for both.   
+ *   
+ * \par Lengths supported by the transform:   
+ *  As DCT4 internally uses Real FFT, it supports all the lengths supported by arm_rfft_f32().   
+ * The library provides separate functions for Q15, Q31, and floating-point data types.   
+ * \par Instance Structure   
+ * The instances for Real FFT and FFT, cosine values table and twiddle factor table are stored in an instance data structure.   
+ * A separate instance structure must be defined for each transform.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Initializes Real FFT as its process function is used internally in DCT4, by calling arm_rfft_init_f32().   
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Manually initialize the instance structure as follows:   
+ * 
       
+ *arm_dct4_instance_f32 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};   
+ *arm_dct4_instance_q31 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};  
+ *arm_dct4_instance_q15 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};  
+ * 
      
+ * where \c N is the length of the DCT4; \c Nby2 is half of the length of the DCT4;  
+ * \c normalize is normalizing factor used and is equal to sqrt(2/N);   
+ * \c pTwiddle points to the twiddle factor table;  
+ * \c pCosFactor points to the cosFactor table;  
+ * \c pRfft points to the real FFT instance;  
+ * \c pCfft points to the complex FFT instance;  
+ * The CFFT and RFFT structures also needs to be initialized, refer to arm_cfft_radix4_f32()  
+ * and arm_rfft_f32() respectively for details regarding static initialization.  
+ *  
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the DCT4 transform functions.   
+ * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+ /**   
+ * @addtogroup DCT4_IDCT4   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the floating-point DCT4/IDCT4.  
+ * @param[in]       *S             points to an instance of the floating-point DCT4/IDCT4 structure.  
+ * @param[in]       *pState        points to state buffer.  
+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.  
+ * @return none.  
+ */
+
+void arm_dct4_f32(
+  const arm_dct4_instance_f32 * S,
+  float32_t * pState,
+  float32_t * pInlineBuffer)
+{
+  uint32_t i;                                    /* Loop counter */
+  float32_t *weights = S->pTwiddle;              /* Pointer to the Weights table */
+  float32_t *cosFact = S->pCosFactor;            /* Pointer to the cos factors table */
+  float32_t *pS1, *pS2, *pbuff;                  /* Temporary pointers for input buffer and pState buffer */
+  float32_t in;                                  /* Temporary variable */
+
+
+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)   
+   * along with some pre-processing and post-processing.   
+   * Computational procedure is explained as follows:   
+   * (a) Pre-processing involves multiplying input with cos factor,   
+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))   
+   *              where,   
+   *                 r(n) -- output of preprocessing   
+   *                 u(n) -- input to preprocessing(actual Source buffer)   
+   * (b) Calculation of DCT2 using FFT is divided into three steps:   
+   *                  Step1: Re-ordering of even and odd elements of input.   
+   *                  Step2: Calculating FFT of the re-ordered input.   
+   *                  Step3: Taking the real part of the product of FFT output and weights.   
+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:   
+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *                        where,   
+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output   
+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).   
+   */
+
+        /*-------- Pre-processing ------------*/
+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
+  arm_scale_f32(pInlineBuffer, 2.0f, pInlineBuffer, S->N);
+  arm_mult_f32(pInlineBuffer, cosFact, pInlineBuffer, S->N);
+
+  /* ----------------------------------------------------------------   
+   * Step1: Re-ordering of even and odd elements as,   
+   *             pState[i] =  pInlineBuffer[2*i] and   
+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2   
+   ---------------------------------------------------------------------*/
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
+  pS2 = pState + (S->N - 1u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
+  i = (uint32_t) S->Nby2 >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = (uint32_t) S->N >> 2u;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.   
+   * Compute 4 outputs at a time */
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------   
+   *     Step2: Calculate RFFT for N-point input   
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_f32(S->pRfft, pInlineBuffer, pState);
+
+        /*----------------------------------------------------------------------   
+	 *  Step3: Multiply the FFT output with the weights.   
+	 *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_f32(pState, weights, pState, S->N);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,   
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
+  i = ((uint32_t) S->N - 1u) >> 2u;
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ * (float32_t) 0.5;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  i = ((uint32_t) S->N - 1u) % 0x4u;
+
+  while(i > 0u)
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = (uint32_t) S->N >> 2u;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initializing the loop counter to N/2 */
+  i = (uint32_t) S->Nby2;
+
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter */
+  i = (uint32_t) S->N;
+
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------   
+   *     Step2: Calculate RFFT for N-point input   
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_f32(S->pRfft, pInlineBuffer, pState);
+
+        /*----------------------------------------------------------------------   
+	 *  Step3: Multiply the FFT output with the weights.   
+	 *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_f32(pState, weights, pState, S->N);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,   
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ * (float32_t) 0.5;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* Initializing the loop counter */
+  i = ((uint32_t) S->N - 1u);
+
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter */
+  i = (uint32_t) S->N;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = in * S->normalize;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+   * @} end of DCT4_IDCT4 group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
new file mode 100644
index 000000000..5c55d3579
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_f32.c
@@ -0,0 +1,4208 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_dct4_init_f32.c   
+*   
+* Description:	Initialization function of DCT-4 & IDCT4 F32   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup DCT4_IDCT4   
+ * @{   
+ */
+
+/*   
+* @brief  Weights Table   
+*/
+
+/**   
+* \par   
+* Weights tables are generated using the formula : 
    weights[n] = e^(-j*n*pi/(2*N))
       
+* \par   
+* C command to generate the table   
+* 
       
+* for(i = 0; i< N; i++)   
+* {   
+*    weights[2*i]= cos(i*c);   
+*    weights[(2*i)+1]= -sin(i * c);   
+* } 
       
+* \par   
+* Where N is the Number of weights to be calculated and c is pi/(2*N)   
+* \par   
+* In the tables below the real and imaginary values are placed alternatively, hence the   
+* array length is 2*N.   
+*/
+
+static const float32_t Weights_128[256] = {
+  1.000000000000000000f, 0.000000000000000000f, 0.999924701839144500f,
+  -0.012271538285719925f,
+  0.999698818696204250f, -0.024541228522912288f, 0.999322384588349540f,
+  -0.036807222941358832f,
+  0.998795456205172410f, -0.049067674327418015f, 0.998118112900149180f,
+  -0.061320736302208578f,
+  0.997290456678690210f, -0.073564563599667426f, 0.996312612182778000f,
+  -0.085797312344439894f,
+  0.995184726672196930f, -0.098017140329560604f, 0.993906970002356060f,
+  -0.110222207293883060f,
+  0.992479534598709970f, -0.122410675199216200f, 0.990902635427780010f,
+  -0.134580708507126170f,
+  0.989176509964781010f, -0.146730474455361750f, 0.987301418157858430f,
+  -0.158858143333861450f,
+  0.985277642388941220f, -0.170961888760301220f, 0.983105487431216290f,
+  -0.183039887955140950f,
+  0.980785280403230430f, -0.195090322016128250f, 0.978317370719627650f,
+  -0.207111376192218560f,
+  0.975702130038528570f, -0.219101240156869800f, 0.972939952205560180f,
+  -0.231058108280671110f,
+  0.970031253194543970f, -0.242980179903263870f, 0.966976471044852070f,
+  -0.254865659604514570f,
+  0.963776065795439840f, -0.266712757474898370f, 0.960430519415565790f,
+  -0.278519689385053060f,
+  0.956940335732208820f, -0.290284677254462330f, 0.953306040354193860f,
+  -0.302005949319228080f,
+  0.949528180593036670f, -0.313681740398891520f, 0.945607325380521280f,
+  -0.325310292162262930f,
+  0.941544065183020810f, -0.336889853392220050f, 0.937339011912574960f,
+  -0.348418680249434560f,
+  0.932992798834738960f, -0.359895036534988110f, 0.928506080473215590f,
+  -0.371317193951837540f,
+  0.923879532511286740f, -0.382683432365089780f, 0.919113851690057770f,
+  -0.393992040061048100f,
+  0.914209755703530690f, -0.405241314004989860f, 0.909167983090522380f,
+  -0.416429560097637150f,
+  0.903989293123443340f, -0.427555093430282080f, 0.898674465693953820f,
+  -0.438616238538527660f,
+  0.893224301195515320f, -0.449611329654606540f, 0.887639620402853930f,
+  -0.460538710958240010f,
+  0.881921264348355050f, -0.471396736825997640f, 0.876070094195406600f,
+  -0.482183772079122720f,
+  0.870086991108711460f, -0.492898192229784040f, 0.863972856121586810f,
+  -0.503538383725717580f,
+  0.857728610000272120f, -0.514102744193221660f, 0.851355193105265200f,
+  -0.524589682678468950f,
+  0.844853565249707120f, -0.534997619887097150f, 0.838224705554838080f,
+  -0.545324988422046460f,
+  0.831469612302545240f, -0.555570233019602180f, 0.824589302785025290f,
+  -0.565731810783613120f,
+  0.817584813151583710f, -0.575808191417845340f, 0.810457198252594770f,
+  -0.585797857456438860f,
+  0.803207531480644940f, -0.595699304492433360f, 0.795836904608883570f,
+  -0.605511041404325550f,
+  0.788346427626606340f, -0.615231590580626820f, 0.780737228572094490f,
+  -0.624859488142386340f,
+  0.773010453362736990f, -0.634393284163645490f, 0.765167265622458960f,
+  -0.643831542889791390f,
+  0.757208846506484570f, -0.653172842953776760f, 0.749136394523459370f,
+  -0.662415777590171780f,
+  0.740951125354959110f, -0.671558954847018330f, 0.732654271672412820f,
+  -0.680600997795453020f,
+  0.724247082951467000f, -0.689540544737066830f, 0.715730825283818590f,
+  -0.698376249408972920f,
+  0.707106781186547570f, -0.707106781186547460f, 0.698376249408972920f,
+  -0.715730825283818590f,
+  0.689540544737066940f, -0.724247082951466890f, 0.680600997795453130f,
+  -0.732654271672412820f,
+  0.671558954847018330f, -0.740951125354959110f, 0.662415777590171780f,
+  -0.749136394523459260f,
+  0.653172842953776760f, -0.757208846506484460f, 0.643831542889791500f,
+  -0.765167265622458960f,
+  0.634393284163645490f, -0.773010453362736990f, 0.624859488142386450f,
+  -0.780737228572094380f,
+  0.615231590580626820f, -0.788346427626606230f, 0.605511041404325550f,
+  -0.795836904608883460f,
+  0.595699304492433470f, -0.803207531480644830f, 0.585797857456438860f,
+  -0.810457198252594770f,
+  0.575808191417845340f, -0.817584813151583710f, 0.565731810783613230f,
+  -0.824589302785025290f,
+  0.555570233019602290f, -0.831469612302545240f, 0.545324988422046460f,
+  -0.838224705554837970f,
+  0.534997619887097260f, -0.844853565249707010f, 0.524589682678468840f,
+  -0.851355193105265200f,
+  0.514102744193221660f, -0.857728610000272120f, 0.503538383725717580f,
+  -0.863972856121586700f,
+  0.492898192229784090f, -0.870086991108711350f, 0.482183772079122830f,
+  -0.876070094195406600f,
+  0.471396736825997810f, -0.881921264348354940f, 0.460538710958240010f,
+  -0.887639620402853930f,
+  0.449611329654606600f, -0.893224301195515320f, 0.438616238538527710f,
+  -0.898674465693953820f,
+  0.427555093430282200f, -0.903989293123443340f, 0.416429560097637320f,
+  -0.909167983090522270f,
+  0.405241314004989860f, -0.914209755703530690f, 0.393992040061048100f,
+  -0.919113851690057770f,
+  0.382683432365089840f, -0.923879532511286740f, 0.371317193951837600f,
+  -0.928506080473215480f,
+  0.359895036534988280f, -0.932992798834738850f, 0.348418680249434510f,
+  -0.937339011912574960f,
+  0.336889853392220050f, -0.941544065183020810f, 0.325310292162262980f,
+  -0.945607325380521280f,
+  0.313681740398891570f, -0.949528180593036670f, 0.302005949319228200f,
+  -0.953306040354193750f,
+  0.290284677254462330f, -0.956940335732208940f, 0.278519689385053060f,
+  -0.960430519415565790f,
+  0.266712757474898420f, -0.963776065795439840f, 0.254865659604514630f,
+  -0.966976471044852070f,
+  0.242980179903263980f, -0.970031253194543970f, 0.231058108280671280f,
+  -0.972939952205560070f,
+  0.219101240156869770f, -0.975702130038528570f, 0.207111376192218560f,
+  -0.978317370719627650f,
+  0.195090322016128330f, -0.980785280403230430f, 0.183039887955141060f,
+  -0.983105487431216290f,
+  0.170961888760301360f, -0.985277642388941220f, 0.158858143333861390f,
+  -0.987301418157858430f,
+  0.146730474455361750f, -0.989176509964781010f, 0.134580708507126220f,
+  -0.990902635427780010f,
+  0.122410675199216280f, -0.992479534598709970f, 0.110222207293883180f,
+  -0.993906970002356060f,
+  0.098017140329560770f, -0.995184726672196820f, 0.085797312344439880f,
+  -0.996312612182778000f,
+  0.073564563599667454f, -0.997290456678690210f, 0.061320736302208648f,
+  -0.998118112900149180f,
+  0.049067674327418126f, -0.998795456205172410f, 0.036807222941358991f,
+  -0.999322384588349540f,
+  0.024541228522912264f, -0.999698818696204250f, 0.012271538285719944f,
+  -0.999924701839144500f
+};
+
+static const float32_t Weights_512[1024] = {
+  1.000000000000000000f, 0.000000000000000000f, 0.999995293809576190f,
+  -0.003067956762965976f,
+  0.999981175282601110f, -0.006135884649154475f, 0.999957644551963900f,
+  -0.009203754782059819f,
+  0.999924701839144500f, -0.012271538285719925f, 0.999882347454212560f,
+  -0.015339206284988100f,
+  0.999830581795823400f, -0.018406729905804820f, 0.999769405351215280f,
+  -0.021474080275469508f,
+  0.999698818696204250f, -0.024541228522912288f, 0.999618822495178640f,
+  -0.027608145778965740f,
+  0.999529417501093140f, -0.030674803176636626f, 0.999430604555461730f,
+  -0.033741171851377580f,
+  0.999322384588349540f, -0.036807222941358832f, 0.999204758618363890f,
+  -0.039872927587739811f,
+  0.999077727752645360f, -0.042938256934940820f, 0.998941293186856870f,
+  -0.046003182130914623f,
+  0.998795456205172410f, -0.049067674327418015f, 0.998640218180265270f,
+  -0.052131704680283324f,
+  0.998475580573294770f, -0.055195244349689934f, 0.998301544933892890f,
+  -0.058258264500435752f,
+  0.998118112900149180f, -0.061320736302208578f, 0.997925286198596000f,
+  -0.064382630929857465f,
+  0.997723066644191640f, -0.067443919563664051f, 0.997511456140303450f,
+  -0.070504573389613856f,
+  0.997290456678690210f, -0.073564563599667426f, 0.997060070339482960f,
+  -0.076623861392031492f,
+  0.996820299291165670f, -0.079682437971430126f, 0.996571145790554840f,
+  -0.082740264549375692f,
+  0.996312612182778000f, -0.085797312344439894f, 0.996044700901251970f,
+  -0.088853552582524600f,
+  0.995767414467659820f, -0.091908956497132724f, 0.995480755491926940f,
+  -0.094963495329638992f,
+  0.995184726672196930f, -0.098017140329560604f, 0.994879330794805620f,
+  -0.101069862754827820f,
+  0.994564570734255420f, -0.104121633872054590f, 0.994240449453187900f,
+  -0.107172424956808840f,
+  0.993906970002356060f, -0.110222207293883060f, 0.993564135520595300f,
+  -0.113270952177564350f,
+  0.993211949234794500f, -0.116318630911904750f, 0.992850414459865100f,
+  -0.119365214810991350f,
+  0.992479534598709970f, -0.122410675199216200f, 0.992099313142191800f,
+  -0.125454983411546230f,
+  0.991709753669099530f, -0.128498110793793170f, 0.991310859846115440f,
+  -0.131540028702883120f,
+  0.990902635427780010f, -0.134580708507126170f, 0.990485084256457090f,
+  -0.137620121586486040f,
+  0.990058210262297120f, -0.140658239332849210f, 0.989622017463200890f,
+  -0.143695033150294470f,
+  0.989176509964781010f, -0.146730474455361750f, 0.988721691960323780f,
+  -0.149764534677321510f,
+  0.988257567730749460f, -0.152797185258443440f, 0.987784141644572180f,
+  -0.155828397654265230f,
+  0.987301418157858430f, -0.158858143333861450f, 0.986809401814185530f,
+  -0.161886393780111830f,
+  0.986308097244598670f, -0.164913120489969890f, 0.985797509167567480f,
+  -0.167938294974731170f,
+  0.985277642388941220f, -0.170961888760301220f, 0.984748501801904210f,
+  -0.173983873387463820f,
+  0.984210092386929030f, -0.177004220412148750f, 0.983662419211730250f,
+  -0.180022901405699510f,
+  0.983105487431216290f, -0.183039887955140950f, 0.982539302287441240f,
+  -0.186055151663446630f,
+  0.981963869109555240f, -0.189068664149806190f, 0.981379193313754560f,
+  -0.192080397049892440f,
+  0.980785280403230430f, -0.195090322016128250f, 0.980182135968117430f,
+  -0.198098410717953560f,
+  0.979569765685440520f, -0.201104634842091900f, 0.978948175319062200f,
+  -0.204108966092816870f,
+  0.978317370719627650f, -0.207111376192218560f, 0.977677357824509930f,
+  -0.210111836880469610f,
+  0.977028142657754390f, -0.213110319916091360f, 0.976369731330021140f,
+  -0.216106797076219520f,
+  0.975702130038528570f, -0.219101240156869800f, 0.975025345066994120f,
+  -0.222093620973203510f,
+  0.974339382785575860f, -0.225083911359792830f, 0.973644249650811980f,
+  -0.228072083170885730f,
+  0.972939952205560180f, -0.231058108280671110f, 0.972226497078936270f,
+  -0.234041958583543430f,
+  0.971503890986251780f, -0.237023605994367200f, 0.970772140728950350f,
+  -0.240003022448741500f,
+  0.970031253194543970f, -0.242980179903263870f, 0.969281235356548530f,
+  -0.245955050335794590f,
+  0.968522094274417380f, -0.248927605745720150f, 0.967753837093475510f,
+  -0.251897818154216970f,
+  0.966976471044852070f, -0.254865659604514570f, 0.966190003445412500f,
+  -0.257831102162158990f,
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+  0.006135884649154515f, -0.999981175282601110f, 0.003067956762966138f,
+  -0.999995293809576190f
+};
+
+static const float32_t Weights_2048[4096] = {
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+  -0.003834942569706228f,
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+  -0.005368906963996343f,
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+  -0.006902858724729756f,
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+  -0.008436794242369799f,
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+  -0.009970709907418031f,
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+  -0.011504602110422714f,
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+  -0.013038467241987334f,
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+  -0.014572301692779064f,
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+  -0.988374471009341280f,
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+  -0.988606533192386450f,
+  0.149764534677321620f, -0.988721691960323780f, 0.149006150660348470f,
+  -0.988836269088763540f,
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+  -0.989731939077910570f,
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+  -0.989950035541608990f,
+  0.140658239332849240f, -0.990058210262297120f, 0.139898832897777380f,
+  -0.990165802557248400f,
+  0.139139344163826280f, -0.990272812363169110f, 0.138379773577783890f,
+  -0.990379239617108160f,
+  0.137620121586486180f, -0.990485084256456980f, 0.136860388636816430f,
+  -0.990590346218950150f,
+  0.136100575175706200f, -0.990695025442664630f, 0.135340681650134330f,
+  -0.990799121866020370f,
+  0.134580708507126220f, -0.990902635427780010f, 0.133820656193754690f,
+  -0.991005566067049370f,
+  0.133060525157139180f, -0.991107913723276780f, 0.132300315844444680f,
+  -0.991209678336254060f,
+  0.131540028702883280f, -0.991310859846115440f, 0.130779664179711790f,
+  -0.991411458193338540f,
+  0.130019222722233350f, -0.991511473318743900f, 0.129258704777796270f,
+  -0.991610905163495370f,
+  0.128498110793793220f, -0.991709753669099530f, 0.127737441217662280f,
+  -0.991808018777406430f,
+  0.126976696496885980f, -0.991905700430609330f, 0.126215877078990400f,
+  -0.992002798571244520f,
+  0.125454983411546210f, -0.992099313142191800f, 0.124694015942167770f,
+  -0.992195244086673920f,
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+  -0.992385354870851670f,
+  0.122410675199216280f, -0.992479534598709970f, 0.121649416999105540f,
+  -0.992573130476428810f,
+  0.120888087235777220f, -0.992666142448948020f, 0.120126686357101580f,
+  -0.992758570461551140f,
+  0.119365214810991350f, -0.992850414459865100f, 0.118603673045400840f,
+  -0.992941674389860470f,
+  0.117842061508325020f, -0.993032350197851410f, 0.117080380647800550f,
+  -0.993122441830495580f,
+  0.116318630911904880f, -0.993211949234794500f, 0.115556812748755290f,
+  -0.993300872358093280f,
+  0.114794926606510250f, -0.993389211148080650f, 0.114032972933367300f,
+  -0.993476965552789190f,
+  0.113270952177564360f, -0.993564135520595300f, 0.112508864787378830f,
+  -0.993650721000219120f,
+  0.111746711211126660f, -0.993736721940724600f, 0.110984491897163380f,
+  -0.993822138291519660f,
+  0.110222207293883180f, -0.993906970002356060f, 0.109459857849718030f,
+  -0.993991217023329380f,
+  0.108697444013138670f, -0.994074879304879370f, 0.107934966232653760f,
+  -0.994157956797789730f,
+  0.107172424956808870f, -0.994240449453187900f, 0.106409820634187840f,
+  -0.994322357222545810f,
+  0.105647153713410700f, -0.994403680057679100f, 0.104884424643134970f,
+  -0.994484417910747600f,
+  0.104121633872054730f, -0.994564570734255420f, 0.103358781848899700f,
+  -0.994644138481050710f,
+  0.102595869022436280f, -0.994723121104325700f, 0.101832895841466670f,
+  -0.994801518557617110f,
+  0.101069862754827880f, -0.994879330794805620f, 0.100306770211392820f,
+  -0.994956557770116380f,
+  0.099543618660069444f, -0.995033199438118630f, 0.098780408549799664f,
+  -0.995109255753726110f,
+  0.098017140329560770f, -0.995184726672196820f, 0.097253814448363354f,
+  -0.995259612149133390f,
+  0.096490431355252607f, -0.995333912140482280f, 0.095726991499307315f,
+  -0.995407626602534900f,
+  0.094963495329639061f, -0.995480755491926940f, 0.094199943295393190f,
+  -0.995553298765638470f,
+  0.093436335845747912f, -0.995625256380994310f, 0.092672673429913366f,
+  -0.995696628295663520f,
+  0.091908956497132696f, -0.995767414467659820f, 0.091145185496681130f,
+  -0.995837614855341610f,
+  0.090381360877865011f, -0.995907229417411720f, 0.089617483090022917f,
+  -0.995976258112917790f,
+  0.088853552582524684f, -0.996044700901251970f, 0.088089569804770507f,
+  -0.996112557742151130f,
+  0.087325535206192226f, -0.996179828595696870f, 0.086561449236251239f,
+  -0.996246513422315520f,
+  0.085797312344439880f, -0.996312612182778000f, 0.085033124980280414f,
+  -0.996378124838200210f,
+  0.084268887593324127f, -0.996443051350042630f, 0.083504600633152404f,
+  -0.996507391680110820f,
+  0.082740264549375803f, -0.996571145790554840f, 0.081975879791633108f,
+  -0.996634313643869900f,
+  0.081211446809592386f, -0.996696895202896060f, 0.080446966052950097f,
+  -0.996758890430818000f,
+  0.079682437971430126f, -0.996820299291165670f, 0.078917863014785095f,
+  -0.996881121747813850f,
+  0.078153241632794315f, -0.996941357764982160f, 0.077388574275265049f,
+  -0.997001007307235290f,
+  0.076623861392031617f, -0.997060070339482960f, 0.075859103432954503f,
+  -0.997118546826979980f,
+  0.075094300847921291f, -0.997176436735326190f, 0.074329454086845867f,
+  -0.997233740030466160f,
+  0.073564563599667454f, -0.997290456678690210f, 0.072799629836351618f,
+  -0.997346586646633230f,
+  0.072034653246889416f, -0.997402129901275300f, 0.071269634281296415f,
+  -0.997457086409941910f,
+  0.070504573389614009f, -0.997511456140303450f, 0.069739471021907376f,
+  -0.997565239060375750f,
+  0.068974327628266732f, -0.997618435138519550f, 0.068209143658806454f,
+  -0.997671044343441000f,
+  0.067443919563664106f, -0.997723066644191640f, 0.066678655793001543f,
+  -0.997774502010167820f,
+  0.065913352797003930f, -0.997825350411111640f, 0.065148011025878860f,
+  -0.997875611817110150f,
+  0.064382630929857410f, -0.997925286198596000f, 0.063617212959193190f,
+  -0.997974373526346990f,
+  0.062851757564161420f, -0.998022873771486240f, 0.062086265195060247f,
+  -0.998070786905482340f,
+  0.061320736302208648f, -0.998118112900149180f, 0.060555171335947781f,
+  -0.998164851727646240f,
+  0.059789570746640007f, -0.998211003360478190f, 0.059023934984667986f,
+  -0.998256567771495180f,
+  0.058258264500435732f, -0.998301544933892890f, 0.057492559744367684f,
+  -0.998345934821212370f,
+  0.056726821166907783f, -0.998389737407340160f, 0.055961049218520520f,
+  -0.998432952666508440f,
+  0.055195244349690031f, -0.998475580573294770f, 0.054429407010919147f,
+  -0.998517621102622210f,
+  0.053663537652730679f, -0.998559074229759310f, 0.052897636725665401f,
+  -0.998599939930320370f,
+  0.052131704680283317f, -0.998640218180265270f, 0.051365741967162731f,
+  -0.998679908955899090f,
+  0.050599749036899337f, -0.998719012233872940f, 0.049833726340107257f,
+  -0.998757527991183340f,
+  0.049067674327418126f, -0.998795456205172410f, 0.048301593449480172f,
+  -0.998832796853527990f,
+  0.047535484156959261f, -0.998869549914283560f, 0.046769346900537960f,
+  -0.998905715365818290f,
+  0.046003182130914644f, -0.998941293186856870f, 0.045236990298804750f,
+  -0.998976283356469820f,
+  0.044470771854938744f, -0.999010685854073380f, 0.043704527250063421f,
+  -0.999044500659429290f,
+  0.042938256934940959f, -0.999077727752645360f, 0.042171961360348002f,
+  -0.999110367114174890f,
+  0.041405640977076712f, -0.999142418724816910f, 0.040639296235933854f,
+  -0.999173882565716380f,
+  0.039872927587739845f, -0.999204758618363890f, 0.039106535483329839f,
+  -0.999235046864595850f,
+  0.038340120373552791f, -0.999264747286594420f, 0.037573682709270514f,
+  -0.999293859866887790f,
+  0.036807222941358991f, -0.999322384588349540f, 0.036040741520706299f,
+  -0.999350321434199440f,
+  0.035274238898213947f, -0.999377670388002850f, 0.034507715524795889f,
+  -0.999404431433671300f,
+  0.033741171851377642f, -0.999430604555461730f, 0.032974608328897315f,
+  -0.999456189737977340f,
+  0.032208025408304704f, -0.999481186966166950f, 0.031441423540560343f,
+  -0.999505596225325310f,
+  0.030674803176636581f, -0.999529417501093140f, 0.029908164767516655f,
+  -0.999552650779456990f,
+  0.029141508764193740f, -0.999575296046749220f, 0.028374835617672258f,
+  -0.999597353289648380f,
+  0.027608145778965820f, -0.999618822495178640f, 0.026841439699098527f,
+  -0.999639703650710200f,
+  0.026074717829104040f, -0.999659996743959220f, 0.025307980620024630f,
+  -0.999679701762987930f,
+  0.024541228522912264f, -0.999698818696204250f, 0.023774461988827676f,
+  -0.999717347532362190f,
+  0.023007681468839410f, -0.999735288260561680f, 0.022240887414024919f,
+  -0.999752640870248840f,
+  0.021474080275469605f, -0.999769405351215280f, 0.020707260504265912f,
+  -0.999785581693599210f,
+  0.019940428551514598f, -0.999801169887884260f, 0.019173584868322699f,
+  -0.999816169924900410f,
+  0.018406729905804820f, -0.999830581795823400f, 0.017639864115082195f,
+  -0.999844405492175240f,
+  0.016872987947281773f, -0.999857641005823860f, 0.016106101853537263f,
+  -0.999870288328982950f,
+  0.015339206284988220f, -0.999882347454212560f, 0.014572301692779104f,
+  -0.999893818374418490f,
+  0.013805388528060349f, -0.999904701082852900f, 0.013038467241987433f,
+  -0.999914995573113470f,
+  0.012271538285719944f, -0.999924701839144500f, 0.011504602110422875f,
+  -0.999933819875236000f,
+  0.010737659167264572f, -0.999942349676023910f, 0.009970709907418029f,
+  -0.999950291236490480f,
+  0.009203754782059960f, -0.999957644551963900f, 0.008436794242369860f,
+  -0.999964409618118280f,
+  0.007669828739531077f, -0.999970586430974140f, 0.006902858724729877f,
+  -0.999976174986897610f,
+  0.006135884649154515f, -0.999981175282601110f, 0.005368906963996303f,
+  -0.999985587315143200f,
+  0.004601926120448672f, -0.999989411081928400f, 0.003834942569706248f,
+  -0.999992646580707190f,
+  0.003067956762966138f, -0.999995293809576190f, 0.002300969151425887f,
+  -0.999997352766978210f,
+  0.001533980186284766f, -0.999998823451701880f, 0.000766990318742846f,
+  -0.999999705862882230f
+};
+
+/**   
+* \par   
+* cosFactor tables are generated using the formula : 
    cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
       
+* \par   
+* C command to generate the table   
+* \par   
+* 
     for(i = 0; i< N; i++)   
+* {   
+*    cos_factors[i]= 2 * cos((2*i+1)*c/2);   
+* } 
       
+* \par   
+* where N is the number of factors to generate and c is pi/(2*N)   
+*/
+static const float32_t cos_factors_128[128] = {
+  0.999981175282601110f, 0.999830581795823400f, 0.999529417501093140f,
+  0.999077727752645360f,
+  0.998475580573294770f, 0.997723066644191640f, 0.996820299291165670f,
+  0.995767414467659820f,
+  0.994564570734255420f, 0.993211949234794500f, 0.991709753669099530f,
+  0.990058210262297120f,
+  0.988257567730749460f, 0.986308097244598670f, 0.984210092386929030f,
+  0.981963869109555240f,
+  0.979569765685440520f, 0.977028142657754390f, 0.974339382785575860f,
+  0.971503890986251780f,
+  0.968522094274417380f, 0.965394441697689400f, 0.962121404269041580f,
+  0.958703474895871600f,
+  0.955141168305770780f, 0.951435020969008340f, 0.947585591017741090f,
+  0.943593458161960390f,
+  0.939459223602189920f, 0.935183509938947610f, 0.930766961078983710f,
+  0.926210242138311380f,
+  0.921514039342042010f, 0.916679059921042700f, 0.911706032005429880f,
+  0.906595704514915330f,
+  0.901348847046022030f, 0.895966249756185220f, 0.890448723244757880f,
+  0.884797098430937790f,
+  0.879012226428633530f, 0.873094978418290090f, 0.867046245515692650f,
+  0.860866938637767310f,
+  0.854557988365400530f, 0.848120344803297230f, 0.841554977436898440f,
+  0.834862874986380010f,
+  0.828045045257755800f, 0.821102514991104650f, 0.814036329705948410f,
+  0.806847553543799330f,
+  0.799537269107905010f, 0.792106577300212390f, 0.784556597155575240f,
+  0.776888465673232440f,
+  0.769103337645579700f, 0.761202385484261780f, 0.753186799043612520f,
+  0.745057785441466060f,
+  0.736816568877369900f, 0.728464390448225200f, 0.720002507961381650f,
+  0.711432195745216430f,
+  0.702754744457225300f, 0.693971460889654000f, 0.685083667772700360f,
+  0.676092703575316030f,
+  0.666999922303637470f, 0.657806693297078640f, 0.648514401022112550f,
+  0.639124444863775730f,
+  0.629638238914927100f, 0.620057211763289210f, 0.610382806276309480f,
+  0.600616479383868970f,
+  0.590759701858874280f, 0.580813958095764530f, 0.570780745886967370f,
+  0.560661576197336030f,
+  0.550457972936604810f, 0.540171472729892970f, 0.529803624686294830f,
+  0.519355990165589530f,
+  0.508830142543106990f, 0.498227666972781870f, 0.487550160148436050f,
+  0.476799230063322250f,
+  0.465976495767966130f, 0.455083587126343840f, 0.444122144570429260f,
+  0.433093818853152010f,
+  0.422000270799799790f, 0.410843171057903910f, 0.399624199845646790f,
+  0.388345046698826300f,
+  0.377007410216418310f, 0.365612997804773960f, 0.354163525420490510f,
+  0.342660717311994380f,
+  0.331106305759876430f, 0.319502030816015750f, 0.307849640041534980f,
+  0.296150888243623960f,
+  0.284407537211271820f, 0.272621355449948980f, 0.260794117915275570f,
+  0.248927605745720260f,
+  0.237023605994367340f, 0.225083911359792780f, 0.213110319916091360f,
+  0.201104634842091960f,
+  0.189068664149806280f, 0.177004220412148860f, 0.164913120489970090f,
+  0.152797185258443410f,
+  0.140658239332849240f, 0.128498110793793220f, 0.116318630911904880f,
+  0.104121633872054730f,
+  0.091908956497132696f, 0.079682437971430126f, 0.067443919563664106f,
+  0.055195244349690031f,
+  0.042938256934940959f, 0.030674803176636581f, 0.018406729905804820f,
+  0.006135884649154515f
+};
+
+static const float32_t cos_factors_512[512] = {
+  0.999998823451701880f, 0.999989411081928400f, 0.999970586430974140f,
+  0.999942349676023910f,
+  0.999904701082852900f, 0.999857641005823860f, 0.999801169887884260f,
+  0.999735288260561680f,
+  0.999659996743959220f, 0.999575296046749220f, 0.999481186966166950f,
+  0.999377670388002850f,
+  0.999264747286594420f, 0.999142418724816910f, 0.999010685854073380f,
+  0.998869549914283560f,
+  0.998719012233872940f, 0.998559074229759310f, 0.998389737407340160f,
+  0.998211003360478190f,
+  0.998022873771486240f, 0.997825350411111640f, 0.997618435138519550f,
+  0.997402129901275300f,
+  0.997176436735326190f, 0.996941357764982160f, 0.996696895202896060f,
+  0.996443051350042630f,
+  0.996179828595696980f, 0.995907229417411720f, 0.995625256380994310f,
+  0.995333912140482280f,
+  0.995033199438118630f, 0.994723121104325700f, 0.994403680057679100f,
+  0.994074879304879370f,
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+  0.992666142448948020f,
+  0.992290591348257370f, 0.991905700430609330f, 0.991511473318743900f,
+  0.991107913723276890f,
+  0.990695025442664630f, 0.990272812363169110f, 0.989841278458820530f,
+  0.989400427791380380f,
+  0.988950264510302990f, 0.988490792852696590f, 0.988022017143283530f,
+  0.987543941794359230f,
+  0.987056571305750970f, 0.986559910264775410f, 0.986053963346195440f,
+  0.985538735312176060f,
+  0.985014231012239840f, 0.984480455383220930f, 0.983937413449218920f,
+  0.983385110321551180f,
+  0.982823551198705240f, 0.982252741366289370f, 0.981672686196983110f,
+  0.981083391150486710f,
+  0.980484861773469380f, 0.979877103699517640f, 0.979260122649082020f,
+  0.978633924429423210f,
+  0.977998514934557140f, 0.977353900145199960f, 0.976700086128711840f,
+  0.976037079039039020f,
+  0.975364885116656980f, 0.974683510688510670f, 0.973992962167955830f,
+  0.973293246054698250f,
+  0.972584368934732210f, 0.971866337480279400f, 0.971139158449725090f,
+  0.970402838687555500f,
+  0.969657385124292450f, 0.968902804776428870f, 0.968139104746362440f,
+  0.967366292222328510f,
+  0.966584374478333120f, 0.965793358874083680f, 0.964993252854920320f,
+  0.964184063951745830f,
+  0.963365799780954050f, 0.962538468044359160f, 0.961702076529122540f,
+  0.960856633107679660f,
+  0.960002145737665960f, 0.959138622461841890f, 0.958266071408017670f,
+  0.957384500788975860f,
+  0.956493918902395100f, 0.955594334130771110f, 0.954685754941338340f,
+  0.953768189885990330f,
+  0.952841647601198720f, 0.951906136807932350f, 0.950961666311575080f,
+  0.950008245001843000f,
+  0.949045881852700560f, 0.948074585922276230f, 0.947094366352777220f,
+  0.946105232370403450f,
+  0.945107193285260610f, 0.944100258491272660f, 0.943084437466093490f,
+  0.942059739771017310f,
+  0.941026175050889260f, 0.939983753034014050f, 0.938932483532064600f,
+  0.937872376439989890f,
+  0.936803441735921560f, 0.935725689481080370f, 0.934639129819680780f,
+  0.933543772978836170f,
+  0.932439629268462360f, 0.931326709081180430f, 0.930205022892219070f,
+  0.929074581259315860f,
+  0.927935394822617890f, 0.926787474304581750f, 0.925630830509872720f,
+  0.924465474325262600f,
+  0.923291416719527640f, 0.922108668743345180f, 0.920917241529189520f,
+  0.919717146291227360f,
+  0.918508394325212250f, 0.917290997008377910f, 0.916064965799331720f,
+  0.914830312237946200f,
+  0.913587047945250810f, 0.912335184623322750f, 0.911074734055176360f,
+  0.909805708104652220f,
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+  0.904644090578246240f,
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+  0.899346236979341570f,
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+  0.893912945145203250f,
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+  0.888345033309596350f,
+  0.886932118794342190f, 0.885510856136199950f, 0.884081258712634990f,
+  0.882643339979562790f,
+  0.881197113471222090f, 0.879742592800047410f, 0.878279791656541580f,
+  0.876808723809145650f,
+  0.875329403104110890f, 0.873841843465366860f, 0.872346058894391540f,
+  0.870842063470078980f,
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+  0.864744257519462380f,
+  0.863199421712124160f, 0.861646461143081300f, 0.860085390429390140f,
+  0.858516224264442740f,
+  0.856938977417828760f, 0.855353664735196030f, 0.853760301138111410f,
+  0.852158901623919830f,
+  0.850549481265603480f, 0.848932055211639610f, 0.847306638685858320f,
+  0.845673246987299070f,
+  0.844031895490066410f, 0.842382599643185850f, 0.840725374970458070f,
+  0.839060237070312740f,
+  0.837387201615661940f, 0.835706284353752600f, 0.834017501106018130f,
+  0.832320867767929680f,
+  0.830616400308846310f, 0.828904114771864870f, 0.827184027273669130f,
+  0.825456154004377550f,
+  0.823720511227391430f, 0.821977115279241550f, 0.820225982569434690f,
+  0.818467129580298660f,
+  0.816700572866827850f, 0.814926329056526620f, 0.813144414849253590f,
+  0.811354847017063730f,
+  0.809557642404051260f, 0.807752817926190360f, 0.805940390571176280f,
+  0.804120377398265810f,
+  0.802292795538115720f, 0.800457662192622820f, 0.798614994634760820f,
+  0.796764810208418830f,
+  0.794907126328237010f, 0.793041960479443640f, 0.791169330217690200f,
+  0.789289253168885650f,
+  0.787401747029031430f, 0.785506829564053930f, 0.783604518609638200f,
+  0.781694832071059390f,
+  0.779777787923014550f, 0.777853404209453150f, 0.775921699043407690f,
+  0.773982690606822900f,
+  0.772036397150384520f, 0.770082836993347900f, 0.768122028523365420f,
+  0.766153990196312920f,
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+  0.758209909813015280f,
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+  0.750151645806215070f,
+  0.748119380450403600f, 0.746080073510063780f, 0.744033744179929290f,
+  0.741980411720831070f,
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+  0.733697438114660370f,
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+  0.725303972373060770f,
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+  0.716801278521099540f,
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+  0.708190637033195400f,
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+  0.699473344640283770f,
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+  0.690650714134534720f,
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+  0.681724074171649820f,
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+  0.672694769070772970f,
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+  0.663564158612039880f,
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+  0.654333617831800550f,
+  0.652010531096959500f, 0.649681307390683190f, 0.647345968636512060f,
+  0.645004536815544040f,
+  0.642657033966226860f, 0.640303482184151670f, 0.637943903621844170f,
+  0.635578320488556230f,
+  0.633206755050057190f, 0.630829229628424470f, 0.628445766601832710f,
+  0.626056388404343520f,
+  0.623661117525694640f, 0.621259976511087660f, 0.618852987960976320f,
+  0.616440174530853650f,
+  0.614021558931038490f, 0.611597163926462020f, 0.609167012336453210f,
+  0.606731127034524480f,
+  0.604289530948156070f, 0.601842247058580030f, 0.599389298400564540f,
+  0.596930708062196500f,
+  0.594466499184664540f, 0.591996694962040990f, 0.589521318641063940f,
+  0.587040393520918080f,
+  0.584553942953015330f, 0.582061990340775550f, 0.579564559139405740f,
+  0.577061672855679550f,
+  0.574553355047715760f, 0.572039629324757050f, 0.569520519346947250f,
+  0.566996048825108680f,
+  0.564466241520519500f, 0.561931121244689470f, 0.559390711859136140f,
+  0.556845037275160100f,
+  0.554294121453620110f, 0.551737988404707450f, 0.549176662187719770f,
+  0.546610166910834860f,
+  0.544038526730883930f, 0.541461765853123560f, 0.538879908531008420f,
+  0.536292979065963180f,
+  0.533701001807152960f, 0.531104001151255000f, 0.528502001542228480f,
+  0.525895027471084740f,
+  0.523283103475656430f, 0.520666254140367270f, 0.518044504095999340f,
+  0.515417878019463150f,
+  0.512786400633563070f, 0.510150096706766700f, 0.507508991052970870f,
+  0.504863108531267480f,
+  0.502212474045710900f, 0.499557112545081890f, 0.496897049022654640f,
+  0.494232308515959730f,
+  0.491562916106550060f, 0.488888896919763230f, 0.486210276124486530f,
+  0.483527078932918740f,
+  0.480839330600333900f, 0.478147056424843120f, 0.475450281747155870f,
+  0.472749031950342900f,
+  0.470043332459595620f, 0.467333208741988530f, 0.464618686306237820f,
+  0.461899790702462840f,
+  0.459176547521944150f, 0.456448982396883860f, 0.453717121000163930f,
+  0.450980989045103810f,
+  0.448240612285220000f, 0.445496016513981740f, 0.442747227564570130f,
+  0.439994271309633260f,
+  0.437237173661044200f, 0.434475960569655710f, 0.431710658025057370f,
+  0.428941292055329550f,
+  0.426167888726799620f, 0.423390474143796100f, 0.420609074448402510f,
+  0.417823715820212380f,
+  0.415034424476081630f, 0.412241226669883000f, 0.409444148692257590f,
+  0.406643216870369140f,
+  0.403838457567654130f, 0.401029897183575790f, 0.398217562153373620f,
+  0.395401478947816300f,
+  0.392581674072951530f, 0.389758174069856410f, 0.386931005514388690f,
+  0.384100195016935040f,
+  0.381265769222162490f, 0.378427754808765620f, 0.375586178489217330f,
+  0.372741067009515810f,
+  0.369892447148934270f, 0.367040345719767240f, 0.364184789567079840f,
+  0.361325805568454340f,
+  0.358463420633736540f, 0.355597661704783960f, 0.352728555755210730f,
+  0.349856129790135030f,
+  0.346980410845923680f, 0.344101425989938980f, 0.341219202320282410f,
+  0.338333766965541290f,
+  0.335445147084531660f, 0.332553369866044220f, 0.329658462528587550f,
+  0.326760452320131790f,
+  0.323859366517852960f, 0.320955232427875210f, 0.318048077385015060f,
+  0.315137928752522440f,
+  0.312224813921825050f, 0.309308760312268780f, 0.306389795370861080f,
+  0.303467946572011370f,
+  0.300543241417273400f, 0.297615707435086310f, 0.294685372180514330f,
+  0.291752263234989370f,
+  0.288816408206049480f, 0.285877834727080730f, 0.282936570457055390f,
+  0.279992643080273380f,
+  0.277046080306099950f, 0.274096909868706330f, 0.271145159526808070f,
+  0.268190857063403180f,
+  0.265234030285511900f, 0.262274707023913590f, 0.259312915132886350f,
+  0.256348682489942910f,
+  0.253382036995570270f, 0.250413006572965280f, 0.247441619167773440f,
+  0.244467902747824210f,
+  0.241491885302869300f, 0.238513594844318500f, 0.235533059404975460f,
+  0.232550307038775330f,
+  0.229565365820518870f, 0.226578263845610110f, 0.223589029229790020f,
+  0.220597690108873650f,
+  0.217604274638483670f, 0.214608810993786920f, 0.211611327369227610f,
+  0.208611851978263460f,
+  0.205610413053099320f, 0.202607038844421110f, 0.199601757621131050f,
+  0.196594597670080220f,
+  0.193585587295803750f, 0.190574754820252800f, 0.187562128582529740f,
+  0.184547736938619640f,
+  0.181531608261125130f, 0.178513770938997590f, 0.175494253377271400f,
+  0.172473083996796030f,
+  0.169450291233967930f, 0.166425903540464220f, 0.163399949382973230f,
+  0.160372457242928400f,
+  0.157343455616238280f, 0.154312973013020240f, 0.151281037957330250f,
+  0.148247678986896200f,
+  0.145212924652847520f, 0.142176803519448000f, 0.139139344163826280f,
+  0.136100575175706200f,
+  0.133060525157139180f, 0.130019222722233350f, 0.126976696496885980f,
+  0.123932975118512200f,
+  0.120888087235777220f, 0.117842061508325020f, 0.114794926606510250f,
+  0.111746711211126660f,
+  0.108697444013138670f, 0.105647153713410700f, 0.102595869022436280f,
+  0.099543618660069444f,
+  0.096490431355252607f, 0.093436335845747912f, 0.090381360877865011f,
+  0.087325535206192226f,
+  0.084268887593324127f, 0.081211446809592386f, 0.078153241632794315f,
+  0.075094300847921291f,
+  0.072034653246889416f, 0.068974327628266732f, 0.065913352797003930f,
+  0.062851757564161420f,
+  0.059789570746640007f, 0.056726821166907783f, 0.053663537652730679f,
+  0.050599749036899337f,
+  0.047535484156959261f, 0.044470771854938744f, 0.041405640977076712f,
+  0.038340120373552791f,
+  0.035274238898213947f, 0.032208025408304704f, 0.029141508764193740f,
+  0.026074717829104040f,
+  0.023007681468839410f, 0.019940428551514598f, 0.016872987947281773f,
+  0.013805388528060349f,
+  0.010737659167264572f, 0.007669828739531077f, 0.004601926120448672f,
+  0.001533980186284766f
+};
+
+static const float32_t cos_factors_2048[2048] = {
+  0.999999926465717890f, 0.999999338191525530f, 0.999998161643486980f,
+  0.999996396822294350f,
+  0.999994043728985820f, 0.999991102364945590f, 0.999987572731904080f,
+  0.999983454831937730f,
+  0.999978748667468830f, 0.999973454241265940f, 0.999967571556443780f,
+  0.999961100616462820f,
+  0.999954041425129780f, 0.999946393986597460f, 0.999938158305364590f,
+  0.999929334386276070f,
+  0.999919922234522750f, 0.999909921855641540f, 0.999899333255515390f,
+  0.999888156440373320f,
+  0.999876391416790410f, 0.999864038191687680f, 0.999851096772332190f,
+  0.999837567166337090f,
+  0.999823449381661570f, 0.999808743426610520f, 0.999793449309835270f,
+  0.999777567040332940f,
+  0.999761096627446610f, 0.999744038080865430f, 0.999726391410624470f,
+  0.999708156627104880f,
+  0.999689333741033640f, 0.999669922763483760f, 0.999649923705874240f,
+  0.999629336579970110f,
+  0.999608161397882110f, 0.999586398172067070f, 0.999564046915327740f,
+  0.999541107640812940f,
+  0.999517580362016990f, 0.999493465092780590f, 0.999468761847290050f,
+  0.999443470640077770f,
+  0.999417591486021720f, 0.999391124400346050f, 0.999364069398620550f,
+  0.999336426496761240f,
+  0.999308195711029470f, 0.999279377058032710f, 0.999249970554724420f,
+  0.999219976218403530f,
+  0.999189394066714920f, 0.999158224117649430f, 0.999126466389543390f,
+  0.999094120901079070f,
+  0.999061187671284600f, 0.999027666719533690f, 0.998993558065545680f,
+  0.998958861729386080f,
+  0.998923577731465780f, 0.998887706092541290f, 0.998851246833715180f,
+  0.998814199976435390f,
+  0.998776565542495610f, 0.998738343554035230f, 0.998699534033539280f,
+  0.998660137003838490f,
+  0.998620152488108870f, 0.998579580509872500f, 0.998538421092996730f,
+  0.998496674261694640f,
+  0.998454340040524800f, 0.998411418454391300f, 0.998367909528543820f,
+  0.998323813288577560f,
+  0.998279129760433200f, 0.998233858970396850f, 0.998188000945100300f,
+  0.998141555711520520f,
+  0.998094523296980010f, 0.998046903729146840f, 0.997998697036034390f,
+  0.997949903246001190f,
+  0.997900522387751620f, 0.997850554490335110f, 0.997799999583146470f,
+  0.997748857695925690f,
+  0.997697128858758500f, 0.997644813102075420f, 0.997591910456652630f,
+  0.997538420953611340f,
+  0.997484344624417930f, 0.997429681500884180f, 0.997374431615167150f,
+  0.997318594999768600f,
+  0.997262171687536170f, 0.997205161711661850f, 0.997147565105683480f,
+  0.997089381903483400f,
+  0.997030612139289450f, 0.996971255847674320f, 0.996911313063555740f,
+  0.996850783822196610f,
+  0.996789668159204560f, 0.996727966110532490f, 0.996665677712478160f,
+  0.996602803001684130f,
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+  0.128878417262776660f,
+  0.128117785426777150f, 0.127357078222385570f, 0.126596296097105960f,
+  0.125835439498487020f,
+  0.125074508874121300f, 0.124313504671644300f, 0.123552427338735370f,
+  0.122791277323116900f,
+  0.122030055072553410f, 0.121268761034852550f, 0.120507395657864240f,
+  0.119745959389479630f,
+  0.118984452677632520f, 0.118222875970297250f, 0.117461229715489990f,
+  0.116699514361267840f,
+  0.115937730355727850f, 0.115175878147008180f, 0.114413958183287050f,
+  0.113651970912781920f,
+  0.112889916783750470f, 0.112127796244489750f, 0.111365609743335190f,
+  0.110603357728661910f,
+  0.109841040648882680f, 0.109078658952449240f, 0.108316213087851300f,
+  0.107553703503615710f,
+  0.106791130648307380f, 0.106028494970528530f, 0.105265796918917650f,
+  0.104503036942150550f,
+  0.103740215488939480f, 0.102977333008032250f, 0.102214389948213370f,
+  0.101451386758302160f,
+  0.100688323887153970f, 0.099925201783659226f, 0.099162020896742573f,
+  0.098398781675363881f,
+  0.097635484568517339f, 0.096872130025230527f, 0.096108718494565468f,
+  0.095345250425617742f,
+  0.094581726267515473f, 0.093818146469420494f, 0.093054511480527333f,
+  0.092290821750062355f,
+  0.091527077727284981f, 0.090763279861485704f, 0.089999428601987341f,
+  0.089235524398144139f,
+  0.088471567699340822f, 0.087707558954993645f, 0.086943498614549489f,
+  0.086179387127484922f,
+  0.085415224943307277f, 0.084651012511553700f, 0.083886750281790226f,
+  0.083122438703613077f,
+  0.082358078226646619f, 0.081593669300544638f, 0.080829212374989468f,
+  0.080064707899690932f,
+  0.079300156324387569f, 0.078535558098845590f, 0.077770913672857989f,
+  0.077006223496245585f,
+  0.076241488018856149f, 0.075476707690563416f, 0.074711882961268378f,
+  0.073947014280897269f,
+  0.073182102099402888f, 0.072417146866763538f, 0.071652149032982254f,
+  0.070887109048087787f,
+  0.070122027362133646f, 0.069356904425197236f, 0.068591740687380900f,
+  0.067826536598810966f,
+  0.067061292609636836f, 0.066296009170032283f, 0.065530686730193397f,
+  0.064765325740339871f,
+  0.063999926650714078f, 0.063234489911580136f, 0.062469015973224969f,
+  0.061703505285957416f,
+  0.060937958300107238f, 0.060172375466026218f, 0.059406757234087247f,
+  0.058641104054683348f,
+  0.057875416378229017f, 0.057109694655158132f, 0.056343939335925283f,
+  0.055578150871004817f,
+  0.054812329710889909f, 0.054046476306093640f, 0.053280591107148056f,
+  0.052514674564603257f,
+  0.051748727129028414f, 0.050982749251010900f, 0.050216741381155325f,
+  0.049450703970084824f,
+  0.048684637468439020f, 0.047918542326875327f, 0.047152418996068000f,
+  0.046386267926707213f,
+  0.045620089569500123f, 0.044853884375169933f, 0.044087652794454979f,
+  0.043321395278109784f,
+  0.042555112276904117f, 0.041788804241622082f, 0.041022471623063397f,
+  0.040256114872041358f,
+  0.039489734439384118f, 0.038723330775933762f, 0.037956904332545366f,
+  0.037190455560088091f,
+  0.036423984909444228f, 0.035657492831508264f, 0.034890979777187955f,
+  0.034124446197403423f,
+  0.033357892543086159f, 0.032591319265180385f, 0.031824726814640963f,
+  0.031058115642434700f,
+  0.030291486199539423f, 0.029524838936943035f, 0.028758174305644590f,
+  0.027991492756653365f,
+  0.027224794740987910f, 0.026458080709677145f, 0.025691351113759395f,
+  0.024924606404281485f,
+  0.024157847032300020f, 0.023391073448879338f, 0.022624286105092803f,
+  0.021857485452021874f,
+  0.021090671940755180f, 0.020323846022389572f, 0.019557008148029204f,
+  0.018790158768784596f,
+  0.018023298335773701f, 0.017256427300120978f, 0.016489546112956454f,
+  0.015722655225417017f,
+  0.014955755088644378f, 0.014188846153786343f, 0.013421928871995907f,
+  0.012655003694430301f,
+  0.011888071072252072f, 0.011121131456628141f, 0.010354185298728884f,
+  0.009587233049729183f,
+  0.008820275160807512f, 0.008053312083144991f, 0.007286344267926684f,
+  0.006519372166339549f,
+  0.005752396229573737f, 0.004985416908821652f, 0.004218434655277024f,
+  0.003451449920135975f,
+  0.002684463154596083f, 0.001917474809855460f, 0.001150485337113809f,
+  0.000383495187571497f
+};
+
+/**   
+ * @brief  Initialization function for the floating-point DCT4/IDCT4.  
+ * @param[in,out] *S         points to an instance of floating-point DCT4/IDCT4 structure.  
+ * @param[in]     *S_RFFT    points to an instance of floating-point RFFT/RIFFT structure.  
+ * @param[in]     *S_CFFT    points to an instance of floating-point CFFT/CIFFT structure.  
+ * @param[in]     N			 length of the DCT4.  
+ * @param[in]     Nby2       half of the length of the DCT4.  
+ * @param[in]     normalize  normalizing factor.  
+ * @return        arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported transform length.  
+ * \par Normalizing factor:   
+ * The normalizing factor is sqrt(2/N), which depends on the size of transform N.   
+ * Floating-point normalizing factors are mentioned in the table below for different DCT sizes:   
+ * \image html dct4NormalizingF32Table.gif   
+ */
+
+arm_status arm_dct4_init_f32(
+  arm_dct4_instance_f32 * S,
+  arm_rfft_instance_f32 * S_RFFT,
+  arm_cfft_radix4_instance_f32 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  float32_t normalize)
+{
+  /*  Initialize the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /* Initializing the pointer array with the weight table base addresses of different lengths */
+  float32_t *twiddlePtr[3] =
+    { (float32_t *) Weights_128, (float32_t *) Weights_512,
+    (float32_t *) Weights_2048
+  };
+
+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
+  float32_t *pCosFactor[3] =
+    { (float32_t *) cos_factors_128, (float32_t *) cos_factors_512,
+    (float32_t *) cos_factors_2048
+  };
+
+  /* Initialize the DCT4 length */
+  S->N = N;
+
+  /* Initialize the half of DCT4 length */
+  S->Nby2 = Nby2;
+
+  /* Initialize the DCT4 Normalizing factor */
+  S->normalize = normalize;
+
+  /* Initialize Real FFT Instance */
+  S->pRfft = S_RFFT;
+
+  /* Initialize Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  switch (N)
+  {
+    /* Initialize the table modifier values */
+  case 2048u:
+    S->pTwiddle = twiddlePtr[2];
+    S->pCosFactor = pCosFactor[2];
+    break;
+  case 512u:
+    S->pTwiddle = twiddlePtr[1];
+    S->pCosFactor = pCosFactor[1];
+    break;
+  case 128u:
+    S->pTwiddle = twiddlePtr[0];
+    S->pCosFactor = pCosFactor[0];
+    break;
+  default:
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+
+  /* Initialize the RFFT/RIFFT */
+  arm_rfft_init_f32(S->pRfft, S->pCfft, S->N, 0u, 1u);
+
+  /* return the status of DCT4 Init function */
+  return (status);
+}
+
+/**   
+   * @} end of DCT4_IDCT4 group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
new file mode 100644
index 000000000..25ed1e8ed
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q15.c
@@ -0,0 +1,1190 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_dct4_init_q15.c   
+*   
+* Description:	Initialization function of DCT-4 & IDCT4 Q15   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup DCT4_IDCT4   
+ * @{   
+ */
+
+/*   
+* @brief  Weights Table   
+*/
+
+/**   
+* \par   
+* Weights tables are generated using the formula : 
    weights[n] = e^(-j*n*pi/(2*N))
       
+* \par   
+* C command to generate the table   
+* 
       
+* for(i = 0; i< N; i++)   
+* {   
+*   weights[2*i]= cos(i*c);   
+*   weights[(2*i)+1]= -sin(i * c);   
+* } 
       
+* \par   
+* where N is the Number of weights to be calculated and c is pi/(2*N)   
+* \par   
+* Converted the output to q15 format by multiplying with 2^31 and saturated if required.   
+* \par   
+* In the tables below the real and imaginary values are placed alternatively, hence the   
+* array length is 2*N.   
+*/
+
+static const q15_t WeightsQ15_128[256] = {
+  0x7fff, 0x0, 0x7ffd, 0xfe6e, 0x7ff6, 0xfcdc, 0x7fe9, 0xfb4a,
+  0x7fd8, 0xf9b9, 0x7fc2, 0xf827, 0x7fa7, 0xf696, 0x7f87, 0xf505,
+  0x7f62, 0xf375, 0x7f38, 0xf1e5, 0x7f09, 0xf055, 0x7ed5, 0xeec7,
+  0x7e9d, 0xed38, 0x7e5f, 0xebab, 0x7e1d, 0xea1e, 0x7dd6, 0xe893,
+  0x7d8a, 0xe708, 0x7d39, 0xe57e, 0x7ce3, 0xe3f5, 0x7c89, 0xe26d,
+  0x7c29, 0xe0e7, 0x7bc5, 0xdf61, 0x7b5d, 0xdddd, 0x7aef, 0xdc5a,
+  0x7a7d, 0xdad8, 0x7a05, 0xd958, 0x798a, 0xd7da, 0x7909, 0xd65d,
+  0x7884, 0xd4e1, 0x77fa, 0xd368, 0x776c, 0xd1ef, 0x76d9, 0xd079,
+  0x7641, 0xcf05, 0x75a5, 0xcd92, 0x7504, 0xcc22, 0x745f, 0xcab3,
+  0x73b5, 0xc946, 0x7307, 0xc7dc, 0x7255, 0xc674, 0x719e, 0xc50e,
+  0x70e2, 0xc3aa, 0x7023, 0xc248, 0x6f5f, 0xc0e9, 0x6e96, 0xbf8d,
+  0x6dca, 0xbe32, 0x6cf9, 0xbcdb, 0x6c24, 0xbb86, 0x6b4a, 0xba33,
+  0x6a6d, 0xb8e4, 0x698c, 0xb797, 0x68a6, 0xb64c, 0x67bd, 0xb505,
+  0x66cf, 0xb3c1, 0x65dd, 0xb27f, 0x64e8, 0xb141, 0x63ef, 0xb005,
+  0x62f2, 0xaecd, 0x61f1, 0xad97, 0x60ec, 0xac65, 0x5fe3, 0xab36,
+  0x5ed7, 0xaa0b, 0x5dc7, 0xa8e3, 0x5cb4, 0xa7be, 0x5b9d, 0xa69c,
+  0x5a82, 0xa57e, 0x5964, 0xa463, 0x5842, 0xa34c, 0x571d, 0xa239,
+  0x55f5, 0xa129, 0x54ca, 0xa01d, 0x539b, 0x9f14, 0x5269, 0x9e0f,
+  0x5133, 0x9d0e, 0x4ffb, 0x9c11, 0x4ebf, 0x9b18, 0x4d81, 0x9a23,
+  0x4c3f, 0x9931, 0x4afb, 0x9843, 0x49b4, 0x975a, 0x4869, 0x9674,
+  0x471c, 0x9593, 0x45cd, 0x94b6, 0x447a, 0x93dc, 0x4325, 0x9307,
+  0x41ce, 0x9236, 0x4073, 0x916a, 0x3f17, 0x90a1, 0x3db8, 0x8fdd,
+  0x3c56, 0x8f1e, 0x3af2, 0x8e62, 0x398c, 0x8dab, 0x3824, 0x8cf9,
+  0x36ba, 0x8c4b, 0x354d, 0x8ba1, 0x33de, 0x8afc, 0x326e, 0x8a5b,
+  0x30fb, 0x89bf, 0x2f87, 0x8927, 0x2e11, 0x8894, 0x2c98, 0x8806,
+  0x2b1f, 0x877c, 0x29a3, 0x86f7, 0x2826, 0x8676, 0x26a8, 0x85fb,
+  0x2528, 0x8583, 0x23a6, 0x8511, 0x2223, 0x84a3, 0x209f, 0x843b,
+  0x1f19, 0x83d7, 0x1d93, 0x8377, 0x1c0b, 0x831d, 0x1a82, 0x82c7,
+  0x18f8, 0x8276, 0x176d, 0x822a, 0x15e2, 0x81e3, 0x1455, 0x81a1,
+  0x12c8, 0x8163, 0x1139, 0x812b, 0xfab, 0x80f7, 0xe1b, 0x80c8,
+  0xc8b, 0x809e, 0xafb, 0x8079, 0x96a, 0x8059, 0x7d9, 0x803e,
+  0x647, 0x8028, 0x4b6, 0x8017, 0x324, 0x800a, 0x192, 0x8003,
+};
+
+static const q15_t WeightsQ15_512[1024] = {
+  0x7fff, 0x0, 0x7fff, 0xff9c, 0x7fff, 0xff37, 0x7ffe, 0xfed3,
+  0x7ffd, 0xfe6e, 0x7ffc, 0xfe0a, 0x7ffa, 0xfda5, 0x7ff8, 0xfd41,
+  0x7ff6, 0xfcdc, 0x7ff3, 0xfc78, 0x7ff0, 0xfc13, 0x7fed, 0xfbaf,
+  0x7fe9, 0xfb4a, 0x7fe5, 0xfae6, 0x7fe1, 0xfa81, 0x7fdd, 0xfa1d,
+  0x7fd8, 0xf9b9, 0x7fd3, 0xf954, 0x7fce, 0xf8f0, 0x7fc8, 0xf88b,
+  0x7fc2, 0xf827, 0x7fbc, 0xf7c3, 0x7fb5, 0xf75e, 0x7fae, 0xf6fa,
+  0x7fa7, 0xf696, 0x7f9f, 0xf632, 0x7f97, 0xf5cd, 0x7f8f, 0xf569,
+  0x7f87, 0xf505, 0x7f7e, 0xf4a1, 0x7f75, 0xf43d, 0x7f6b, 0xf3d9,
+  0x7f62, 0xf375, 0x7f58, 0xf311, 0x7f4d, 0xf2ad, 0x7f43, 0xf249,
+  0x7f38, 0xf1e5, 0x7f2d, 0xf181, 0x7f21, 0xf11d, 0x7f15, 0xf0b9,
+  0x7f09, 0xf055, 0x7efd, 0xeff2, 0x7ef0, 0xef8e, 0x7ee3, 0xef2a,
+  0x7ed5, 0xeec7, 0x7ec8, 0xee63, 0x7eba, 0xedff, 0x7eab, 0xed9c,
+  0x7e9d, 0xed38, 0x7e8e, 0xecd5, 0x7e7f, 0xec72, 0x7e6f, 0xec0e,
+  0x7e5f, 0xebab, 0x7e4f, 0xeb48, 0x7e3f, 0xeae5, 0x7e2e, 0xea81,
+  0x7e1d, 0xea1e, 0x7e0c, 0xe9bb, 0x7dfa, 0xe958, 0x7de8, 0xe8f6,
+  0x7dd6, 0xe893, 0x7dc3, 0xe830, 0x7db0, 0xe7cd, 0x7d9d, 0xe76a,
+  0x7d8a, 0xe708, 0x7d76, 0xe6a5, 0x7d62, 0xe643, 0x7d4e, 0xe5e0,
+  0x7d39, 0xe57e, 0x7d24, 0xe51c, 0x7d0f, 0xe4b9, 0x7cf9, 0xe457,
+  0x7ce3, 0xe3f5, 0x7ccd, 0xe393, 0x7cb7, 0xe331, 0x7ca0, 0xe2cf,
+  0x7c89, 0xe26d, 0x7c71, 0xe20b, 0x7c5a, 0xe1aa, 0x7c42, 0xe148,
+  0x7c29, 0xe0e7, 0x7c11, 0xe085, 0x7bf8, 0xe024, 0x7bdf, 0xdfc2,
+  0x7bc5, 0xdf61, 0x7bac, 0xdf00, 0x7b92, 0xde9f, 0x7b77, 0xde3e,
+  0x7b5d, 0xdddd, 0x7b42, 0xdd7c, 0x7b26, 0xdd1b, 0x7b0b, 0xdcbb,
+  0x7aef, 0xdc5a, 0x7ad3, 0xdbf9, 0x7ab6, 0xdb99, 0x7a9a, 0xdb39,
+  0x7a7d, 0xdad8, 0x7a5f, 0xda78, 0x7a42, 0xda18, 0x7a24, 0xd9b8,
+  0x7a05, 0xd958, 0x79e7, 0xd8f9, 0x79c8, 0xd899, 0x79a9, 0xd839,
+  0x798a, 0xd7da, 0x796a, 0xd77a, 0x794a, 0xd71b, 0x792a, 0xd6bc,
+  0x7909, 0xd65d, 0x78e8, 0xd5fe, 0x78c7, 0xd59f, 0x78a6, 0xd540,
+  0x7884, 0xd4e1, 0x7862, 0xd483, 0x7840, 0xd424, 0x781d, 0xd3c6,
+  0x77fa, 0xd368, 0x77d7, 0xd309, 0x77b4, 0xd2ab, 0x7790, 0xd24d,
+  0x776c, 0xd1ef, 0x7747, 0xd192, 0x7723, 0xd134, 0x76fe, 0xd0d7,
+  0x76d9, 0xd079, 0x76b3, 0xd01c, 0x768e, 0xcfbf, 0x7668, 0xcf62,
+  0x7641, 0xcf05, 0x761b, 0xcea8, 0x75f4, 0xce4b, 0x75cc, 0xcdef,
+  0x75a5, 0xcd92, 0x757d, 0xcd36, 0x7555, 0xccda, 0x752d, 0xcc7e,
+  0x7504, 0xcc22, 0x74db, 0xcbc6, 0x74b2, 0xcb6a, 0x7489, 0xcb0e,
+  0x745f, 0xcab3, 0x7435, 0xca58, 0x740b, 0xc9fc, 0x73e0, 0xc9a1,
+  0x73b5, 0xc946, 0x738a, 0xc8ec, 0x735f, 0xc891, 0x7333, 0xc836,
+  0x7307, 0xc7dc, 0x72db, 0xc782, 0x72af, 0xc728, 0x7282, 0xc6ce,
+  0x7255, 0xc674, 0x7227, 0xc61a, 0x71fa, 0xc5c0, 0x71cc, 0xc567,
+  0x719e, 0xc50e, 0x716f, 0xc4b4, 0x7141, 0xc45b, 0x7112, 0xc403,
+  0x70e2, 0xc3aa, 0x70b3, 0xc351, 0x7083, 0xc2f9, 0x7053, 0xc2a0,
+  0x7023, 0xc248, 0x6ff2, 0xc1f0, 0x6fc1, 0xc198, 0x6f90, 0xc141,
+  0x6f5f, 0xc0e9, 0x6f2d, 0xc092, 0x6efb, 0xc03b, 0x6ec9, 0xbfe3,
+  0x6e96, 0xbf8d, 0x6e63, 0xbf36, 0x6e30, 0xbedf, 0x6dfd, 0xbe89,
+  0x6dca, 0xbe32, 0x6d96, 0xbddc, 0x6d62, 0xbd86, 0x6d2d, 0xbd30,
+  0x6cf9, 0xbcdb, 0x6cc4, 0xbc85, 0x6c8f, 0xbc30, 0x6c59, 0xbbdb,
+  0x6c24, 0xbb86, 0x6bee, 0xbb31, 0x6bb8, 0xbadc, 0x6b81, 0xba88,
+  0x6b4a, 0xba33, 0x6b13, 0xb9df, 0x6adc, 0xb98b, 0x6aa5, 0xb937,
+  0x6a6d, 0xb8e4, 0x6a35, 0xb890, 0x69fd, 0xb83d, 0x69c4, 0xb7ea,
+  0x698c, 0xb797, 0x6953, 0xb744, 0x6919, 0xb6f1, 0x68e0, 0xb69f,
+  0x68a6, 0xb64c, 0x686c, 0xb5fa, 0x6832, 0xb5a8, 0x67f7, 0xb557,
+  0x67bd, 0xb505, 0x6782, 0xb4b4, 0x6746, 0xb462, 0x670b, 0xb411,
+  0x66cf, 0xb3c1, 0x6693, 0xb370, 0x6657, 0xb31f, 0x661a, 0xb2cf,
+  0x65dd, 0xb27f, 0x65a0, 0xb22f, 0x6563, 0xb1df, 0x6526, 0xb190,
+  0x64e8, 0xb141, 0x64aa, 0xb0f1, 0x646c, 0xb0a2, 0x642d, 0xb054,
+  0x63ef, 0xb005, 0x63b0, 0xafb7, 0x6371, 0xaf69, 0x6331, 0xaf1b,
+  0x62f2, 0xaecd, 0x62b2, 0xae7f, 0x6271, 0xae32, 0x6231, 0xade4,
+  0x61f1, 0xad97, 0x61b0, 0xad4b, 0x616f, 0xacfe, 0x612d, 0xacb2,
+  0x60ec, 0xac65, 0x60aa, 0xac19, 0x6068, 0xabcd, 0x6026, 0xab82,
+  0x5fe3, 0xab36, 0x5fa0, 0xaaeb, 0x5f5e, 0xaaa0, 0x5f1a, 0xaa55,
+  0x5ed7, 0xaa0b, 0x5e93, 0xa9c0, 0x5e50, 0xa976, 0x5e0b, 0xa92c,
+  0x5dc7, 0xa8e3, 0x5d83, 0xa899, 0x5d3e, 0xa850, 0x5cf9, 0xa807,
+  0x5cb4, 0xa7be, 0x5c6e, 0xa775, 0x5c29, 0xa72c, 0x5be3, 0xa6e4,
+  0x5b9d, 0xa69c, 0x5b56, 0xa654, 0x5b10, 0xa60d, 0x5ac9, 0xa5c5,
+  0x5a82, 0xa57e, 0x5a3b, 0xa537, 0x59f3, 0xa4f0, 0x59ac, 0xa4aa,
+  0x5964, 0xa463, 0x591c, 0xa41d, 0x58d4, 0xa3d7, 0x588b, 0xa392,
+  0x5842, 0xa34c, 0x57f9, 0xa307, 0x57b0, 0xa2c2, 0x5767, 0xa27d,
+  0x571d, 0xa239, 0x56d4, 0xa1f5, 0x568a, 0xa1b0, 0x5640, 0xa16d,
+  0x55f5, 0xa129, 0x55ab, 0xa0e6, 0x5560, 0xa0a2, 0x5515, 0xa060,
+  0x54ca, 0xa01d, 0x547e, 0x9fda, 0x5433, 0x9f98, 0x53e7, 0x9f56,
+  0x539b, 0x9f14, 0x534e, 0x9ed3, 0x5302, 0x9e91, 0x52b5, 0x9e50,
+  0x5269, 0x9e0f, 0x521c, 0x9dcf, 0x51ce, 0x9d8f, 0x5181, 0x9d4e,
+  0x5133, 0x9d0e, 0x50e5, 0x9ccf, 0x5097, 0x9c8f, 0x5049, 0x9c50,
+  0x4ffb, 0x9c11, 0x4fac, 0x9bd3, 0x4f5e, 0x9b94, 0x4f0f, 0x9b56,
+  0x4ebf, 0x9b18, 0x4e70, 0x9ada, 0x4e21, 0x9a9d, 0x4dd1, 0x9a60,
+  0x4d81, 0x9a23, 0x4d31, 0x99e6, 0x4ce1, 0x99a9, 0x4c90, 0x996d,
+  0x4c3f, 0x9931, 0x4bef, 0x98f5, 0x4b9e, 0x98ba, 0x4b4c, 0x987e,
+  0x4afb, 0x9843, 0x4aa9, 0x9809, 0x4a58, 0x97ce, 0x4a06, 0x9794,
+  0x49b4, 0x975a, 0x4961, 0x9720, 0x490f, 0x96e7, 0x48bc, 0x96ad,
+  0x4869, 0x9674, 0x4816, 0x963c, 0x47c3, 0x9603, 0x4770, 0x95cb,
+  0x471c, 0x9593, 0x46c9, 0x955b, 0x4675, 0x9524, 0x4621, 0x94ed,
+  0x45cd, 0x94b6, 0x4578, 0x947f, 0x4524, 0x9448, 0x44cf, 0x9412,
+  0x447a, 0x93dc, 0x4425, 0x93a7, 0x43d0, 0x9371, 0x437b, 0x933c,
+  0x4325, 0x9307, 0x42d0, 0x92d3, 0x427a, 0x929e, 0x4224, 0x926a,
+  0x41ce, 0x9236, 0x4177, 0x9203, 0x4121, 0x91d0, 0x40ca, 0x919d,
+  0x4073, 0x916a, 0x401d, 0x9137, 0x3fc5, 0x9105, 0x3f6e, 0x90d3,
+  0x3f17, 0x90a1, 0x3ebf, 0x9070, 0x3e68, 0x903f, 0x3e10, 0x900e,
+  0x3db8, 0x8fdd, 0x3d60, 0x8fad, 0x3d07, 0x8f7d, 0x3caf, 0x8f4d,
+  0x3c56, 0x8f1e, 0x3bfd, 0x8eee, 0x3ba5, 0x8ebf, 0x3b4c, 0x8e91,
+  0x3af2, 0x8e62, 0x3a99, 0x8e34, 0x3a40, 0x8e06, 0x39e6, 0x8dd9,
+  0x398c, 0x8dab, 0x3932, 0x8d7e, 0x38d8, 0x8d51, 0x387e, 0x8d25,
+  0x3824, 0x8cf9, 0x37ca, 0x8ccd, 0x376f, 0x8ca1, 0x3714, 0x8c76,
+  0x36ba, 0x8c4b, 0x365f, 0x8c20, 0x3604, 0x8bf5, 0x35a8, 0x8bcb,
+  0x354d, 0x8ba1, 0x34f2, 0x8b77, 0x3496, 0x8b4e, 0x343a, 0x8b25,
+  0x33de, 0x8afc, 0x3382, 0x8ad3, 0x3326, 0x8aab, 0x32ca, 0x8a83,
+  0x326e, 0x8a5b, 0x3211, 0x8a34, 0x31b5, 0x8a0c, 0x3158, 0x89e5,
+  0x30fb, 0x89bf, 0x309e, 0x8998, 0x3041, 0x8972, 0x2fe4, 0x894d,
+  0x2f87, 0x8927, 0x2f29, 0x8902, 0x2ecc, 0x88dd, 0x2e6e, 0x88b9,
+  0x2e11, 0x8894, 0x2db3, 0x8870, 0x2d55, 0x884c, 0x2cf7, 0x8829,
+  0x2c98, 0x8806, 0x2c3a, 0x87e3, 0x2bdc, 0x87c0, 0x2b7d, 0x879e,
+  0x2b1f, 0x877c, 0x2ac0, 0x875a, 0x2a61, 0x8739, 0x2a02, 0x8718,
+  0x29a3, 0x86f7, 0x2944, 0x86d6, 0x28e5, 0x86b6, 0x2886, 0x8696,
+  0x2826, 0x8676, 0x27c7, 0x8657, 0x2767, 0x8638, 0x2707, 0x8619,
+  0x26a8, 0x85fb, 0x2648, 0x85dc, 0x25e8, 0x85be, 0x2588, 0x85a1,
+  0x2528, 0x8583, 0x24c7, 0x8566, 0x2467, 0x854a, 0x2407, 0x852d,
+  0x23a6, 0x8511, 0x2345, 0x84f5, 0x22e5, 0x84da, 0x2284, 0x84be,
+  0x2223, 0x84a3, 0x21c2, 0x8489, 0x2161, 0x846e, 0x2100, 0x8454,
+  0x209f, 0x843b, 0x203e, 0x8421, 0x1fdc, 0x8408, 0x1f7b, 0x83ef,
+  0x1f19, 0x83d7, 0x1eb8, 0x83be, 0x1e56, 0x83a6, 0x1df5, 0x838f,
+  0x1d93, 0x8377, 0x1d31, 0x8360, 0x1ccf, 0x8349, 0x1c6d, 0x8333,
+  0x1c0b, 0x831d, 0x1ba9, 0x8307, 0x1b47, 0x82f1, 0x1ae4, 0x82dc,
+  0x1a82, 0x82c7, 0x1a20, 0x82b2, 0x19bd, 0x829e, 0x195b, 0x828a,
+  0x18f8, 0x8276, 0x1896, 0x8263, 0x1833, 0x8250, 0x17d0, 0x823d,
+  0x176d, 0x822a, 0x170a, 0x8218, 0x16a8, 0x8206, 0x1645, 0x81f4,
+  0x15e2, 0x81e3, 0x157f, 0x81d2, 0x151b, 0x81c1, 0x14b8, 0x81b1,
+  0x1455, 0x81a1, 0x13f2, 0x8191, 0x138e, 0x8181, 0x132b, 0x8172,
+  0x12c8, 0x8163, 0x1264, 0x8155, 0x1201, 0x8146, 0x119d, 0x8138,
+  0x1139, 0x812b, 0x10d6, 0x811d, 0x1072, 0x8110, 0x100e, 0x8103,
+  0xfab, 0x80f7, 0xf47, 0x80eb, 0xee3, 0x80df, 0xe7f, 0x80d3,
+  0xe1b, 0x80c8, 0xdb7, 0x80bd, 0xd53, 0x80b3, 0xcef, 0x80a8,
+  0xc8b, 0x809e, 0xc27, 0x8095, 0xbc3, 0x808b, 0xb5f, 0x8082,
+  0xafb, 0x8079, 0xa97, 0x8071, 0xa33, 0x8069, 0x9ce, 0x8061,
+  0x96a, 0x8059, 0x906, 0x8052, 0x8a2, 0x804b, 0x83d, 0x8044,
+  0x7d9, 0x803e, 0x775, 0x8038, 0x710, 0x8032, 0x6ac, 0x802d,
+  0x647, 0x8028, 0x5e3, 0x8023, 0x57f, 0x801f, 0x51a, 0x801b,
+  0x4b6, 0x8017, 0x451, 0x8013, 0x3ed, 0x8010, 0x388, 0x800d,
+  0x324, 0x800a, 0x2bf, 0x8008, 0x25b, 0x8006, 0x1f6, 0x8004,
+  0x192, 0x8003, 0x12d, 0x8002, 0xc9, 0x8001, 0x64, 0x8001,
+};
+
+static const q15_t WeightsQ15_2048[4096] = {
+  0x7fff, 0x0, 0x7fff, 0xffe7, 0x7fff, 0xffce, 0x7fff, 0xffb5,
+  0x7fff, 0xff9c, 0x7fff, 0xff83, 0x7fff, 0xff6a, 0x7fff, 0xff51,
+  0x7fff, 0xff37, 0x7fff, 0xff1e, 0x7fff, 0xff05, 0x7ffe, 0xfeec,
+  0x7ffe, 0xfed3, 0x7ffe, 0xfeba, 0x7ffe, 0xfea1, 0x7ffd, 0xfe88,
+  0x7ffd, 0xfe6e, 0x7ffd, 0xfe55, 0x7ffc, 0xfe3c, 0x7ffc, 0xfe23,
+  0x7ffc, 0xfe0a, 0x7ffb, 0xfdf1, 0x7ffb, 0xfdd8, 0x7ffa, 0xfdbe,
+  0x7ffa, 0xfda5, 0x7ff9, 0xfd8c, 0x7ff9, 0xfd73, 0x7ff8, 0xfd5a,
+  0x7ff8, 0xfd41, 0x7ff7, 0xfd28, 0x7ff7, 0xfd0f, 0x7ff6, 0xfcf5,
+  0x7ff6, 0xfcdc, 0x7ff5, 0xfcc3, 0x7ff4, 0xfcaa, 0x7ff4, 0xfc91,
+  0x7ff3, 0xfc78, 0x7ff2, 0xfc5f, 0x7ff2, 0xfc46, 0x7ff1, 0xfc2c,
+  0x7ff0, 0xfc13, 0x7fef, 0xfbfa, 0x7fee, 0xfbe1, 0x7fee, 0xfbc8,
+  0x7fed, 0xfbaf, 0x7fec, 0xfb96, 0x7feb, 0xfb7d, 0x7fea, 0xfb64,
+  0x7fe9, 0xfb4a, 0x7fe8, 0xfb31, 0x7fe7, 0xfb18, 0x7fe6, 0xfaff,
+  0x7fe5, 0xfae6, 0x7fe4, 0xfacd, 0x7fe3, 0xfab4, 0x7fe2, 0xfa9b,
+  0x7fe1, 0xfa81, 0x7fe0, 0xfa68, 0x7fdf, 0xfa4f, 0x7fde, 0xfa36,
+  0x7fdd, 0xfa1d, 0x7fdc, 0xfa04, 0x7fda, 0xf9eb, 0x7fd9, 0xf9d2,
+  0x7fd8, 0xf9b9, 0x7fd7, 0xf9a0, 0x7fd6, 0xf986, 0x7fd4, 0xf96d,
+  0x7fd3, 0xf954, 0x7fd2, 0xf93b, 0x7fd0, 0xf922, 0x7fcf, 0xf909,
+  0x7fce, 0xf8f0, 0x7fcc, 0xf8d7, 0x7fcb, 0xf8be, 0x7fc9, 0xf8a5,
+  0x7fc8, 0xf88b, 0x7fc6, 0xf872, 0x7fc5, 0xf859, 0x7fc3, 0xf840,
+  0x7fc2, 0xf827, 0x7fc0, 0xf80e, 0x7fbf, 0xf7f5, 0x7fbd, 0xf7dc,
+  0x7fbc, 0xf7c3, 0x7fba, 0xf7aa, 0x7fb8, 0xf791, 0x7fb7, 0xf778,
+  0x7fb5, 0xf75e, 0x7fb3, 0xf745, 0x7fb1, 0xf72c, 0x7fb0, 0xf713,
+  0x7fae, 0xf6fa, 0x7fac, 0xf6e1, 0x7faa, 0xf6c8, 0x7fa9, 0xf6af,
+  0x7fa7, 0xf696, 0x7fa5, 0xf67d, 0x7fa3, 0xf664, 0x7fa1, 0xf64b,
+  0x7f9f, 0xf632, 0x7f9d, 0xf619, 0x7f9b, 0xf600, 0x7f99, 0xf5e7,
+  0x7f97, 0xf5cd, 0x7f95, 0xf5b4, 0x7f93, 0xf59b, 0x7f91, 0xf582,
+  0x7f8f, 0xf569, 0x7f8d, 0xf550, 0x7f8b, 0xf537, 0x7f89, 0xf51e,
+  0x7f87, 0xf505, 0x7f85, 0xf4ec, 0x7f82, 0xf4d3, 0x7f80, 0xf4ba,
+  0x7f7e, 0xf4a1, 0x7f7c, 0xf488, 0x7f79, 0xf46f, 0x7f77, 0xf456,
+  0x7f75, 0xf43d, 0x7f72, 0xf424, 0x7f70, 0xf40b, 0x7f6e, 0xf3f2,
+  0x7f6b, 0xf3d9, 0x7f69, 0xf3c0, 0x7f67, 0xf3a7, 0x7f64, 0xf38e,
+  0x7f62, 0xf375, 0x7f5f, 0xf35c, 0x7f5d, 0xf343, 0x7f5a, 0xf32a,
+  0x7f58, 0xf311, 0x7f55, 0xf2f8, 0x7f53, 0xf2df, 0x7f50, 0xf2c6,
+  0x7f4d, 0xf2ad, 0x7f4b, 0xf294, 0x7f48, 0xf27b, 0x7f45, 0xf262,
+  0x7f43, 0xf249, 0x7f40, 0xf230, 0x7f3d, 0xf217, 0x7f3b, 0xf1fe,
+  0x7f38, 0xf1e5, 0x7f35, 0xf1cc, 0x7f32, 0xf1b3, 0x7f2f, 0xf19a,
+  0x7f2d, 0xf181, 0x7f2a, 0xf168, 0x7f27, 0xf14f, 0x7f24, 0xf136,
+  0x7f21, 0xf11d, 0x7f1e, 0xf104, 0x7f1b, 0xf0eb, 0x7f18, 0xf0d2,
+  0x7f15, 0xf0b9, 0x7f12, 0xf0a0, 0x7f0f, 0xf087, 0x7f0c, 0xf06e,
+  0x7f09, 0xf055, 0x7f06, 0xf03c, 0x7f03, 0xf023, 0x7f00, 0xf00b,
+  0x7efd, 0xeff2, 0x7ef9, 0xefd9, 0x7ef6, 0xefc0, 0x7ef3, 0xefa7,
+  0x7ef0, 0xef8e, 0x7eed, 0xef75, 0x7ee9, 0xef5c, 0x7ee6, 0xef43,
+  0x7ee3, 0xef2a, 0x7edf, 0xef11, 0x7edc, 0xeef8, 0x7ed9, 0xeedf,
+  0x7ed5, 0xeec7, 0x7ed2, 0xeeae, 0x7ecf, 0xee95, 0x7ecb, 0xee7c,
+  0x7ec8, 0xee63, 0x7ec4, 0xee4a, 0x7ec1, 0xee31, 0x7ebd, 0xee18,
+  0x7eba, 0xedff, 0x7eb6, 0xede7, 0x7eb3, 0xedce, 0x7eaf, 0xedb5,
+  0x7eab, 0xed9c, 0x7ea8, 0xed83, 0x7ea4, 0xed6a, 0x7ea1, 0xed51,
+  0x7e9d, 0xed38, 0x7e99, 0xed20, 0x7e95, 0xed07, 0x7e92, 0xecee,
+  0x7e8e, 0xecd5, 0x7e8a, 0xecbc, 0x7e86, 0xeca3, 0x7e83, 0xec8a,
+  0x7e7f, 0xec72, 0x7e7b, 0xec59, 0x7e77, 0xec40, 0x7e73, 0xec27,
+  0x7e6f, 0xec0e, 0x7e6b, 0xebf5, 0x7e67, 0xebdd, 0x7e63, 0xebc4,
+  0x7e5f, 0xebab, 0x7e5b, 0xeb92, 0x7e57, 0xeb79, 0x7e53, 0xeb61,
+  0x7e4f, 0xeb48, 0x7e4b, 0xeb2f, 0x7e47, 0xeb16, 0x7e43, 0xeafd,
+  0x7e3f, 0xeae5, 0x7e3b, 0xeacc, 0x7e37, 0xeab3, 0x7e32, 0xea9a,
+  0x7e2e, 0xea81, 0x7e2a, 0xea69, 0x7e26, 0xea50, 0x7e21, 0xea37,
+  0x7e1d, 0xea1e, 0x7e19, 0xea06, 0x7e14, 0xe9ed, 0x7e10, 0xe9d4,
+  0x7e0c, 0xe9bb, 0x7e07, 0xe9a3, 0x7e03, 0xe98a, 0x7dff, 0xe971,
+  0x7dfa, 0xe958, 0x7df6, 0xe940, 0x7df1, 0xe927, 0x7ded, 0xe90e,
+  0x7de8, 0xe8f6, 0x7de4, 0xe8dd, 0x7ddf, 0xe8c4, 0x7dda, 0xe8ab,
+  0x7dd6, 0xe893, 0x7dd1, 0xe87a, 0x7dcd, 0xe861, 0x7dc8, 0xe849,
+  0x7dc3, 0xe830, 0x7dbf, 0xe817, 0x7dba, 0xe7fe, 0x7db5, 0xe7e6,
+  0x7db0, 0xe7cd, 0x7dac, 0xe7b4, 0x7da7, 0xe79c, 0x7da2, 0xe783,
+  0x7d9d, 0xe76a, 0x7d98, 0xe752, 0x7d94, 0xe739, 0x7d8f, 0xe720,
+  0x7d8a, 0xe708, 0x7d85, 0xe6ef, 0x7d80, 0xe6d6, 0x7d7b, 0xe6be,
+  0x7d76, 0xe6a5, 0x7d71, 0xe68d, 0x7d6c, 0xe674, 0x7d67, 0xe65b,
+  0x7d62, 0xe643, 0x7d5d, 0xe62a, 0x7d58, 0xe611, 0x7d53, 0xe5f9,
+  0x7d4e, 0xe5e0, 0x7d49, 0xe5c8, 0x7d43, 0xe5af, 0x7d3e, 0xe596,
+  0x7d39, 0xe57e, 0x7d34, 0xe565, 0x7d2f, 0xe54d, 0x7d29, 0xe534,
+  0x7d24, 0xe51c, 0x7d1f, 0xe503, 0x7d19, 0xe4ea, 0x7d14, 0xe4d2,
+  0x7d0f, 0xe4b9, 0x7d09, 0xe4a1, 0x7d04, 0xe488, 0x7cff, 0xe470,
+  0x7cf9, 0xe457, 0x7cf4, 0xe43f, 0x7cee, 0xe426, 0x7ce9, 0xe40e,
+  0x7ce3, 0xe3f5, 0x7cde, 0xe3dc, 0x7cd8, 0xe3c4, 0x7cd3, 0xe3ab,
+  0x7ccd, 0xe393, 0x7cc8, 0xe37a, 0x7cc2, 0xe362, 0x7cbc, 0xe349,
+  0x7cb7, 0xe331, 0x7cb1, 0xe318, 0x7cab, 0xe300, 0x7ca6, 0xe2e8,
+  0x7ca0, 0xe2cf, 0x7c9a, 0xe2b7, 0x7c94, 0xe29e, 0x7c8f, 0xe286,
+  0x7c89, 0xe26d, 0x7c83, 0xe255, 0x7c7d, 0xe23c, 0x7c77, 0xe224,
+  0x7c71, 0xe20b, 0x7c6c, 0xe1f3, 0x7c66, 0xe1db, 0x7c60, 0xe1c2,
+  0x7c5a, 0xe1aa, 0x7c54, 0xe191, 0x7c4e, 0xe179, 0x7c48, 0xe160,
+  0x7c42, 0xe148, 0x7c3c, 0xe130, 0x7c36, 0xe117, 0x7c30, 0xe0ff,
+  0x7c29, 0xe0e7, 0x7c23, 0xe0ce, 0x7c1d, 0xe0b6, 0x7c17, 0xe09d,
+  0x7c11, 0xe085, 0x7c0b, 0xe06d, 0x7c05, 0xe054, 0x7bfe, 0xe03c,
+  0x7bf8, 0xe024, 0x7bf2, 0xe00b, 0x7beb, 0xdff3, 0x7be5, 0xdfdb,
+  0x7bdf, 0xdfc2, 0x7bd9, 0xdfaa, 0x7bd2, 0xdf92, 0x7bcc, 0xdf79,
+  0x7bc5, 0xdf61, 0x7bbf, 0xdf49, 0x7bb9, 0xdf30, 0x7bb2, 0xdf18,
+  0x7bac, 0xdf00, 0x7ba5, 0xdee8, 0x7b9f, 0xdecf, 0x7b98, 0xdeb7,
+  0x7b92, 0xde9f, 0x7b8b, 0xde87, 0x7b84, 0xde6e, 0x7b7e, 0xde56,
+  0x7b77, 0xde3e, 0x7b71, 0xde26, 0x7b6a, 0xde0d, 0x7b63, 0xddf5,
+  0x7b5d, 0xdddd, 0x7b56, 0xddc5, 0x7b4f, 0xddac, 0x7b48, 0xdd94,
+  0x7b42, 0xdd7c, 0x7b3b, 0xdd64, 0x7b34, 0xdd4c, 0x7b2d, 0xdd33,
+  0x7b26, 0xdd1b, 0x7b1f, 0xdd03, 0x7b19, 0xdceb, 0x7b12, 0xdcd3,
+  0x7b0b, 0xdcbb, 0x7b04, 0xdca2, 0x7afd, 0xdc8a, 0x7af6, 0xdc72,
+  0x7aef, 0xdc5a, 0x7ae8, 0xdc42, 0x7ae1, 0xdc2a, 0x7ada, 0xdc12,
+  0x7ad3, 0xdbf9, 0x7acc, 0xdbe1, 0x7ac5, 0xdbc9, 0x7abd, 0xdbb1,
+  0x7ab6, 0xdb99, 0x7aaf, 0xdb81, 0x7aa8, 0xdb69, 0x7aa1, 0xdb51,
+  0x7a9a, 0xdb39, 0x7a92, 0xdb21, 0x7a8b, 0xdb09, 0x7a84, 0xdaf1,
+  0x7a7d, 0xdad8, 0x7a75, 0xdac0, 0x7a6e, 0xdaa8, 0x7a67, 0xda90,
+  0x7a5f, 0xda78, 0x7a58, 0xda60, 0x7a50, 0xda48, 0x7a49, 0xda30,
+  0x7a42, 0xda18, 0x7a3a, 0xda00, 0x7a33, 0xd9e8, 0x7a2b, 0xd9d0,
+  0x7a24, 0xd9b8, 0x7a1c, 0xd9a0, 0x7a15, 0xd988, 0x7a0d, 0xd970,
+  0x7a05, 0xd958, 0x79fe, 0xd940, 0x79f6, 0xd928, 0x79ef, 0xd911,
+  0x79e7, 0xd8f9, 0x79df, 0xd8e1, 0x79d8, 0xd8c9, 0x79d0, 0xd8b1,
+  0x79c8, 0xd899, 0x79c0, 0xd881, 0x79b9, 0xd869, 0x79b1, 0xd851,
+  0x79a9, 0xd839, 0x79a1, 0xd821, 0x7999, 0xd80a, 0x7992, 0xd7f2,
+  0x798a, 0xd7da, 0x7982, 0xd7c2, 0x797a, 0xd7aa, 0x7972, 0xd792,
+  0x796a, 0xd77a, 0x7962, 0xd763, 0x795a, 0xd74b, 0x7952, 0xd733,
+  0x794a, 0xd71b, 0x7942, 0xd703, 0x793a, 0xd6eb, 0x7932, 0xd6d4,
+  0x792a, 0xd6bc, 0x7922, 0xd6a4, 0x7919, 0xd68c, 0x7911, 0xd675,
+  0x7909, 0xd65d, 0x7901, 0xd645, 0x78f9, 0xd62d, 0x78f1, 0xd615,
+  0x78e8, 0xd5fe, 0x78e0, 0xd5e6, 0x78d8, 0xd5ce, 0x78cf, 0xd5b7,
+  0x78c7, 0xd59f, 0x78bf, 0xd587, 0x78b6, 0xd56f, 0x78ae, 0xd558,
+  0x78a6, 0xd540, 0x789d, 0xd528, 0x7895, 0xd511, 0x788c, 0xd4f9,
+  0x7884, 0xd4e1, 0x787c, 0xd4ca, 0x7873, 0xd4b2, 0x786b, 0xd49a,
+  0x7862, 0xd483, 0x7859, 0xd46b, 0x7851, 0xd453, 0x7848, 0xd43c,
+  0x7840, 0xd424, 0x7837, 0xd40d, 0x782e, 0xd3f5, 0x7826, 0xd3dd,
+  0x781d, 0xd3c6, 0x7814, 0xd3ae, 0x780c, 0xd397, 0x7803, 0xd37f,
+  0x77fa, 0xd368, 0x77f1, 0xd350, 0x77e9, 0xd338, 0x77e0, 0xd321,
+  0x77d7, 0xd309, 0x77ce, 0xd2f2, 0x77c5, 0xd2da, 0x77bc, 0xd2c3,
+  0x77b4, 0xd2ab, 0x77ab, 0xd294, 0x77a2, 0xd27c, 0x7799, 0xd265,
+  0x7790, 0xd24d, 0x7787, 0xd236, 0x777e, 0xd21e, 0x7775, 0xd207,
+  0x776c, 0xd1ef, 0x7763, 0xd1d8, 0x775a, 0xd1c1, 0x7751, 0xd1a9,
+  0x7747, 0xd192, 0x773e, 0xd17a, 0x7735, 0xd163, 0x772c, 0xd14b,
+  0x7723, 0xd134, 0x771a, 0xd11d, 0x7710, 0xd105, 0x7707, 0xd0ee,
+  0x76fe, 0xd0d7, 0x76f5, 0xd0bf, 0x76eb, 0xd0a8, 0x76e2, 0xd091,
+  0x76d9, 0xd079, 0x76cf, 0xd062, 0x76c6, 0xd04b, 0x76bd, 0xd033,
+  0x76b3, 0xd01c, 0x76aa, 0xd005, 0x76a0, 0xcfed, 0x7697, 0xcfd6,
+  0x768e, 0xcfbf, 0x7684, 0xcfa7, 0x767b, 0xcf90, 0x7671, 0xcf79,
+  0x7668, 0xcf62, 0x765e, 0xcf4a, 0x7654, 0xcf33, 0x764b, 0xcf1c,
+  0x7641, 0xcf05, 0x7638, 0xceee, 0x762e, 0xced6, 0x7624, 0xcebf,
+  0x761b, 0xcea8, 0x7611, 0xce91, 0x7607, 0xce7a, 0x75fd, 0xce62,
+  0x75f4, 0xce4b, 0x75ea, 0xce34, 0x75e0, 0xce1d, 0x75d6, 0xce06,
+  0x75cc, 0xcdef, 0x75c3, 0xcdd8, 0x75b9, 0xcdc0, 0x75af, 0xcda9,
+  0x75a5, 0xcd92, 0x759b, 0xcd7b, 0x7591, 0xcd64, 0x7587, 0xcd4d,
+  0x757d, 0xcd36, 0x7573, 0xcd1f, 0x7569, 0xcd08, 0x755f, 0xccf1,
+  0x7555, 0xccda, 0x754b, 0xccc3, 0x7541, 0xccac, 0x7537, 0xcc95,
+  0x752d, 0xcc7e, 0x7523, 0xcc67, 0x7519, 0xcc50, 0x750f, 0xcc39,
+  0x7504, 0xcc22, 0x74fa, 0xcc0b, 0x74f0, 0xcbf4, 0x74e6, 0xcbdd,
+  0x74db, 0xcbc6, 0x74d1, 0xcbaf, 0x74c7, 0xcb98, 0x74bd, 0xcb81,
+  0x74b2, 0xcb6a, 0x74a8, 0xcb53, 0x749e, 0xcb3c, 0x7493, 0xcb25,
+  0x7489, 0xcb0e, 0x747e, 0xcaf8, 0x7474, 0xcae1, 0x746a, 0xcaca,
+  0x745f, 0xcab3, 0x7455, 0xca9c, 0x744a, 0xca85, 0x7440, 0xca6e,
+  0x7435, 0xca58, 0x742b, 0xca41, 0x7420, 0xca2a, 0x7415, 0xca13,
+  0x740b, 0xc9fc, 0x7400, 0xc9e6, 0x73f6, 0xc9cf, 0x73eb, 0xc9b8,
+  0x73e0, 0xc9a1, 0x73d6, 0xc98b, 0x73cb, 0xc974, 0x73c0, 0xc95d,
+  0x73b5, 0xc946, 0x73ab, 0xc930, 0x73a0, 0xc919, 0x7395, 0xc902,
+  0x738a, 0xc8ec, 0x737f, 0xc8d5, 0x7375, 0xc8be, 0x736a, 0xc8a8,
+  0x735f, 0xc891, 0x7354, 0xc87a, 0x7349, 0xc864, 0x733e, 0xc84d,
+  0x7333, 0xc836, 0x7328, 0xc820, 0x731d, 0xc809, 0x7312, 0xc7f3,
+  0x7307, 0xc7dc, 0x72fc, 0xc7c5, 0x72f1, 0xc7af, 0x72e6, 0xc798,
+  0x72db, 0xc782, 0x72d0, 0xc76b, 0x72c5, 0xc755, 0x72ba, 0xc73e,
+  0x72af, 0xc728, 0x72a3, 0xc711, 0x7298, 0xc6fa, 0x728d, 0xc6e4,
+  0x7282, 0xc6ce, 0x7276, 0xc6b7, 0x726b, 0xc6a1, 0x7260, 0xc68a,
+  0x7255, 0xc674, 0x7249, 0xc65d, 0x723e, 0xc647, 0x7233, 0xc630,
+  0x7227, 0xc61a, 0x721c, 0xc603, 0x7211, 0xc5ed, 0x7205, 0xc5d7,
+  0x71fa, 0xc5c0, 0x71ee, 0xc5aa, 0x71e3, 0xc594, 0x71d7, 0xc57d,
+  0x71cc, 0xc567, 0x71c0, 0xc551, 0x71b5, 0xc53a, 0x71a9, 0xc524,
+  0x719e, 0xc50e, 0x7192, 0xc4f7, 0x7186, 0xc4e1, 0x717b, 0xc4cb,
+  0x716f, 0xc4b4, 0x7164, 0xc49e, 0x7158, 0xc488, 0x714c, 0xc472,
+  0x7141, 0xc45b, 0x7135, 0xc445, 0x7129, 0xc42f, 0x711d, 0xc419,
+  0x7112, 0xc403, 0x7106, 0xc3ec, 0x70fa, 0xc3d6, 0x70ee, 0xc3c0,
+  0x70e2, 0xc3aa, 0x70d6, 0xc394, 0x70cb, 0xc37d, 0x70bf, 0xc367,
+  0x70b3, 0xc351, 0x70a7, 0xc33b, 0x709b, 0xc325, 0x708f, 0xc30f,
+  0x7083, 0xc2f9, 0x7077, 0xc2e3, 0x706b, 0xc2cd, 0x705f, 0xc2b7,
+  0x7053, 0xc2a0, 0x7047, 0xc28a, 0x703b, 0xc274, 0x702f, 0xc25e,
+  0x7023, 0xc248, 0x7016, 0xc232, 0x700a, 0xc21c, 0x6ffe, 0xc206,
+  0x6ff2, 0xc1f0, 0x6fe6, 0xc1da, 0x6fda, 0xc1c4, 0x6fcd, 0xc1ae,
+  0x6fc1, 0xc198, 0x6fb5, 0xc183, 0x6fa9, 0xc16d, 0x6f9c, 0xc157,
+  0x6f90, 0xc141, 0x6f84, 0xc12b, 0x6f77, 0xc115, 0x6f6b, 0xc0ff,
+  0x6f5f, 0xc0e9, 0x6f52, 0xc0d3, 0x6f46, 0xc0bd, 0x6f39, 0xc0a8,
+  0x6f2d, 0xc092, 0x6f20, 0xc07c, 0x6f14, 0xc066, 0x6f07, 0xc050,
+  0x6efb, 0xc03b, 0x6eee, 0xc025, 0x6ee2, 0xc00f, 0x6ed5, 0xbff9,
+  0x6ec9, 0xbfe3, 0x6ebc, 0xbfce, 0x6eaf, 0xbfb8, 0x6ea3, 0xbfa2,
+  0x6e96, 0xbf8d, 0x6e89, 0xbf77, 0x6e7d, 0xbf61, 0x6e70, 0xbf4b,
+  0x6e63, 0xbf36, 0x6e57, 0xbf20, 0x6e4a, 0xbf0a, 0x6e3d, 0xbef5,
+  0x6e30, 0xbedf, 0x6e24, 0xbeca, 0x6e17, 0xbeb4, 0x6e0a, 0xbe9e,
+  0x6dfd, 0xbe89, 0x6df0, 0xbe73, 0x6de3, 0xbe5e, 0x6dd6, 0xbe48,
+  0x6dca, 0xbe32, 0x6dbd, 0xbe1d, 0x6db0, 0xbe07, 0x6da3, 0xbdf2,
+  0x6d96, 0xbddc, 0x6d89, 0xbdc7, 0x6d7c, 0xbdb1, 0x6d6f, 0xbd9c,
+  0x6d62, 0xbd86, 0x6d55, 0xbd71, 0x6d48, 0xbd5b, 0x6d3a, 0xbd46,
+  0x6d2d, 0xbd30, 0x6d20, 0xbd1b, 0x6d13, 0xbd06, 0x6d06, 0xbcf0,
+  0x6cf9, 0xbcdb, 0x6cec, 0xbcc5, 0x6cde, 0xbcb0, 0x6cd1, 0xbc9b,
+  0x6cc4, 0xbc85, 0x6cb7, 0xbc70, 0x6ca9, 0xbc5b, 0x6c9c, 0xbc45,
+  0x6c8f, 0xbc30, 0x6c81, 0xbc1b, 0x6c74, 0xbc05, 0x6c67, 0xbbf0,
+  0x6c59, 0xbbdb, 0x6c4c, 0xbbc5, 0x6c3f, 0xbbb0, 0x6c31, 0xbb9b,
+  0x6c24, 0xbb86, 0x6c16, 0xbb70, 0x6c09, 0xbb5b, 0x6bfb, 0xbb46,
+  0x6bee, 0xbb31, 0x6be0, 0xbb1c, 0x6bd3, 0xbb06, 0x6bc5, 0xbaf1,
+  0x6bb8, 0xbadc, 0x6baa, 0xbac7, 0x6b9c, 0xbab2, 0x6b8f, 0xba9d,
+  0x6b81, 0xba88, 0x6b73, 0xba73, 0x6b66, 0xba5d, 0x6b58, 0xba48,
+  0x6b4a, 0xba33, 0x6b3d, 0xba1e, 0x6b2f, 0xba09, 0x6b21, 0xb9f4,
+  0x6b13, 0xb9df, 0x6b06, 0xb9ca, 0x6af8, 0xb9b5, 0x6aea, 0xb9a0,
+  0x6adc, 0xb98b, 0x6ace, 0xb976, 0x6ac1, 0xb961, 0x6ab3, 0xb94c,
+  0x6aa5, 0xb937, 0x6a97, 0xb922, 0x6a89, 0xb90d, 0x6a7b, 0xb8f8,
+  0x6a6d, 0xb8e4, 0x6a5f, 0xb8cf, 0x6a51, 0xb8ba, 0x6a43, 0xb8a5,
+  0x6a35, 0xb890, 0x6a27, 0xb87b, 0x6a19, 0xb866, 0x6a0b, 0xb852,
+  0x69fd, 0xb83d, 0x69ef, 0xb828, 0x69e1, 0xb813, 0x69d3, 0xb7fe,
+  0x69c4, 0xb7ea, 0x69b6, 0xb7d5, 0x69a8, 0xb7c0, 0x699a, 0xb7ab,
+  0x698c, 0xb797, 0x697d, 0xb782, 0x696f, 0xb76d, 0x6961, 0xb758,
+  0x6953, 0xb744, 0x6944, 0xb72f, 0x6936, 0xb71a, 0x6928, 0xb706,
+  0x6919, 0xb6f1, 0x690b, 0xb6dd, 0x68fd, 0xb6c8, 0x68ee, 0xb6b3,
+  0x68e0, 0xb69f, 0x68d1, 0xb68a, 0x68c3, 0xb676, 0x68b5, 0xb661,
+  0x68a6, 0xb64c, 0x6898, 0xb638, 0x6889, 0xb623, 0x687b, 0xb60f,
+  0x686c, 0xb5fa, 0x685e, 0xb5e6, 0x684f, 0xb5d1, 0x6840, 0xb5bd,
+  0x6832, 0xb5a8, 0x6823, 0xb594, 0x6815, 0xb57f, 0x6806, 0xb56b,
+  0x67f7, 0xb557, 0x67e9, 0xb542, 0x67da, 0xb52e, 0x67cb, 0xb519,
+  0x67bd, 0xb505, 0x67ae, 0xb4f1, 0x679f, 0xb4dc, 0x6790, 0xb4c8,
+  0x6782, 0xb4b4, 0x6773, 0xb49f, 0x6764, 0xb48b, 0x6755, 0xb477,
+  0x6746, 0xb462, 0x6737, 0xb44e, 0x6729, 0xb43a, 0x671a, 0xb426,
+  0x670b, 0xb411, 0x66fc, 0xb3fd, 0x66ed, 0xb3e9, 0x66de, 0xb3d5,
+  0x66cf, 0xb3c1, 0x66c0, 0xb3ac, 0x66b1, 0xb398, 0x66a2, 0xb384,
+  0x6693, 0xb370, 0x6684, 0xb35c, 0x6675, 0xb348, 0x6666, 0xb334,
+  0x6657, 0xb31f, 0x6648, 0xb30b, 0x6639, 0xb2f7, 0x6629, 0xb2e3,
+  0x661a, 0xb2cf, 0x660b, 0xb2bb, 0x65fc, 0xb2a7, 0x65ed, 0xb293,
+  0x65dd, 0xb27f, 0x65ce, 0xb26b, 0x65bf, 0xb257, 0x65b0, 0xb243,
+  0x65a0, 0xb22f, 0x6591, 0xb21b, 0x6582, 0xb207, 0x6573, 0xb1f3,
+  0x6563, 0xb1df, 0x6554, 0xb1cc, 0x6545, 0xb1b8, 0x6535, 0xb1a4,
+  0x6526, 0xb190, 0x6516, 0xb17c, 0x6507, 0xb168, 0x64f7, 0xb154,
+  0x64e8, 0xb141, 0x64d9, 0xb12d, 0x64c9, 0xb119, 0x64ba, 0xb105,
+  0x64aa, 0xb0f1, 0x649b, 0xb0de, 0x648b, 0xb0ca, 0x647b, 0xb0b6,
+  0x646c, 0xb0a2, 0x645c, 0xb08f, 0x644d, 0xb07b, 0x643d, 0xb067,
+  0x642d, 0xb054, 0x641e, 0xb040, 0x640e, 0xb02c, 0x63fe, 0xb019,
+  0x63ef, 0xb005, 0x63df, 0xaff1, 0x63cf, 0xafde, 0x63c0, 0xafca,
+  0x63b0, 0xafb7, 0x63a0, 0xafa3, 0x6390, 0xaf90, 0x6380, 0xaf7c,
+  0x6371, 0xaf69, 0x6361, 0xaf55, 0x6351, 0xaf41, 0x6341, 0xaf2e,
+  0x6331, 0xaf1b, 0x6321, 0xaf07, 0x6311, 0xaef4, 0x6301, 0xaee0,
+  0x62f2, 0xaecd, 0x62e2, 0xaeb9, 0x62d2, 0xaea6, 0x62c2, 0xae92,
+  0x62b2, 0xae7f, 0x62a2, 0xae6c, 0x6292, 0xae58, 0x6282, 0xae45,
+  0x6271, 0xae32, 0x6261, 0xae1e, 0x6251, 0xae0b, 0x6241, 0xadf8,
+  0x6231, 0xade4, 0x6221, 0xadd1, 0x6211, 0xadbe, 0x6201, 0xadab,
+  0x61f1, 0xad97, 0x61e0, 0xad84, 0x61d0, 0xad71, 0x61c0, 0xad5e,
+  0x61b0, 0xad4b, 0x619f, 0xad37, 0x618f, 0xad24, 0x617f, 0xad11,
+  0x616f, 0xacfe, 0x615e, 0xaceb, 0x614e, 0xacd8, 0x613e, 0xacc5,
+  0x612d, 0xacb2, 0x611d, 0xac9e, 0x610d, 0xac8b, 0x60fc, 0xac78,
+  0x60ec, 0xac65, 0x60db, 0xac52, 0x60cb, 0xac3f, 0x60ba, 0xac2c,
+  0x60aa, 0xac19, 0x6099, 0xac06, 0x6089, 0xabf3, 0x6078, 0xabe0,
+  0x6068, 0xabcd, 0x6057, 0xabbb, 0x6047, 0xaba8, 0x6036, 0xab95,
+  0x6026, 0xab82, 0x6015, 0xab6f, 0x6004, 0xab5c, 0x5ff4, 0xab49,
+  0x5fe3, 0xab36, 0x5fd3, 0xab24, 0x5fc2, 0xab11, 0x5fb1, 0xaafe,
+  0x5fa0, 0xaaeb, 0x5f90, 0xaad8, 0x5f7f, 0xaac6, 0x5f6e, 0xaab3,
+  0x5f5e, 0xaaa0, 0x5f4d, 0xaa8e, 0x5f3c, 0xaa7b, 0x5f2b, 0xaa68,
+  0x5f1a, 0xaa55, 0x5f0a, 0xaa43, 0x5ef9, 0xaa30, 0x5ee8, 0xaa1d,
+  0x5ed7, 0xaa0b, 0x5ec6, 0xa9f8, 0x5eb5, 0xa9e6, 0x5ea4, 0xa9d3,
+  0x5e93, 0xa9c0, 0x5e82, 0xa9ae, 0x5e71, 0xa99b, 0x5e60, 0xa989,
+  0x5e50, 0xa976, 0x5e3f, 0xa964, 0x5e2d, 0xa951, 0x5e1c, 0xa93f,
+  0x5e0b, 0xa92c, 0x5dfa, 0xa91a, 0x5de9, 0xa907, 0x5dd8, 0xa8f5,
+  0x5dc7, 0xa8e3, 0x5db6, 0xa8d0, 0x5da5, 0xa8be, 0x5d94, 0xa8ab,
+  0x5d83, 0xa899, 0x5d71, 0xa887, 0x5d60, 0xa874, 0x5d4f, 0xa862,
+  0x5d3e, 0xa850, 0x5d2d, 0xa83d, 0x5d1b, 0xa82b, 0x5d0a, 0xa819,
+  0x5cf9, 0xa807, 0x5ce8, 0xa7f4, 0x5cd6, 0xa7e2, 0x5cc5, 0xa7d0,
+  0x5cb4, 0xa7be, 0x5ca2, 0xa7ab, 0x5c91, 0xa799, 0x5c80, 0xa787,
+  0x5c6e, 0xa775, 0x5c5d, 0xa763, 0x5c4b, 0xa751, 0x5c3a, 0xa73f,
+  0x5c29, 0xa72c, 0x5c17, 0xa71a, 0x5c06, 0xa708, 0x5bf4, 0xa6f6,
+  0x5be3, 0xa6e4, 0x5bd1, 0xa6d2, 0x5bc0, 0xa6c0, 0x5bae, 0xa6ae,
+  0x5b9d, 0xa69c, 0x5b8b, 0xa68a, 0x5b79, 0xa678, 0x5b68, 0xa666,
+  0x5b56, 0xa654, 0x5b45, 0xa642, 0x5b33, 0xa630, 0x5b21, 0xa61f,
+  0x5b10, 0xa60d, 0x5afe, 0xa5fb, 0x5aec, 0xa5e9, 0x5adb, 0xa5d7,
+  0x5ac9, 0xa5c5, 0x5ab7, 0xa5b3, 0x5aa5, 0xa5a2, 0x5a94, 0xa590,
+  0x5a82, 0xa57e, 0x5a70, 0xa56c, 0x5a5e, 0xa55b, 0x5a4d, 0xa549,
+  0x5a3b, 0xa537, 0x5a29, 0xa525, 0x5a17, 0xa514, 0x5a05, 0xa502,
+  0x59f3, 0xa4f0, 0x59e1, 0xa4df, 0x59d0, 0xa4cd, 0x59be, 0xa4bb,
+  0x59ac, 0xa4aa, 0x599a, 0xa498, 0x5988, 0xa487, 0x5976, 0xa475,
+  0x5964, 0xa463, 0x5952, 0xa452, 0x5940, 0xa440, 0x592e, 0xa42f,
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+  0x35a8, 0x8bcb, 0x3592, 0x8bc0, 0x357b, 0x8bb6, 0x3564, 0x8bab,
+  0x354d, 0x8ba1, 0x3536, 0x8b96, 0x351f, 0x8b8c, 0x3508, 0x8b82,
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+  0x3382, 0x8ad3, 0x336b, 0x8ac9, 0x3354, 0x8abf, 0x333d, 0x8ab5,
+  0x3326, 0x8aab, 0x330f, 0x8aa1, 0x32f8, 0x8a97, 0x32e1, 0x8a8d,
+  0x32ca, 0x8a83, 0x32b3, 0x8a79, 0x329c, 0x8a6f, 0x3285, 0x8a65,
+  0x326e, 0x8a5b, 0x3257, 0x8a51, 0x3240, 0x8a47, 0x3228, 0x8a3d,
+  0x3211, 0x8a34, 0x31fa, 0x8a2a, 0x31e3, 0x8a20, 0x31cc, 0x8a16,
+  0x31b5, 0x8a0c, 0x319e, 0x8a03, 0x3186, 0x89f9, 0x316f, 0x89ef,
+  0x3158, 0x89e5, 0x3141, 0x89dc, 0x312a, 0x89d2, 0x3112, 0x89c8,
+  0x30fb, 0x89bf, 0x30e4, 0x89b5, 0x30cd, 0x89ac, 0x30b6, 0x89a2,
+  0x309e, 0x8998, 0x3087, 0x898f, 0x3070, 0x8985, 0x3059, 0x897c,
+  0x3041, 0x8972, 0x302a, 0x8969, 0x3013, 0x8960, 0x2ffb, 0x8956,
+  0x2fe4, 0x894d, 0x2fcd, 0x8943, 0x2fb5, 0x893a, 0x2f9e, 0x8931,
+  0x2f87, 0x8927, 0x2f6f, 0x891e, 0x2f58, 0x8915, 0x2f41, 0x890b,
+  0x2f29, 0x8902, 0x2f12, 0x88f9, 0x2efb, 0x88f0, 0x2ee3, 0x88e6,
+  0x2ecc, 0x88dd, 0x2eb5, 0x88d4, 0x2e9d, 0x88cb, 0x2e86, 0x88c2,
+  0x2e6e, 0x88b9, 0x2e57, 0x88af, 0x2e3f, 0x88a6, 0x2e28, 0x889d,
+  0x2e11, 0x8894, 0x2df9, 0x888b, 0x2de2, 0x8882, 0x2dca, 0x8879,
+  0x2db3, 0x8870, 0x2d9b, 0x8867, 0x2d84, 0x885e, 0x2d6c, 0x8855,
+  0x2d55, 0x884c, 0x2d3d, 0x8844, 0x2d26, 0x883b, 0x2d0e, 0x8832,
+  0x2cf7, 0x8829, 0x2cdf, 0x8820, 0x2cc8, 0x8817, 0x2cb0, 0x880f,
+  0x2c98, 0x8806, 0x2c81, 0x87fd, 0x2c69, 0x87f4, 0x2c52, 0x87ec,
+  0x2c3a, 0x87e3, 0x2c23, 0x87da, 0x2c0b, 0x87d2, 0x2bf3, 0x87c9,
+  0x2bdc, 0x87c0, 0x2bc4, 0x87b8, 0x2bad, 0x87af, 0x2b95, 0x87a7,
+  0x2b7d, 0x879e, 0x2b66, 0x8795, 0x2b4e, 0x878d, 0x2b36, 0x8784,
+  0x2b1f, 0x877c, 0x2b07, 0x8774, 0x2aef, 0x876b, 0x2ad8, 0x8763,
+  0x2ac0, 0x875a, 0x2aa8, 0x8752, 0x2a91, 0x874a, 0x2a79, 0x8741,
+  0x2a61, 0x8739, 0x2a49, 0x8731, 0x2a32, 0x8728, 0x2a1a, 0x8720,
+  0x2a02, 0x8718, 0x29eb, 0x870f, 0x29d3, 0x8707, 0x29bb, 0x86ff,
+  0x29a3, 0x86f7, 0x298b, 0x86ef, 0x2974, 0x86e7, 0x295c, 0x86de,
+  0x2944, 0x86d6, 0x292c, 0x86ce, 0x2915, 0x86c6, 0x28fd, 0x86be,
+  0x28e5, 0x86b6, 0x28cd, 0x86ae, 0x28b5, 0x86a6, 0x289d, 0x869e,
+  0x2886, 0x8696, 0x286e, 0x868e, 0x2856, 0x8686, 0x283e, 0x867e,
+  0x2826, 0x8676, 0x280e, 0x866e, 0x27f6, 0x8667, 0x27df, 0x865f,
+  0x27c7, 0x8657, 0x27af, 0x864f, 0x2797, 0x8647, 0x277f, 0x8640,
+  0x2767, 0x8638, 0x274f, 0x8630, 0x2737, 0x8628, 0x271f, 0x8621,
+  0x2707, 0x8619, 0x26ef, 0x8611, 0x26d8, 0x860a, 0x26c0, 0x8602,
+  0x26a8, 0x85fb, 0x2690, 0x85f3, 0x2678, 0x85eb, 0x2660, 0x85e4,
+  0x2648, 0x85dc, 0x2630, 0x85d5, 0x2618, 0x85cd, 0x2600, 0x85c6,
+  0x25e8, 0x85be, 0x25d0, 0x85b7, 0x25b8, 0x85b0, 0x25a0, 0x85a8,
+  0x2588, 0x85a1, 0x2570, 0x8599, 0x2558, 0x8592, 0x2540, 0x858b,
+  0x2528, 0x8583, 0x250f, 0x857c, 0x24f7, 0x8575, 0x24df, 0x856e,
+  0x24c7, 0x8566, 0x24af, 0x855f, 0x2497, 0x8558, 0x247f, 0x8551,
+  0x2467, 0x854a, 0x244f, 0x8543, 0x2437, 0x853b, 0x241f, 0x8534,
+  0x2407, 0x852d, 0x23ee, 0x8526, 0x23d6, 0x851f, 0x23be, 0x8518,
+  0x23a6, 0x8511, 0x238e, 0x850a, 0x2376, 0x8503, 0x235e, 0x84fc,
+  0x2345, 0x84f5, 0x232d, 0x84ee, 0x2315, 0x84e7, 0x22fd, 0x84e1,
+  0x22e5, 0x84da, 0x22cd, 0x84d3, 0x22b4, 0x84cc, 0x229c, 0x84c5,
+  0x2284, 0x84be, 0x226c, 0x84b8, 0x2254, 0x84b1, 0x223b, 0x84aa,
+  0x2223, 0x84a3, 0x220b, 0x849d, 0x21f3, 0x8496, 0x21da, 0x848f,
+  0x21c2, 0x8489, 0x21aa, 0x8482, 0x2192, 0x847c, 0x2179, 0x8475,
+  0x2161, 0x846e, 0x2149, 0x8468, 0x2131, 0x8461, 0x2118, 0x845b,
+  0x2100, 0x8454, 0x20e8, 0x844e, 0x20d0, 0x8447, 0x20b7, 0x8441,
+  0x209f, 0x843b, 0x2087, 0x8434, 0x206e, 0x842e, 0x2056, 0x8427,
+  0x203e, 0x8421, 0x2025, 0x841b, 0x200d, 0x8415, 0x1ff5, 0x840e,
+  0x1fdc, 0x8408, 0x1fc4, 0x8402, 0x1fac, 0x83fb, 0x1f93, 0x83f5,
+  0x1f7b, 0x83ef, 0x1f63, 0x83e9, 0x1f4a, 0x83e3, 0x1f32, 0x83dd,
+  0x1f19, 0x83d7, 0x1f01, 0x83d0, 0x1ee9, 0x83ca, 0x1ed0, 0x83c4,
+  0x1eb8, 0x83be, 0x1ea0, 0x83b8, 0x1e87, 0x83b2, 0x1e6f, 0x83ac,
+  0x1e56, 0x83a6, 0x1e3e, 0x83a0, 0x1e25, 0x839a, 0x1e0d, 0x8394,
+  0x1df5, 0x838f, 0x1ddc, 0x8389, 0x1dc4, 0x8383, 0x1dab, 0x837d,
+  0x1d93, 0x8377, 0x1d7a, 0x8371, 0x1d62, 0x836c, 0x1d49, 0x8366,
+  0x1d31, 0x8360, 0x1d18, 0x835a, 0x1d00, 0x8355, 0x1ce8, 0x834f,
+  0x1ccf, 0x8349, 0x1cb7, 0x8344, 0x1c9e, 0x833e, 0x1c86, 0x8338,
+  0x1c6d, 0x8333, 0x1c55, 0x832d, 0x1c3c, 0x8328, 0x1c24, 0x8322,
+  0x1c0b, 0x831d, 0x1bf2, 0x8317, 0x1bda, 0x8312, 0x1bc1, 0x830c,
+  0x1ba9, 0x8307, 0x1b90, 0x8301, 0x1b78, 0x82fc, 0x1b5f, 0x82f7,
+  0x1b47, 0x82f1, 0x1b2e, 0x82ec, 0x1b16, 0x82e7, 0x1afd, 0x82e1,
+  0x1ae4, 0x82dc, 0x1acc, 0x82d7, 0x1ab3, 0x82d1, 0x1a9b, 0x82cc,
+  0x1a82, 0x82c7, 0x1a6a, 0x82c2, 0x1a51, 0x82bd, 0x1a38, 0x82b7,
+  0x1a20, 0x82b2, 0x1a07, 0x82ad, 0x19ef, 0x82a8, 0x19d6, 0x82a3,
+  0x19bd, 0x829e, 0x19a5, 0x8299, 0x198c, 0x8294, 0x1973, 0x828f,
+  0x195b, 0x828a, 0x1942, 0x8285, 0x192a, 0x8280, 0x1911, 0x827b,
+  0x18f8, 0x8276, 0x18e0, 0x8271, 0x18c7, 0x826c, 0x18ae, 0x8268,
+  0x1896, 0x8263, 0x187d, 0x825e, 0x1864, 0x8259, 0x184c, 0x8254,
+  0x1833, 0x8250, 0x181a, 0x824b, 0x1802, 0x8246, 0x17e9, 0x8241,
+  0x17d0, 0x823d, 0x17b7, 0x8238, 0x179f, 0x8233, 0x1786, 0x822f,
+  0x176d, 0x822a, 0x1755, 0x8226, 0x173c, 0x8221, 0x1723, 0x821c,
+  0x170a, 0x8218, 0x16f2, 0x8213, 0x16d9, 0x820f, 0x16c0, 0x820a,
+  0x16a8, 0x8206, 0x168f, 0x8201, 0x1676, 0x81fd, 0x165d, 0x81f9,
+  0x1645, 0x81f4, 0x162c, 0x81f0, 0x1613, 0x81ec, 0x15fa, 0x81e7,
+  0x15e2, 0x81e3, 0x15c9, 0x81df, 0x15b0, 0x81da, 0x1597, 0x81d6,
+  0x157f, 0x81d2, 0x1566, 0x81ce, 0x154d, 0x81c9, 0x1534, 0x81c5,
+  0x151b, 0x81c1, 0x1503, 0x81bd, 0x14ea, 0x81b9, 0x14d1, 0x81b5,
+  0x14b8, 0x81b1, 0x149f, 0x81ad, 0x1487, 0x81a9, 0x146e, 0x81a5,
+  0x1455, 0x81a1, 0x143c, 0x819d, 0x1423, 0x8199, 0x140b, 0x8195,
+  0x13f2, 0x8191, 0x13d9, 0x818d, 0x13c0, 0x8189, 0x13a7, 0x8185,
+  0x138e, 0x8181, 0x1376, 0x817d, 0x135d, 0x817a, 0x1344, 0x8176,
+  0x132b, 0x8172, 0x1312, 0x816e, 0x12f9, 0x816b, 0x12e0, 0x8167,
+  0x12c8, 0x8163, 0x12af, 0x815f, 0x1296, 0x815c, 0x127d, 0x8158,
+  0x1264, 0x8155, 0x124b, 0x8151, 0x1232, 0x814d, 0x1219, 0x814a,
+  0x1201, 0x8146, 0x11e8, 0x8143, 0x11cf, 0x813f, 0x11b6, 0x813c,
+  0x119d, 0x8138, 0x1184, 0x8135, 0x116b, 0x8131, 0x1152, 0x812e,
+  0x1139, 0x812b, 0x1121, 0x8127, 0x1108, 0x8124, 0x10ef, 0x8121,
+  0x10d6, 0x811d, 0x10bd, 0x811a, 0x10a4, 0x8117, 0x108b, 0x8113,
+  0x1072, 0x8110, 0x1059, 0x810d, 0x1040, 0x810a, 0x1027, 0x8107,
+  0x100e, 0x8103, 0xff5, 0x8100, 0xfdd, 0x80fd, 0xfc4, 0x80fa,
+  0xfab, 0x80f7, 0xf92, 0x80f4, 0xf79, 0x80f1, 0xf60, 0x80ee,
+  0xf47, 0x80eb, 0xf2e, 0x80e8, 0xf15, 0x80e5, 0xefc, 0x80e2,
+  0xee3, 0x80df, 0xeca, 0x80dc, 0xeb1, 0x80d9, 0xe98, 0x80d6,
+  0xe7f, 0x80d3, 0xe66, 0x80d1, 0xe4d, 0x80ce, 0xe34, 0x80cb,
+  0xe1b, 0x80c8, 0xe02, 0x80c5, 0xde9, 0x80c3, 0xdd0, 0x80c0,
+  0xdb7, 0x80bd, 0xd9e, 0x80bb, 0xd85, 0x80b8, 0xd6c, 0x80b5,
+  0xd53, 0x80b3, 0xd3a, 0x80b0, 0xd21, 0x80ad, 0xd08, 0x80ab,
+  0xcef, 0x80a8, 0xcd6, 0x80a6, 0xcbd, 0x80a3, 0xca4, 0x80a1,
+  0xc8b, 0x809e, 0xc72, 0x809c, 0xc59, 0x8099, 0xc40, 0x8097,
+  0xc27, 0x8095, 0xc0e, 0x8092, 0xbf5, 0x8090, 0xbdc, 0x808e,
+  0xbc3, 0x808b, 0xbaa, 0x8089, 0xb91, 0x8087, 0xb78, 0x8084,
+  0xb5f, 0x8082, 0xb46, 0x8080, 0xb2d, 0x807e, 0xb14, 0x807b,
+  0xafb, 0x8079, 0xae2, 0x8077, 0xac9, 0x8075, 0xab0, 0x8073,
+  0xa97, 0x8071, 0xa7e, 0x806f, 0xa65, 0x806d, 0xa4c, 0x806b,
+  0xa33, 0x8069, 0xa19, 0x8067, 0xa00, 0x8065, 0x9e7, 0x8063,
+  0x9ce, 0x8061, 0x9b5, 0x805f, 0x99c, 0x805d, 0x983, 0x805b,
+  0x96a, 0x8059, 0x951, 0x8057, 0x938, 0x8056, 0x91f, 0x8054,
+  0x906, 0x8052, 0x8ed, 0x8050, 0x8d4, 0x804f, 0x8bb, 0x804d,
+  0x8a2, 0x804b, 0x888, 0x8049, 0x86f, 0x8048, 0x856, 0x8046,
+  0x83d, 0x8044, 0x824, 0x8043, 0x80b, 0x8041, 0x7f2, 0x8040,
+  0x7d9, 0x803e, 0x7c0, 0x803d, 0x7a7, 0x803b, 0x78e, 0x803a,
+  0x775, 0x8038, 0x75b, 0x8037, 0x742, 0x8035, 0x729, 0x8034,
+  0x710, 0x8032, 0x6f7, 0x8031, 0x6de, 0x8030, 0x6c5, 0x802e,
+  0x6ac, 0x802d, 0x693, 0x802c, 0x67a, 0x802a, 0x660, 0x8029,
+  0x647, 0x8028, 0x62e, 0x8027, 0x615, 0x8026, 0x5fc, 0x8024,
+  0x5e3, 0x8023, 0x5ca, 0x8022, 0x5b1, 0x8021, 0x598, 0x8020,
+  0x57f, 0x801f, 0x565, 0x801e, 0x54c, 0x801d, 0x533, 0x801c,
+  0x51a, 0x801b, 0x501, 0x801a, 0x4e8, 0x8019, 0x4cf, 0x8018,
+  0x4b6, 0x8017, 0x49c, 0x8016, 0x483, 0x8015, 0x46a, 0x8014,
+  0x451, 0x8013, 0x438, 0x8012, 0x41f, 0x8012, 0x406, 0x8011,
+  0x3ed, 0x8010, 0x3d4, 0x800f, 0x3ba, 0x800e, 0x3a1, 0x800e,
+  0x388, 0x800d, 0x36f, 0x800c, 0x356, 0x800c, 0x33d, 0x800b,
+  0x324, 0x800a, 0x30b, 0x800a, 0x2f1, 0x8009, 0x2d8, 0x8009,
+  0x2bf, 0x8008, 0x2a6, 0x8008, 0x28d, 0x8007, 0x274, 0x8007,
+  0x25b, 0x8006, 0x242, 0x8006, 0x228, 0x8005, 0x20f, 0x8005,
+  0x1f6, 0x8004, 0x1dd, 0x8004, 0x1c4, 0x8004, 0x1ab, 0x8003,
+  0x192, 0x8003, 0x178, 0x8003, 0x15f, 0x8002, 0x146, 0x8002,
+  0x12d, 0x8002, 0x114, 0x8002, 0xfb, 0x8001, 0xe2, 0x8001,
+  0xc9, 0x8001, 0xaf, 0x8001, 0x96, 0x8001, 0x7d, 0x8001,
+  0x64, 0x8001, 0x4b, 0x8001, 0x32, 0x8001, 0x19, 0x8001,
+};
+
+/**   
+* \par   
+* cosFactor tables are generated using the formula : 
     cos_factors[n] = 2 * cos((2n+1)*pi/(4*N)) 
       
+* \par   
+* C command to generate the table   
+* 
       
+* for(i = 0; i< N; i++)   
+* {   
+*   cos_factors[i]= 2 * cos((2*i+1)*c/2);   
+* } 
       
+* \par   
+* where N is the number of factors to generate and c is pi/(2*N)   
+* \par   
+* Then converted to q15 format by multiplying with 2^31 and saturated if required.   
+   
+*/
+
+static const q15_t cos_factorsQ15_128[128] = {
+  0x7fff, 0x7ffa, 0x7ff0, 0x7fe1, 0x7fce, 0x7fb5, 0x7f97, 0x7f75,
+  0x7f4d, 0x7f21, 0x7ef0, 0x7eba, 0x7e7f, 0x7e3f, 0x7dfa, 0x7db0,
+  0x7d62, 0x7d0f, 0x7cb7, 0x7c5a, 0x7bf8, 0x7b92, 0x7b26, 0x7ab6,
+  0x7a42, 0x79c8, 0x794a, 0x78c7, 0x7840, 0x77b4, 0x7723, 0x768e,
+  0x75f4, 0x7555, 0x74b2, 0x740b, 0x735f, 0x72af, 0x71fa, 0x7141,
+  0x7083, 0x6fc1, 0x6efb, 0x6e30, 0x6d62, 0x6c8f, 0x6bb8, 0x6adc,
+  0x69fd, 0x6919, 0x6832, 0x6746, 0x6657, 0x6563, 0x646c, 0x6371,
+  0x6271, 0x616f, 0x6068, 0x5f5e, 0x5e50, 0x5d3e, 0x5c29, 0x5b10,
+  0x59f3, 0x58d4, 0x57b0, 0x568a, 0x5560, 0x5433, 0x5302, 0x51ce,
+  0x5097, 0x4f5e, 0x4e21, 0x4ce1, 0x4b9e, 0x4a58, 0x490f, 0x47c3,
+  0x4675, 0x4524, 0x43d0, 0x427a, 0x4121, 0x3fc5, 0x3e68, 0x3d07,
+  0x3ba5, 0x3a40, 0x38d8, 0x376f, 0x3604, 0x3496, 0x3326, 0x31b5,
+  0x3041, 0x2ecc, 0x2d55, 0x2bdc, 0x2a61, 0x28e5, 0x2767, 0x25e8,
+  0x2467, 0x22e5, 0x2161, 0x1fdc, 0x1e56, 0x1ccf, 0x1b47, 0x19bd,
+  0x1833, 0x16a8, 0x151b, 0x138e, 0x1201, 0x1072, 0xee3, 0xd53,
+  0xbc3, 0xa33, 0x8a2, 0x710, 0x57f, 0x3ed, 0x25b, 0xc9
+};
+
+static const q15_t cos_factorsQ15_512[512] = {
+  0x7fff, 0x7fff, 0x7fff, 0x7ffe, 0x7ffc, 0x7ffb, 0x7ff9, 0x7ff7,
+  0x7ff4, 0x7ff2, 0x7fee, 0x7feb, 0x7fe7, 0x7fe3, 0x7fdf, 0x7fda,
+  0x7fd6, 0x7fd0, 0x7fcb, 0x7fc5, 0x7fbf, 0x7fb8, 0x7fb1, 0x7faa,
+  0x7fa3, 0x7f9b, 0x7f93, 0x7f8b, 0x7f82, 0x7f79, 0x7f70, 0x7f67,
+  0x7f5d, 0x7f53, 0x7f48, 0x7f3d, 0x7f32, 0x7f27, 0x7f1b, 0x7f0f,
+  0x7f03, 0x7ef6, 0x7ee9, 0x7edc, 0x7ecf, 0x7ec1, 0x7eb3, 0x7ea4,
+  0x7e95, 0x7e86, 0x7e77, 0x7e67, 0x7e57, 0x7e47, 0x7e37, 0x7e26,
+  0x7e14, 0x7e03, 0x7df1, 0x7ddf, 0x7dcd, 0x7dba, 0x7da7, 0x7d94,
+  0x7d80, 0x7d6c, 0x7d58, 0x7d43, 0x7d2f, 0x7d19, 0x7d04, 0x7cee,
+  0x7cd8, 0x7cc2, 0x7cab, 0x7c94, 0x7c7d, 0x7c66, 0x7c4e, 0x7c36,
+  0x7c1d, 0x7c05, 0x7beb, 0x7bd2, 0x7bb9, 0x7b9f, 0x7b84, 0x7b6a,
+  0x7b4f, 0x7b34, 0x7b19, 0x7afd, 0x7ae1, 0x7ac5, 0x7aa8, 0x7a8b,
+  0x7a6e, 0x7a50, 0x7a33, 0x7a15, 0x79f6, 0x79d8, 0x79b9, 0x7999,
+  0x797a, 0x795a, 0x793a, 0x7919, 0x78f9, 0x78d8, 0x78b6, 0x7895,
+  0x7873, 0x7851, 0x782e, 0x780c, 0x77e9, 0x77c5, 0x77a2, 0x777e,
+  0x775a, 0x7735, 0x7710, 0x76eb, 0x76c6, 0x76a0, 0x767b, 0x7654,
+  0x762e, 0x7607, 0x75e0, 0x75b9, 0x7591, 0x7569, 0x7541, 0x7519,
+  0x74f0, 0x74c7, 0x749e, 0x7474, 0x744a, 0x7420, 0x73f6, 0x73cb,
+  0x73a0, 0x7375, 0x7349, 0x731d, 0x72f1, 0x72c5, 0x7298, 0x726b,
+  0x723e, 0x7211, 0x71e3, 0x71b5, 0x7186, 0x7158, 0x7129, 0x70fa,
+  0x70cb, 0x709b, 0x706b, 0x703b, 0x700a, 0x6fda, 0x6fa9, 0x6f77,
+  0x6f46, 0x6f14, 0x6ee2, 0x6eaf, 0x6e7d, 0x6e4a, 0x6e17, 0x6de3,
+  0x6db0, 0x6d7c, 0x6d48, 0x6d13, 0x6cde, 0x6ca9, 0x6c74, 0x6c3f,
+  0x6c09, 0x6bd3, 0x6b9c, 0x6b66, 0x6b2f, 0x6af8, 0x6ac1, 0x6a89,
+  0x6a51, 0x6a19, 0x69e1, 0x69a8, 0x696f, 0x6936, 0x68fd, 0x68c3,
+  0x6889, 0x684f, 0x6815, 0x67da, 0x679f, 0x6764, 0x6729, 0x66ed,
+  0x66b1, 0x6675, 0x6639, 0x65fc, 0x65bf, 0x6582, 0x6545, 0x6507,
+  0x64c9, 0x648b, 0x644d, 0x640e, 0x63cf, 0x6390, 0x6351, 0x6311,
+  0x62d2, 0x6292, 0x6251, 0x6211, 0x61d0, 0x618f, 0x614e, 0x610d,
+  0x60cb, 0x6089, 0x6047, 0x6004, 0x5fc2, 0x5f7f, 0x5f3c, 0x5ef9,
+  0x5eb5, 0x5e71, 0x5e2d, 0x5de9, 0x5da5, 0x5d60, 0x5d1b, 0x5cd6,
+  0x5c91, 0x5c4b, 0x5c06, 0x5bc0, 0x5b79, 0x5b33, 0x5aec, 0x5aa5,
+  0x5a5e, 0x5a17, 0x59d0, 0x5988, 0x5940, 0x58f8, 0x58af, 0x5867,
+  0x581e, 0x57d5, 0x578c, 0x5742, 0x56f9, 0x56af, 0x5665, 0x561a,
+  0x55d0, 0x5585, 0x553a, 0x54ef, 0x54a4, 0x5458, 0x540d, 0x53c1,
+  0x5375, 0x5328, 0x52dc, 0x528f, 0x5242, 0x51f5, 0x51a8, 0x515a,
+  0x510c, 0x50bf, 0x5070, 0x5022, 0x4fd4, 0x4f85, 0x4f36, 0x4ee7,
+  0x4e98, 0x4e48, 0x4df9, 0x4da9, 0x4d59, 0x4d09, 0x4cb8, 0x4c68,
+  0x4c17, 0x4bc6, 0x4b75, 0x4b24, 0x4ad2, 0x4a81, 0x4a2f, 0x49dd,
+  0x498a, 0x4938, 0x48e6, 0x4893, 0x4840, 0x47ed, 0x479a, 0x4746,
+  0x46f3, 0x469f, 0x464b, 0x45f7, 0x45a3, 0x454e, 0x44fa, 0x44a5,
+  0x4450, 0x43fb, 0x43a5, 0x4350, 0x42fa, 0x42a5, 0x424f, 0x41f9,
+  0x41a2, 0x414c, 0x40f6, 0x409f, 0x4048, 0x3ff1, 0x3f9a, 0x3f43,
+  0x3eeb, 0x3e93, 0x3e3c, 0x3de4, 0x3d8c, 0x3d33, 0x3cdb, 0x3c83,
+  0x3c2a, 0x3bd1, 0x3b78, 0x3b1f, 0x3ac6, 0x3a6c, 0x3a13, 0x39b9,
+  0x395f, 0x3906, 0x38ab, 0x3851, 0x37f7, 0x379c, 0x3742, 0x36e7,
+  0x368c, 0x3631, 0x35d6, 0x357b, 0x351f, 0x34c4, 0x3468, 0x340c,
+  0x33b0, 0x3354, 0x32f8, 0x329c, 0x3240, 0x31e3, 0x3186, 0x312a,
+  0x30cd, 0x3070, 0x3013, 0x2fb5, 0x2f58, 0x2efb, 0x2e9d, 0x2e3f,
+  0x2de2, 0x2d84, 0x2d26, 0x2cc8, 0x2c69, 0x2c0b, 0x2bad, 0x2b4e,
+  0x2aef, 0x2a91, 0x2a32, 0x29d3, 0x2974, 0x2915, 0x28b5, 0x2856,
+  0x27f6, 0x2797, 0x2737, 0x26d8, 0x2678, 0x2618, 0x25b8, 0x2558,
+  0x24f7, 0x2497, 0x2437, 0x23d6, 0x2376, 0x2315, 0x22b4, 0x2254,
+  0x21f3, 0x2192, 0x2131, 0x20d0, 0x206e, 0x200d, 0x1fac, 0x1f4a,
+  0x1ee9, 0x1e87, 0x1e25, 0x1dc4, 0x1d62, 0x1d00, 0x1c9e, 0x1c3c,
+  0x1bda, 0x1b78, 0x1b16, 0x1ab3, 0x1a51, 0x19ef, 0x198c, 0x192a,
+  0x18c7, 0x1864, 0x1802, 0x179f, 0x173c, 0x16d9, 0x1676, 0x1613,
+  0x15b0, 0x154d, 0x14ea, 0x1487, 0x1423, 0x13c0, 0x135d, 0x12f9,
+  0x1296, 0x1232, 0x11cf, 0x116b, 0x1108, 0x10a4, 0x1040, 0xfdd,
+  0xf79, 0xf15, 0xeb1, 0xe4d, 0xde9, 0xd85, 0xd21, 0xcbd,
+  0xc59, 0xbf5, 0xb91, 0xb2d, 0xac9, 0xa65, 0xa00, 0x99c,
+  0x938, 0x8d4, 0x86f, 0x80b, 0x7a7, 0x742, 0x6de, 0x67a,
+  0x615, 0x5b1, 0x54c, 0x4e8, 0x483, 0x41f, 0x3ba, 0x356,
+  0x2f1, 0x28d, 0x228, 0x1c4, 0x15f, 0xfb, 0x96, 0x32,
+};
+
+static const q15_t cos_factorsQ15_2048[2048] = {
+  0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff, 0x7fff,
+  0x7fff, 0x7fff, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffe, 0x7ffd, 0x7ffd,
+  0x7ffd, 0x7ffd, 0x7ffc, 0x7ffc, 0x7ffb, 0x7ffb, 0x7ffb, 0x7ffa,
+  0x7ffa, 0x7ff9, 0x7ff9, 0x7ff8, 0x7ff8, 0x7ff7, 0x7ff7, 0x7ff6,
+  0x7ff5, 0x7ff5, 0x7ff4, 0x7ff3, 0x7ff3, 0x7ff2, 0x7ff1, 0x7ff0,
+  0x7ff0, 0x7fef, 0x7fee, 0x7fed, 0x7fec, 0x7fec, 0x7feb, 0x7fea,
+  0x7fe9, 0x7fe8, 0x7fe7, 0x7fe6, 0x7fe5, 0x7fe4, 0x7fe3, 0x7fe2,
+  0x7fe1, 0x7fe0, 0x7fdf, 0x7fdd, 0x7fdc, 0x7fdb, 0x7fda, 0x7fd9,
+  0x7fd7, 0x7fd6, 0x7fd5, 0x7fd4, 0x7fd2, 0x7fd1, 0x7fd0, 0x7fce,
+  0x7fcd, 0x7fcb, 0x7fca, 0x7fc9, 0x7fc7, 0x7fc6, 0x7fc4, 0x7fc3,
+  0x7fc1, 0x7fc0, 0x7fbe, 0x7fbc, 0x7fbb, 0x7fb9, 0x7fb7, 0x7fb6,
+  0x7fb4, 0x7fb2, 0x7fb1, 0x7faf, 0x7fad, 0x7fab, 0x7fa9, 0x7fa8,
+  0x7fa6, 0x7fa4, 0x7fa2, 0x7fa0, 0x7f9e, 0x7f9c, 0x7f9a, 0x7f98,
+  0x7f96, 0x7f94, 0x7f92, 0x7f90, 0x7f8e, 0x7f8c, 0x7f8a, 0x7f88,
+  0x7f86, 0x7f83, 0x7f81, 0x7f7f, 0x7f7d, 0x7f7b, 0x7f78, 0x7f76,
+  0x7f74, 0x7f71, 0x7f6f, 0x7f6d, 0x7f6a, 0x7f68, 0x7f65, 0x7f63,
+  0x7f60, 0x7f5e, 0x7f5b, 0x7f59, 0x7f56, 0x7f54, 0x7f51, 0x7f4f,
+  0x7f4c, 0x7f49, 0x7f47, 0x7f44, 0x7f41, 0x7f3f, 0x7f3c, 0x7f39,
+  0x7f36, 0x7f34, 0x7f31, 0x7f2e, 0x7f2b, 0x7f28, 0x7f25, 0x7f23,
+  0x7f20, 0x7f1d, 0x7f1a, 0x7f17, 0x7f14, 0x7f11, 0x7f0e, 0x7f0b,
+  0x7f08, 0x7f04, 0x7f01, 0x7efe, 0x7efb, 0x7ef8, 0x7ef5, 0x7ef1,
+  0x7eee, 0x7eeb, 0x7ee8, 0x7ee4, 0x7ee1, 0x7ede, 0x7eda, 0x7ed7,
+  0x7ed4, 0x7ed0, 0x7ecd, 0x7ec9, 0x7ec6, 0x7ec3, 0x7ebf, 0x7ebb,
+  0x7eb8, 0x7eb4, 0x7eb1, 0x7ead, 0x7eaa, 0x7ea6, 0x7ea2, 0x7e9f,
+  0x7e9b, 0x7e97, 0x7e94, 0x7e90, 0x7e8c, 0x7e88, 0x7e84, 0x7e81,
+  0x7e7d, 0x7e79, 0x7e75, 0x7e71, 0x7e6d, 0x7e69, 0x7e65, 0x7e61,
+  0x7e5d, 0x7e59, 0x7e55, 0x7e51, 0x7e4d, 0x7e49, 0x7e45, 0x7e41,
+  0x7e3d, 0x7e39, 0x7e34, 0x7e30, 0x7e2c, 0x7e28, 0x7e24, 0x7e1f,
+  0x7e1b, 0x7e17, 0x7e12, 0x7e0e, 0x7e0a, 0x7e05, 0x7e01, 0x7dfc,
+  0x7df8, 0x7df3, 0x7def, 0x7dea, 0x7de6, 0x7de1, 0x7ddd, 0x7dd8,
+  0x7dd4, 0x7dcf, 0x7dca, 0x7dc6, 0x7dc1, 0x7dbc, 0x7db8, 0x7db3,
+  0x7dae, 0x7da9, 0x7da5, 0x7da0, 0x7d9b, 0x7d96, 0x7d91, 0x7d8c,
+  0x7d87, 0x7d82, 0x7d7e, 0x7d79, 0x7d74, 0x7d6f, 0x7d6a, 0x7d65,
+  0x7d60, 0x7d5a, 0x7d55, 0x7d50, 0x7d4b, 0x7d46, 0x7d41, 0x7d3c,
+  0x7d36, 0x7d31, 0x7d2c, 0x7d27, 0x7d21, 0x7d1c, 0x7d17, 0x7d11,
+  0x7d0c, 0x7d07, 0x7d01, 0x7cfc, 0x7cf6, 0x7cf1, 0x7cec, 0x7ce6,
+  0x7ce1, 0x7cdb, 0x7cd5, 0x7cd0, 0x7cca, 0x7cc5, 0x7cbf, 0x7cb9,
+  0x7cb4, 0x7cae, 0x7ca8, 0x7ca3, 0x7c9d, 0x7c97, 0x7c91, 0x7c8c,
+  0x7c86, 0x7c80, 0x7c7a, 0x7c74, 0x7c6e, 0x7c69, 0x7c63, 0x7c5d,
+  0x7c57, 0x7c51, 0x7c4b, 0x7c45, 0x7c3f, 0x7c39, 0x7c33, 0x7c2d,
+  0x7c26, 0x7c20, 0x7c1a, 0x7c14, 0x7c0e, 0x7c08, 0x7c01, 0x7bfb,
+  0x7bf5, 0x7bef, 0x7be8, 0x7be2, 0x7bdc, 0x7bd5, 0x7bcf, 0x7bc9,
+  0x7bc2, 0x7bbc, 0x7bb5, 0x7baf, 0x7ba8, 0x7ba2, 0x7b9b, 0x7b95,
+  0x7b8e, 0x7b88, 0x7b81, 0x7b7a, 0x7b74, 0x7b6d, 0x7b67, 0x7b60,
+  0x7b59, 0x7b52, 0x7b4c, 0x7b45, 0x7b3e, 0x7b37, 0x7b31, 0x7b2a,
+  0x7b23, 0x7b1c, 0x7b15, 0x7b0e, 0x7b07, 0x7b00, 0x7af9, 0x7af2,
+  0x7aeb, 0x7ae4, 0x7add, 0x7ad6, 0x7acf, 0x7ac8, 0x7ac1, 0x7aba,
+  0x7ab3, 0x7aac, 0x7aa4, 0x7a9d, 0x7a96, 0x7a8f, 0x7a87, 0x7a80,
+  0x7a79, 0x7a72, 0x7a6a, 0x7a63, 0x7a5c, 0x7a54, 0x7a4d, 0x7a45,
+  0x7a3e, 0x7a36, 0x7a2f, 0x7a27, 0x7a20, 0x7a18, 0x7a11, 0x7a09,
+  0x7a02, 0x79fa, 0x79f2, 0x79eb, 0x79e3, 0x79db, 0x79d4, 0x79cc,
+  0x79c4, 0x79bc, 0x79b5, 0x79ad, 0x79a5, 0x799d, 0x7995, 0x798e,
+  0x7986, 0x797e, 0x7976, 0x796e, 0x7966, 0x795e, 0x7956, 0x794e,
+  0x7946, 0x793e, 0x7936, 0x792e, 0x7926, 0x791e, 0x7915, 0x790d,
+  0x7905, 0x78fd, 0x78f5, 0x78ec, 0x78e4, 0x78dc, 0x78d4, 0x78cb,
+  0x78c3, 0x78bb, 0x78b2, 0x78aa, 0x78a2, 0x7899, 0x7891, 0x7888,
+  0x7880, 0x7877, 0x786f, 0x7866, 0x785e, 0x7855, 0x784d, 0x7844,
+  0x783b, 0x7833, 0x782a, 0x7821, 0x7819, 0x7810, 0x7807, 0x77ff,
+  0x77f6, 0x77ed, 0x77e4, 0x77db, 0x77d3, 0x77ca, 0x77c1, 0x77b8,
+  0x77af, 0x77a6, 0x779d, 0x7794, 0x778b, 0x7782, 0x7779, 0x7770,
+  0x7767, 0x775e, 0x7755, 0x774c, 0x7743, 0x773a, 0x7731, 0x7727,
+  0x771e, 0x7715, 0x770c, 0x7703, 0x76f9, 0x76f0, 0x76e7, 0x76dd,
+  0x76d4, 0x76cb, 0x76c1, 0x76b8, 0x76af, 0x76a5, 0x769c, 0x7692,
+  0x7689, 0x767f, 0x7676, 0x766c, 0x7663, 0x7659, 0x7650, 0x7646,
+  0x763c, 0x7633, 0x7629, 0x761f, 0x7616, 0x760c, 0x7602, 0x75f9,
+  0x75ef, 0x75e5, 0x75db, 0x75d1, 0x75c8, 0x75be, 0x75b4, 0x75aa,
+  0x75a0, 0x7596, 0x758c, 0x7582, 0x7578, 0x756e, 0x7564, 0x755a,
+  0x7550, 0x7546, 0x753c, 0x7532, 0x7528, 0x751e, 0x7514, 0x7509,
+  0x74ff, 0x74f5, 0x74eb, 0x74e1, 0x74d6, 0x74cc, 0x74c2, 0x74b7,
+  0x74ad, 0x74a3, 0x7498, 0x748e, 0x7484, 0x7479, 0x746f, 0x7464,
+  0x745a, 0x744f, 0x7445, 0x743a, 0x7430, 0x7425, 0x741b, 0x7410,
+  0x7406, 0x73fb, 0x73f0, 0x73e6, 0x73db, 0x73d0, 0x73c6, 0x73bb,
+  0x73b0, 0x73a5, 0x739b, 0x7390, 0x7385, 0x737a, 0x736f, 0x7364,
+  0x7359, 0x734f, 0x7344, 0x7339, 0x732e, 0x7323, 0x7318, 0x730d,
+  0x7302, 0x72f7, 0x72ec, 0x72e1, 0x72d5, 0x72ca, 0x72bf, 0x72b4,
+  0x72a9, 0x729e, 0x7293, 0x7287, 0x727c, 0x7271, 0x7266, 0x725a,
+  0x724f, 0x7244, 0x7238, 0x722d, 0x7222, 0x7216, 0x720b, 0x71ff,
+  0x71f4, 0x71e9, 0x71dd, 0x71d2, 0x71c6, 0x71bb, 0x71af, 0x71a3,
+  0x7198, 0x718c, 0x7181, 0x7175, 0x7169, 0x715e, 0x7152, 0x7146,
+  0x713b, 0x712f, 0x7123, 0x7117, 0x710c, 0x7100, 0x70f4, 0x70e8,
+  0x70dc, 0x70d1, 0x70c5, 0x70b9, 0x70ad, 0x70a1, 0x7095, 0x7089,
+  0x707d, 0x7071, 0x7065, 0x7059, 0x704d, 0x7041, 0x7035, 0x7029,
+  0x701d, 0x7010, 0x7004, 0x6ff8, 0x6fec, 0x6fe0, 0x6fd3, 0x6fc7,
+  0x6fbb, 0x6faf, 0x6fa2, 0x6f96, 0x6f8a, 0x6f7d, 0x6f71, 0x6f65,
+  0x6f58, 0x6f4c, 0x6f3f, 0x6f33, 0x6f27, 0x6f1a, 0x6f0e, 0x6f01,
+  0x6ef5, 0x6ee8, 0x6edc, 0x6ecf, 0x6ec2, 0x6eb6, 0x6ea9, 0x6e9c,
+  0x6e90, 0x6e83, 0x6e76, 0x6e6a, 0x6e5d, 0x6e50, 0x6e44, 0x6e37,
+  0x6e2a, 0x6e1d, 0x6e10, 0x6e04, 0x6df7, 0x6dea, 0x6ddd, 0x6dd0,
+  0x6dc3, 0x6db6, 0x6da9, 0x6d9c, 0x6d8f, 0x6d82, 0x6d75, 0x6d68,
+  0x6d5b, 0x6d4e, 0x6d41, 0x6d34, 0x6d27, 0x6d1a, 0x6d0c, 0x6cff,
+  0x6cf2, 0x6ce5, 0x6cd8, 0x6cca, 0x6cbd, 0x6cb0, 0x6ca3, 0x6c95,
+  0x6c88, 0x6c7b, 0x6c6d, 0x6c60, 0x6c53, 0x6c45, 0x6c38, 0x6c2a,
+  0x6c1d, 0x6c0f, 0x6c02, 0x6bf5, 0x6be7, 0x6bd9, 0x6bcc, 0x6bbe,
+  0x6bb1, 0x6ba3, 0x6b96, 0x6b88, 0x6b7a, 0x6b6d, 0x6b5f, 0x6b51,
+  0x6b44, 0x6b36, 0x6b28, 0x6b1a, 0x6b0d, 0x6aff, 0x6af1, 0x6ae3,
+  0x6ad5, 0x6ac8, 0x6aba, 0x6aac, 0x6a9e, 0x6a90, 0x6a82, 0x6a74,
+  0x6a66, 0x6a58, 0x6a4a, 0x6a3c, 0x6a2e, 0x6a20, 0x6a12, 0x6a04,
+  0x69f6, 0x69e8, 0x69da, 0x69cb, 0x69bd, 0x69af, 0x69a1, 0x6993,
+  0x6985, 0x6976, 0x6968, 0x695a, 0x694b, 0x693d, 0x692f, 0x6921,
+  0x6912, 0x6904, 0x68f5, 0x68e7, 0x68d9, 0x68ca, 0x68bc, 0x68ad,
+  0x689f, 0x6890, 0x6882, 0x6873, 0x6865, 0x6856, 0x6848, 0x6839,
+  0x682b, 0x681c, 0x680d, 0x67ff, 0x67f0, 0x67e1, 0x67d3, 0x67c4,
+  0x67b5, 0x67a6, 0x6798, 0x6789, 0x677a, 0x676b, 0x675d, 0x674e,
+  0x673f, 0x6730, 0x6721, 0x6712, 0x6703, 0x66f4, 0x66e5, 0x66d6,
+  0x66c8, 0x66b9, 0x66aa, 0x669b, 0x668b, 0x667c, 0x666d, 0x665e,
+  0x664f, 0x6640, 0x6631, 0x6622, 0x6613, 0x6603, 0x65f4, 0x65e5,
+  0x65d6, 0x65c7, 0x65b7, 0x65a8, 0x6599, 0x658a, 0x657a, 0x656b,
+  0x655c, 0x654c, 0x653d, 0x652d, 0x651e, 0x650f, 0x64ff, 0x64f0,
+  0x64e0, 0x64d1, 0x64c1, 0x64b2, 0x64a2, 0x6493, 0x6483, 0x6474,
+  0x6464, 0x6454, 0x6445, 0x6435, 0x6426, 0x6416, 0x6406, 0x63f7,
+  0x63e7, 0x63d7, 0x63c7, 0x63b8, 0x63a8, 0x6398, 0x6388, 0x6378,
+  0x6369, 0x6359, 0x6349, 0x6339, 0x6329, 0x6319, 0x6309, 0x62f9,
+  0x62ea, 0x62da, 0x62ca, 0x62ba, 0x62aa, 0x629a, 0x628a, 0x627a,
+  0x6269, 0x6259, 0x6249, 0x6239, 0x6229, 0x6219, 0x6209, 0x61f9,
+  0x61e8, 0x61d8, 0x61c8, 0x61b8, 0x61a8, 0x6197, 0x6187, 0x6177,
+  0x6166, 0x6156, 0x6146, 0x6135, 0x6125, 0x6115, 0x6104, 0x60f4,
+  0x60e4, 0x60d3, 0x60c3, 0x60b2, 0x60a2, 0x6091, 0x6081, 0x6070,
+  0x6060, 0x604f, 0x603f, 0x602e, 0x601d, 0x600d, 0x5ffc, 0x5fec,
+  0x5fdb, 0x5fca, 0x5fba, 0x5fa9, 0x5f98, 0x5f87, 0x5f77, 0x5f66,
+  0x5f55, 0x5f44, 0x5f34, 0x5f23, 0x5f12, 0x5f01, 0x5ef0, 0x5edf,
+  0x5ecf, 0x5ebe, 0x5ead, 0x5e9c, 0x5e8b, 0x5e7a, 0x5e69, 0x5e58,
+  0x5e47, 0x5e36, 0x5e25, 0x5e14, 0x5e03, 0x5df2, 0x5de1, 0x5dd0,
+  0x5dbf, 0x5dad, 0x5d9c, 0x5d8b, 0x5d7a, 0x5d69, 0x5d58, 0x5d46,
+  0x5d35, 0x5d24, 0x5d13, 0x5d01, 0x5cf0, 0x5cdf, 0x5cce, 0x5cbc,
+  0x5cab, 0x5c9a, 0x5c88, 0x5c77, 0x5c66, 0x5c54, 0x5c43, 0x5c31,
+  0x5c20, 0x5c0e, 0x5bfd, 0x5beb, 0x5bda, 0x5bc8, 0x5bb7, 0x5ba5,
+  0x5b94, 0x5b82, 0x5b71, 0x5b5f, 0x5b4d, 0x5b3c, 0x5b2a, 0x5b19,
+  0x5b07, 0x5af5, 0x5ae4, 0x5ad2, 0x5ac0, 0x5aae, 0x5a9d, 0x5a8b,
+  0x5a79, 0x5a67, 0x5a56, 0x5a44, 0x5a32, 0x5a20, 0x5a0e, 0x59fc,
+  0x59ea, 0x59d9, 0x59c7, 0x59b5, 0x59a3, 0x5991, 0x597f, 0x596d,
+  0x595b, 0x5949, 0x5937, 0x5925, 0x5913, 0x5901, 0x58ef, 0x58dd,
+  0x58cb, 0x58b8, 0x58a6, 0x5894, 0x5882, 0x5870, 0x585e, 0x584b,
+  0x5839, 0x5827, 0x5815, 0x5803, 0x57f0, 0x57de, 0x57cc, 0x57b9,
+  0x57a7, 0x5795, 0x5783, 0x5770, 0x575e, 0x574b, 0x5739, 0x5727,
+  0x5714, 0x5702, 0x56ef, 0x56dd, 0x56ca, 0x56b8, 0x56a5, 0x5693,
+  0x5680, 0x566e, 0x565b, 0x5649, 0x5636, 0x5624, 0x5611, 0x55fe,
+  0x55ec, 0x55d9, 0x55c7, 0x55b4, 0x55a1, 0x558f, 0x557c, 0x5569,
+  0x5556, 0x5544, 0x5531, 0x551e, 0x550b, 0x54f9, 0x54e6, 0x54d3,
+  0x54c0, 0x54ad, 0x549a, 0x5488, 0x5475, 0x5462, 0x544f, 0x543c,
+  0x5429, 0x5416, 0x5403, 0x53f0, 0x53dd, 0x53ca, 0x53b7, 0x53a4,
+  0x5391, 0x537e, 0x536b, 0x5358, 0x5345, 0x5332, 0x531f, 0x530c,
+  0x52f8, 0x52e5, 0x52d2, 0x52bf, 0x52ac, 0x5299, 0x5285, 0x5272,
+  0x525f, 0x524c, 0x5238, 0x5225, 0x5212, 0x51ff, 0x51eb, 0x51d8,
+  0x51c5, 0x51b1, 0x519e, 0x518b, 0x5177, 0x5164, 0x5150, 0x513d,
+  0x512a, 0x5116, 0x5103, 0x50ef, 0x50dc, 0x50c8, 0x50b5, 0x50a1,
+  0x508e, 0x507a, 0x5067, 0x5053, 0x503f, 0x502c, 0x5018, 0x5005,
+  0x4ff1, 0x4fdd, 0x4fca, 0x4fb6, 0x4fa2, 0x4f8f, 0x4f7b, 0x4f67,
+  0x4f54, 0x4f40, 0x4f2c, 0x4f18, 0x4f05, 0x4ef1, 0x4edd, 0x4ec9,
+  0x4eb6, 0x4ea2, 0x4e8e, 0x4e7a, 0x4e66, 0x4e52, 0x4e3e, 0x4e2a,
+  0x4e17, 0x4e03, 0x4def, 0x4ddb, 0x4dc7, 0x4db3, 0x4d9f, 0x4d8b,
+  0x4d77, 0x4d63, 0x4d4f, 0x4d3b, 0x4d27, 0x4d13, 0x4cff, 0x4ceb,
+  0x4cd6, 0x4cc2, 0x4cae, 0x4c9a, 0x4c86, 0x4c72, 0x4c5e, 0x4c49,
+  0x4c35, 0x4c21, 0x4c0d, 0x4bf9, 0x4be4, 0x4bd0, 0x4bbc, 0x4ba8,
+  0x4b93, 0x4b7f, 0x4b6b, 0x4b56, 0x4b42, 0x4b2e, 0x4b19, 0x4b05,
+  0x4af1, 0x4adc, 0x4ac8, 0x4ab4, 0x4a9f, 0x4a8b, 0x4a76, 0x4a62,
+  0x4a4d, 0x4a39, 0x4a24, 0x4a10, 0x49fb, 0x49e7, 0x49d2, 0x49be,
+  0x49a9, 0x4995, 0x4980, 0x496c, 0x4957, 0x4942, 0x492e, 0x4919,
+  0x4905, 0x48f0, 0x48db, 0x48c7, 0x48b2, 0x489d, 0x4888, 0x4874,
+  0x485f, 0x484a, 0x4836, 0x4821, 0x480c, 0x47f7, 0x47e2, 0x47ce,
+  0x47b9, 0x47a4, 0x478f, 0x477a, 0x4765, 0x4751, 0x473c, 0x4727,
+  0x4712, 0x46fd, 0x46e8, 0x46d3, 0x46be, 0x46a9, 0x4694, 0x467f,
+  0x466a, 0x4655, 0x4640, 0x462b, 0x4616, 0x4601, 0x45ec, 0x45d7,
+  0x45c2, 0x45ad, 0x4598, 0x4583, 0x456e, 0x4559, 0x4544, 0x452e,
+  0x4519, 0x4504, 0x44ef, 0x44da, 0x44c5, 0x44af, 0x449a, 0x4485,
+  0x4470, 0x445a, 0x4445, 0x4430, 0x441b, 0x4405, 0x43f0, 0x43db,
+  0x43c5, 0x43b0, 0x439b, 0x4385, 0x4370, 0x435b, 0x4345, 0x4330,
+  0x431b, 0x4305, 0x42f0, 0x42da, 0x42c5, 0x42af, 0x429a, 0x4284,
+  0x426f, 0x425a, 0x4244, 0x422f, 0x4219, 0x4203, 0x41ee, 0x41d8,
+  0x41c3, 0x41ad, 0x4198, 0x4182, 0x416d, 0x4157, 0x4141, 0x412c,
+  0x4116, 0x4100, 0x40eb, 0x40d5, 0x40bf, 0x40aa, 0x4094, 0x407e,
+  0x4069, 0x4053, 0x403d, 0x4027, 0x4012, 0x3ffc, 0x3fe6, 0x3fd0,
+  0x3fbb, 0x3fa5, 0x3f8f, 0x3f79, 0x3f63, 0x3f4d, 0x3f38, 0x3f22,
+  0x3f0c, 0x3ef6, 0x3ee0, 0x3eca, 0x3eb4, 0x3e9e, 0x3e88, 0x3e73,
+  0x3e5d, 0x3e47, 0x3e31, 0x3e1b, 0x3e05, 0x3def, 0x3dd9, 0x3dc3,
+  0x3dad, 0x3d97, 0x3d81, 0x3d6b, 0x3d55, 0x3d3e, 0x3d28, 0x3d12,
+  0x3cfc, 0x3ce6, 0x3cd0, 0x3cba, 0x3ca4, 0x3c8e, 0x3c77, 0x3c61,
+  0x3c4b, 0x3c35, 0x3c1f, 0x3c09, 0x3bf2, 0x3bdc, 0x3bc6, 0x3bb0,
+  0x3b99, 0x3b83, 0x3b6d, 0x3b57, 0x3b40, 0x3b2a, 0x3b14, 0x3afe,
+  0x3ae7, 0x3ad1, 0x3abb, 0x3aa4, 0x3a8e, 0x3a78, 0x3a61, 0x3a4b,
+  0x3a34, 0x3a1e, 0x3a08, 0x39f1, 0x39db, 0x39c4, 0x39ae, 0x3998,
+  0x3981, 0x396b, 0x3954, 0x393e, 0x3927, 0x3911, 0x38fa, 0x38e4,
+  0x38cd, 0x38b7, 0x38a0, 0x388a, 0x3873, 0x385d, 0x3846, 0x382f,
+  0x3819, 0x3802, 0x37ec, 0x37d5, 0x37be, 0x37a8, 0x3791, 0x377a,
+  0x3764, 0x374d, 0x3736, 0x3720, 0x3709, 0x36f2, 0x36dc, 0x36c5,
+  0x36ae, 0x3698, 0x3681, 0x366a, 0x3653, 0x363d, 0x3626, 0x360f,
+  0x35f8, 0x35e1, 0x35cb, 0x35b4, 0x359d, 0x3586, 0x356f, 0x3558,
+  0x3542, 0x352b, 0x3514, 0x34fd, 0x34e6, 0x34cf, 0x34b8, 0x34a1,
+  0x348b, 0x3474, 0x345d, 0x3446, 0x342f, 0x3418, 0x3401, 0x33ea,
+  0x33d3, 0x33bc, 0x33a5, 0x338e, 0x3377, 0x3360, 0x3349, 0x3332,
+  0x331b, 0x3304, 0x32ed, 0x32d6, 0x32bf, 0x32a8, 0x3290, 0x3279,
+  0x3262, 0x324b, 0x3234, 0x321d, 0x3206, 0x31ef, 0x31d8, 0x31c0,
+  0x31a9, 0x3192, 0x317b, 0x3164, 0x314c, 0x3135, 0x311e, 0x3107,
+  0x30f0, 0x30d8, 0x30c1, 0x30aa, 0x3093, 0x307b, 0x3064, 0x304d,
+  0x3036, 0x301e, 0x3007, 0x2ff0, 0x2fd8, 0x2fc1, 0x2faa, 0x2f92,
+  0x2f7b, 0x2f64, 0x2f4c, 0x2f35, 0x2f1e, 0x2f06, 0x2eef, 0x2ed8,
+  0x2ec0, 0x2ea9, 0x2e91, 0x2e7a, 0x2e63, 0x2e4b, 0x2e34, 0x2e1c,
+  0x2e05, 0x2ded, 0x2dd6, 0x2dbe, 0x2da7, 0x2d8f, 0x2d78, 0x2d60,
+  0x2d49, 0x2d31, 0x2d1a, 0x2d02, 0x2ceb, 0x2cd3, 0x2cbc, 0x2ca4,
+  0x2c8d, 0x2c75, 0x2c5e, 0x2c46, 0x2c2e, 0x2c17, 0x2bff, 0x2be8,
+  0x2bd0, 0x2bb8, 0x2ba1, 0x2b89, 0x2b71, 0x2b5a, 0x2b42, 0x2b2b,
+  0x2b13, 0x2afb, 0x2ae4, 0x2acc, 0x2ab4, 0x2a9c, 0x2a85, 0x2a6d,
+  0x2a55, 0x2a3e, 0x2a26, 0x2a0e, 0x29f6, 0x29df, 0x29c7, 0x29af,
+  0x2997, 0x2980, 0x2968, 0x2950, 0x2938, 0x2920, 0x2909, 0x28f1,
+  0x28d9, 0x28c1, 0x28a9, 0x2892, 0x287a, 0x2862, 0x284a, 0x2832,
+  0x281a, 0x2802, 0x27eb, 0x27d3, 0x27bb, 0x27a3, 0x278b, 0x2773,
+  0x275b, 0x2743, 0x272b, 0x2713, 0x26fb, 0x26e4, 0x26cc, 0x26b4,
+  0x269c, 0x2684, 0x266c, 0x2654, 0x263c, 0x2624, 0x260c, 0x25f4,
+  0x25dc, 0x25c4, 0x25ac, 0x2594, 0x257c, 0x2564, 0x254c, 0x2534,
+  0x251c, 0x2503, 0x24eb, 0x24d3, 0x24bb, 0x24a3, 0x248b, 0x2473,
+  0x245b, 0x2443, 0x242b, 0x2413, 0x23fa, 0x23e2, 0x23ca, 0x23b2,
+  0x239a, 0x2382, 0x236a, 0x2352, 0x2339, 0x2321, 0x2309, 0x22f1,
+  0x22d9, 0x22c0, 0x22a8, 0x2290, 0x2278, 0x2260, 0x2247, 0x222f,
+  0x2217, 0x21ff, 0x21e7, 0x21ce, 0x21b6, 0x219e, 0x2186, 0x216d,
+  0x2155, 0x213d, 0x2125, 0x210c, 0x20f4, 0x20dc, 0x20c3, 0x20ab,
+  0x2093, 0x207a, 0x2062, 0x204a, 0x2032, 0x2019, 0x2001, 0x1fe9,
+  0x1fd0, 0x1fb8, 0x1f9f, 0x1f87, 0x1f6f, 0x1f56, 0x1f3e, 0x1f26,
+  0x1f0d, 0x1ef5, 0x1edd, 0x1ec4, 0x1eac, 0x1e93, 0x1e7b, 0x1e62,
+  0x1e4a, 0x1e32, 0x1e19, 0x1e01, 0x1de8, 0x1dd0, 0x1db7, 0x1d9f,
+  0x1d87, 0x1d6e, 0x1d56, 0x1d3d, 0x1d25, 0x1d0c, 0x1cf4, 0x1cdb,
+  0x1cc3, 0x1caa, 0x1c92, 0x1c79, 0x1c61, 0x1c48, 0x1c30, 0x1c17,
+  0x1bff, 0x1be6, 0x1bce, 0x1bb5, 0x1b9d, 0x1b84, 0x1b6c, 0x1b53,
+  0x1b3a, 0x1b22, 0x1b09, 0x1af1, 0x1ad8, 0x1ac0, 0x1aa7, 0x1a8e,
+  0x1a76, 0x1a5d, 0x1a45, 0x1a2c, 0x1a13, 0x19fb, 0x19e2, 0x19ca,
+  0x19b1, 0x1998, 0x1980, 0x1967, 0x194e, 0x1936, 0x191d, 0x1905,
+  0x18ec, 0x18d3, 0x18bb, 0x18a2, 0x1889, 0x1871, 0x1858, 0x183f,
+  0x1827, 0x180e, 0x17f5, 0x17dd, 0x17c4, 0x17ab, 0x1792, 0x177a,
+  0x1761, 0x1748, 0x1730, 0x1717, 0x16fe, 0x16e5, 0x16cd, 0x16b4,
+  0x169b, 0x1682, 0x166a, 0x1651, 0x1638, 0x161f, 0x1607, 0x15ee,
+  0x15d5, 0x15bc, 0x15a4, 0x158b, 0x1572, 0x1559, 0x1541, 0x1528,
+  0x150f, 0x14f6, 0x14dd, 0x14c5, 0x14ac, 0x1493, 0x147a, 0x1461,
+  0x1449, 0x1430, 0x1417, 0x13fe, 0x13e5, 0x13cc, 0x13b4, 0x139b,
+  0x1382, 0x1369, 0x1350, 0x1337, 0x131f, 0x1306, 0x12ed, 0x12d4,
+  0x12bb, 0x12a2, 0x1289, 0x1271, 0x1258, 0x123f, 0x1226, 0x120d,
+  0x11f4, 0x11db, 0x11c2, 0x11a9, 0x1191, 0x1178, 0x115f, 0x1146,
+  0x112d, 0x1114, 0x10fb, 0x10e2, 0x10c9, 0x10b0, 0x1098, 0x107f,
+  0x1066, 0x104d, 0x1034, 0x101b, 0x1002, 0xfe9, 0xfd0, 0xfb7,
+  0xf9e, 0xf85, 0xf6c, 0xf53, 0xf3a, 0xf21, 0xf08, 0xef0,
+  0xed7, 0xebe, 0xea5, 0xe8c, 0xe73, 0xe5a, 0xe41, 0xe28,
+  0xe0f, 0xdf6, 0xddd, 0xdc4, 0xdab, 0xd92, 0xd79, 0xd60,
+  0xd47, 0xd2e, 0xd15, 0xcfc, 0xce3, 0xcca, 0xcb1, 0xc98,
+  0xc7f, 0xc66, 0xc4d, 0xc34, 0xc1b, 0xc02, 0xbe9, 0xbd0,
+  0xbb7, 0xb9e, 0xb85, 0xb6c, 0xb53, 0xb3a, 0xb20, 0xb07,
+  0xaee, 0xad5, 0xabc, 0xaa3, 0xa8a, 0xa71, 0xa58, 0xa3f,
+  0xa26, 0xa0d, 0x9f4, 0x9db, 0x9c2, 0x9a9, 0x990, 0x977,
+  0x95e, 0x944, 0x92b, 0x912, 0x8f9, 0x8e0, 0x8c7, 0x8ae,
+  0x895, 0x87c, 0x863, 0x84a, 0x831, 0x818, 0x7fe, 0x7e5,
+  0x7cc, 0x7b3, 0x79a, 0x781, 0x768, 0x74f, 0x736, 0x71d,
+  0x704, 0x6ea, 0x6d1, 0x6b8, 0x69f, 0x686, 0x66d, 0x654,
+  0x63b, 0x622, 0x609, 0x5ef, 0x5d6, 0x5bd, 0x5a4, 0x58b,
+  0x572, 0x559, 0x540, 0x527, 0x50d, 0x4f4, 0x4db, 0x4c2,
+  0x4a9, 0x490, 0x477, 0x45e, 0x445, 0x42b, 0x412, 0x3f9,
+  0x3e0, 0x3c7, 0x3ae, 0x395, 0x37c, 0x362, 0x349, 0x330,
+  0x317, 0x2fe, 0x2e5, 0x2cc, 0x2b3, 0x299, 0x280, 0x267,
+  0x24e, 0x235, 0x21c, 0x203, 0x1ea, 0x1d0, 0x1b7, 0x19e,
+  0x185, 0x16c, 0x153, 0x13a, 0x121, 0x107, 0xee, 0xd5,
+  0xbc, 0xa3, 0x8a, 0x71, 0x57, 0x3e, 0x25, 0xc,
+
+};
+
+/**   
+ * @brief  Initialization function for the Q15 DCT4/IDCT4.  
+ * @param[in,out] *S         points to an instance of Q15 DCT4/IDCT4 structure.  
+ * @param[in]     *S_RFFT    points to an instance of Q15 RFFT/RIFFT structure.  
+ * @param[in]     *S_CFFT    points to an instance of Q15 CFFT/CIFFT structure.  
+ * @param[in]     N          length of the DCT4.  
+ * @param[in]     Nby2       half of the length of the DCT4.  
+ * @param[in]     normalize  normalizing factor.  
+ * @return  	  arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.  
+ * \par Normalizing factor:   
+ * The normalizing factor is sqrt(2/N), which depends on the size of transform N.   
+ * Normalizing factors in 1.15 format are mentioned in the table below for different DCT sizes:   
+ * \image html dct4NormalizingQ15Table.gif   
+ */
+
+arm_status arm_dct4_init_q15(
+  arm_dct4_instance_q15 * S,
+  arm_rfft_instance_q15 * S_RFFT,
+  arm_cfft_radix4_instance_q15 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  q15_t normalize)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /* Initializing the pointer array with the weight table base addresses of different lengths */
+  q15_t *twiddlePtr[3] = { (q15_t *) WeightsQ15_128, (q15_t *) WeightsQ15_512,
+    (q15_t *) WeightsQ15_2048
+  };
+
+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
+  q15_t *pCosFactor[3] =
+    { (q15_t *) cos_factorsQ15_128, (q15_t *) cos_factorsQ15_512,
+    (q15_t *) cos_factorsQ15_2048
+  };
+
+  /* Initialize the DCT4 length */
+  S->N = N;
+
+  /* Initialize the half of DCT4 length */
+  S->Nby2 = Nby2;
+
+  /* Initialize the DCT4 Normalizing factor */
+  S->normalize = normalize;
+
+  /* Initialize Real FFT Instance */
+  S->pRfft = S_RFFT;
+
+  /* Initialize Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  switch (N)
+  {
+    /* Initialize the table modifier values */
+  case 2048u:
+    S->pTwiddle = twiddlePtr[2];
+    S->pCosFactor = pCosFactor[2];
+    break;
+  case 512u:
+    S->pTwiddle = twiddlePtr[1];
+    S->pCosFactor = pCosFactor[1];
+    break;
+  case 128u:
+    S->pTwiddle = twiddlePtr[0];
+    S->pCosFactor = pCosFactor[0];
+    break;
+  default:
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+
+  /* Initialize the RFFT/RIFFT */
+  arm_rfft_init_q15(S->pRfft, S->pCfft, S->N, 0u, 1u);
+
+  /* return the status of DCT4 Init function */
+  return (status);
+}
+
+/**   
+   * @} end of DCT4_IDCT4 group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
new file mode 100644
index 000000000..78bce4ac6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_init_q31.c
@@ -0,0 +1,2198 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_dct4_init_q31.c   
+*   
+* Description:	Initialization function of DCT-4 & IDCT4 Q31   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup DCT4_IDCT4   
+ * @{   
+ */
+
+/*   
+* @brief  Weights Table   
+*/
+
+/**   
+* \par   
+* Weights tables are generated using the formula : 
    weights[n] = e^(-j*n*pi/(2*N))
       
+* \par   
+* C command to generate the table   
+* 
       
+* for(i = 0; i< N; i++)   
+* {   
+*   weights[2*i]= cos(i*c);   
+*   weights[(2*i)+1]= -sin(i * c);   
+* } 
       
+* \par   
+* where N is the Number of weights to be calculated and c is pi/(2*N)   
+* \par   
+* Convert the output to q31 format by multiplying with 2^31 and saturated if required.   
+* \par   
+* In the tables below the real and imaginary values are placed alternatively, hence the   
+* array length is 2*N.   
+*/
+
+static const q31_t WeightsQ31_128[256] = {
+  0x7fffffff, 0x0, 0x7ffd885a, 0xfe6de2e0, 0x7ff62182, 0xfcdbd541, 0x7fe9cbc0,
+  0xfb49e6a3,
+  0x7fd8878e, 0xf9b82684, 0x7fc25596, 0xf826a462, 0x7fa736b4, 0xf6956fb7,
+  0x7f872bf3, 0xf50497fb,
+  0x7f62368f, 0xf3742ca2, 0x7f3857f6, 0xf1e43d1c, 0x7f0991c4, 0xf054d8d5,
+  0x7ed5e5c6, 0xeec60f31,
+  0x7e9d55fc, 0xed37ef91, 0x7e5fe493, 0xebaa894f, 0x7e1d93ea, 0xea1debbb,
+  0x7dd6668f, 0xe8922622,
+  0x7d8a5f40, 0xe70747c4, 0x7d3980ec, 0xe57d5fda, 0x7ce3ceb2, 0xe3f47d96,
+  0x7c894bde, 0xe26cb01b,
+  0x7c29fbee, 0xe0e60685, 0x7bc5e290, 0xdf608fe4, 0x7b5d039e, 0xdddc5b3b,
+  0x7aef6323, 0xdc597781,
+  0x7a7d055b, 0xdad7f3a2, 0x7a05eead, 0xd957de7a, 0x798a23b1, 0xd7d946d8,
+  0x7909a92d, 0xd65c3b7b,
+  0x78848414, 0xd4e0cb15, 0x77fab989, 0xd3670446, 0x776c4edb, 0xd1eef59e,
+  0x76d94989, 0xd078ad9e,
+  0x7641af3d, 0xcf043ab3, 0x75a585cf, 0xcd91ab39, 0x7504d345, 0xcc210d79,
+  0x745f9dd1, 0xcab26fa9,
+  0x73b5ebd1, 0xc945dfec, 0x7307c3d0, 0xc7db6c50, 0x72552c85, 0xc67322ce,
+  0x719e2cd2, 0xc50d1149,
+  0x70e2cbc6, 0xc3a94590, 0x7023109a, 0xc247cd5a, 0x6f5f02b2, 0xc0e8b648,
+  0x6e96a99d, 0xbf8c0de3,
+  0x6dca0d14, 0xbe31e19b, 0x6cf934fc, 0xbcda3ecb, 0x6c242960, 0xbb8532b0,
+  0x6b4af279, 0xba32ca71,
+  0x6a6d98a4, 0xb8e31319, 0x698c246c, 0xb796199b, 0x68a69e81, 0xb64beacd,
+  0x67bd0fbd, 0xb5049368,
+  0x66cf8120, 0xb3c0200c, 0x65ddfbd3, 0xb27e9d3c, 0x64e88926, 0xb140175b,
+  0x63ef3290, 0xb0049ab3,
+  0x62f201ac, 0xaecc336c, 0x61f1003f, 0xad96ed92, 0x60ec3830, 0xac64d510,
+  0x5fe3b38d, 0xab35f5b5,
+  0x5ed77c8a, 0xaa0a5b2e, 0x5dc79d7c, 0xa8e21106, 0x5cb420e0, 0xa7bd22ac,
+  0x5b9d1154, 0xa69b9b68,
+  0x5a82799a, 0xa57d8666, 0x59646498, 0xa462eeac, 0x5842dd54, 0xa34bdf20,
+  0x571deefa, 0xa2386284,
+  0x55f5a4d2, 0xa1288376, 0x54ca0a4b, 0xa01c4c73, 0x539b2af0, 0x9f13c7d0,
+  0x5269126e, 0x9e0effc1,
+  0x5133cc94, 0x9d0dfe54, 0x4ffb654d, 0x9c10cd70, 0x4ebfe8a5, 0x9b1776da,
+  0x4d8162c4, 0x9a22042d,
+  0x4c3fdff4, 0x99307ee0, 0x4afb6c98, 0x9842f043, 0x49b41533, 0x9759617f,
+  0x4869e665, 0x9673db94,
+  0x471cece7, 0x9592675c, 0x45cd358f, 0x94b50d87, 0x447acd50, 0x93dbd6a0,
+  0x4325c135, 0x9306cb04,
+  0x41ce1e65, 0x9235f2ec, 0x4073f21d, 0x91695663, 0x3f1749b8, 0x90a0fd4e,
+  0x3db832a6, 0x8fdcef66,
+  0x3c56ba70, 0x8f1d343a, 0x3af2eeb7, 0x8e61d32e, 0x398cdd32, 0x8daad37b,
+  0x382493b0, 0x8cf83c30,
+  0x36ba2014, 0x8c4a142f, 0x354d9057, 0x8ba0622f, 0x33def287, 0x8afb2cbb,
+  0x326e54c7, 0x8a5a7a31,
+  0x30fbc54d, 0x89be50c3, 0x2f875262, 0x8926b677, 0x2e110a62, 0x8893b125,
+  0x2c98fbba, 0x88054677,
+  0x2b1f34eb, 0x877b7bec, 0x29a3c485, 0x86f656d3, 0x2826b928, 0x8675dc4f,
+  0x26a82186, 0x85fa1153,
+  0x25280c5e, 0x8582faa5, 0x23a6887f, 0x85109cdd, 0x2223a4c5, 0x84a2fc62,
+  0x209f701c, 0x843a1d70,
+  0x1f19f97b, 0x83d60412, 0x1d934fe5, 0x8376b422, 0x1c0b826a, 0x831c314e,
+  0x1a82a026, 0x82c67f14,
+  0x18f8b83c, 0x8275a0c0, 0x176dd9de, 0x82299971, 0x15e21445, 0x81e26c16,
+  0x145576b1, 0x81a01b6d,
+  0x12c8106f, 0x8162aa04, 0x1139f0cf, 0x812a1a3a, 0xfab272b, 0x80f66e3c,
+  0xe1bc2e4, 0x80c7a80a,
+  0xc8bd35e, 0x809dc971, 0xafb6805, 0x8078d40d, 0x96a9049, 0x8058c94c,
+  0x7d95b9e, 0x803daa6a,
+  0x647d97c, 0x80277872, 0x4b6195d, 0x80163440, 0x3242abf, 0x8009de7e,
+  0x1921d20, 0x800277a6,
+};
+
+static const q31_t WeightsQ31_512[1024] = {
+  0x7fffffff, 0x0, 0x7fffd886, 0xff9b781d, 0x7fff6216, 0xff36f078, 0x7ffe9cb2,
+  0xfed2694f,
+  0x7ffd885a, 0xfe6de2e0, 0x7ffc250f, 0xfe095d69, 0x7ffa72d1, 0xfda4d929,
+  0x7ff871a2, 0xfd40565c,
+  0x7ff62182, 0xfcdbd541, 0x7ff38274, 0xfc775616, 0x7ff09478, 0xfc12d91a,
+  0x7fed5791, 0xfbae5e89,
+  0x7fe9cbc0, 0xfb49e6a3, 0x7fe5f108, 0xfae571a4, 0x7fe1c76b, 0xfa80ffcb,
+  0x7fdd4eec, 0xfa1c9157,
+  0x7fd8878e, 0xf9b82684, 0x7fd37153, 0xf953bf91, 0x7fce0c3e, 0xf8ef5cbb,
+  0x7fc85854, 0xf88afe42,
+  0x7fc25596, 0xf826a462, 0x7fbc040a, 0xf7c24f59, 0x7fb563b3, 0xf75dff66,
+  0x7fae7495, 0xf6f9b4c6,
+  0x7fa736b4, 0xf6956fb7, 0x7f9faa15, 0xf6313077, 0x7f97cebd, 0xf5ccf743,
+  0x7f8fa4b0, 0xf568c45b,
+  0x7f872bf3, 0xf50497fb, 0x7f7e648c, 0xf4a07261, 0x7f754e80, 0xf43c53cb,
+  0x7f6be9d4, 0xf3d83c77,
+  0x7f62368f, 0xf3742ca2, 0x7f5834b7, 0xf310248a, 0x7f4de451, 0xf2ac246e,
+  0x7f434563, 0xf2482c8a,
+  0x7f3857f6, 0xf1e43d1c, 0x7f2d1c0e, 0xf1805662, 0x7f2191b4, 0xf11c789a,
+  0x7f15b8ee, 0xf0b8a401,
+  0x7f0991c4, 0xf054d8d5, 0x7efd1c3c, 0xeff11753, 0x7ef05860, 0xef8d5fb8,
+  0x7ee34636, 0xef29b243,
+  0x7ed5e5c6, 0xeec60f31, 0x7ec8371a, 0xee6276bf, 0x7eba3a39, 0xedfee92b,
+  0x7eabef2c, 0xed9b66b2,
+  0x7e9d55fc, 0xed37ef91, 0x7e8e6eb2, 0xecd48407, 0x7e7f3957, 0xec71244f,
+  0x7e6fb5f4, 0xec0dd0a8,
+  0x7e5fe493, 0xebaa894f, 0x7e4fc53e, 0xeb474e81, 0x7e3f57ff, 0xeae4207a,
+  0x7e2e9cdf, 0xea80ff7a,
+  0x7e1d93ea, 0xea1debbb, 0x7e0c3d29, 0xe9bae57d, 0x7dfa98a8, 0xe957ecfb,
+  0x7de8a670, 0xe8f50273,
+  0x7dd6668f, 0xe8922622, 0x7dc3d90d, 0xe82f5844, 0x7db0fdf8, 0xe7cc9917,
+  0x7d9dd55a, 0xe769e8d8,
+  0x7d8a5f40, 0xe70747c4, 0x7d769bb5, 0xe6a4b616, 0x7d628ac6, 0xe642340d,
+  0x7d4e2c7f, 0xe5dfc1e5,
+  0x7d3980ec, 0xe57d5fda, 0x7d24881b, 0xe51b0e2a, 0x7d0f4218, 0xe4b8cd11,
+  0x7cf9aef0, 0xe4569ccb,
+  0x7ce3ceb2, 0xe3f47d96, 0x7ccda169, 0xe3926fad, 0x7cb72724, 0xe330734d,
+  0x7ca05ff1, 0xe2ce88b3,
+  0x7c894bde, 0xe26cb01b, 0x7c71eaf9, 0xe20ae9c1, 0x7c5a3d50, 0xe1a935e2,
+  0x7c4242f2, 0xe14794ba,
+  0x7c29fbee, 0xe0e60685, 0x7c116853, 0xe0848b7f, 0x7bf88830, 0xe02323e5,
+  0x7bdf5b94, 0xdfc1cff3,
+  0x7bc5e290, 0xdf608fe4, 0x7bac1d31, 0xdeff63f4, 0x7b920b89, 0xde9e4c60,
+  0x7b77ada8, 0xde3d4964,
+  0x7b5d039e, 0xdddc5b3b, 0x7b420d7a, 0xdd7b8220, 0x7b26cb4f, 0xdd1abe51,
+  0x7b0b3d2c, 0xdcba1008,
+  0x7aef6323, 0xdc597781, 0x7ad33d45, 0xdbf8f4f8, 0x7ab6cba4, 0xdb9888a8,
+  0x7a9a0e50, 0xdb3832cd,
+  0x7a7d055b, 0xdad7f3a2, 0x7a5fb0d8, 0xda77cb63, 0x7a4210d8, 0xda17ba4a,
+  0x7a24256f, 0xd9b7c094,
+  0x7a05eead, 0xd957de7a, 0x79e76ca7, 0xd8f81439, 0x79c89f6e, 0xd898620c,
+  0x79a98715, 0xd838c82d,
+  0x798a23b1, 0xd7d946d8, 0x796a7554, 0xd779de47, 0x794a7c12, 0xd71a8eb5,
+  0x792a37fe, 0xd6bb585e,
+  0x7909a92d, 0xd65c3b7b, 0x78e8cfb2, 0xd5fd3848, 0x78c7aba2, 0xd59e4eff,
+  0x78a63d11, 0xd53f7fda,
+  0x78848414, 0xd4e0cb15, 0x786280bf, 0xd48230e9, 0x78403329, 0xd423b191,
+  0x781d9b65, 0xd3c54d47,
+  0x77fab989, 0xd3670446, 0x77d78daa, 0xd308d6c7, 0x77b417df, 0xd2aac504,
+  0x7790583e, 0xd24ccf39,
+  0x776c4edb, 0xd1eef59e, 0x7747fbce, 0xd191386e, 0x77235f2d, 0xd13397e2,
+  0x76fe790e, 0xd0d61434,
+  0x76d94989, 0xd078ad9e, 0x76b3d0b4, 0xd01b6459, 0x768e0ea6, 0xcfbe389f,
+  0x76680376, 0xcf612aaa,
+  0x7641af3d, 0xcf043ab3, 0x761b1211, 0xcea768f2, 0x75f42c0b, 0xce4ab5a2,
+  0x75ccfd42, 0xcdee20fc,
+  0x75a585cf, 0xcd91ab39, 0x757dc5ca, 0xcd355491, 0x7555bd4c, 0xccd91d3d,
+  0x752d6c6c, 0xcc7d0578,
+  0x7504d345, 0xcc210d79, 0x74dbf1ef, 0xcbc53579, 0x74b2c884, 0xcb697db0,
+  0x7489571c, 0xcb0de658,
+  0x745f9dd1, 0xcab26fa9, 0x74359cbd, 0xca5719db, 0x740b53fb, 0xc9fbe527,
+  0x73e0c3a3, 0xc9a0d1c5,
+  0x73b5ebd1, 0xc945dfec, 0x738acc9e, 0xc8eb0fd6, 0x735f6626, 0xc89061ba,
+  0x7333b883, 0xc835d5d0,
+  0x7307c3d0, 0xc7db6c50, 0x72db8828, 0xc7812572, 0x72af05a7, 0xc727016d,
+  0x72823c67, 0xc6cd0079,
+  0x72552c85, 0xc67322ce, 0x7227d61c, 0xc61968a2, 0x71fa3949, 0xc5bfd22e,
+  0x71cc5626, 0xc5665fa9,
+  0x719e2cd2, 0xc50d1149, 0x716fbd68, 0xc4b3e746, 0x71410805, 0xc45ae1d7,
+  0x71120cc5, 0xc4020133,
+  0x70e2cbc6, 0xc3a94590, 0x70b34525, 0xc350af26, 0x708378ff, 0xc2f83e2a,
+  0x70536771, 0xc29ff2d4,
+  0x7023109a, 0xc247cd5a, 0x6ff27497, 0xc1efcdf3, 0x6fc19385, 0xc197f4d4,
+  0x6f906d84, 0xc1404233,
+  0x6f5f02b2, 0xc0e8b648, 0x6f2d532c, 0xc0915148, 0x6efb5f12, 0xc03a1368,
+  0x6ec92683, 0xbfe2fcdf,
+  0x6e96a99d, 0xbf8c0de3, 0x6e63e87f, 0xbf3546a8, 0x6e30e34a, 0xbedea765,
+  0x6dfd9a1c, 0xbe88304f,
+  0x6dca0d14, 0xbe31e19b, 0x6d963c54, 0xbddbbb7f, 0x6d6227fa, 0xbd85be30,
+  0x6d2dd027, 0xbd2fe9e2,
+  0x6cf934fc, 0xbcda3ecb, 0x6cc45698, 0xbc84bd1f, 0x6c8f351c, 0xbc2f6513,
+  0x6c59d0a9, 0xbbda36dd,
+  0x6c242960, 0xbb8532b0, 0x6bee3f62, 0xbb3058c0, 0x6bb812d1, 0xbadba943,
+  0x6b81a3cd, 0xba87246d,
+  0x6b4af279, 0xba32ca71, 0x6b13fef5, 0xb9de9b83, 0x6adcc964, 0xb98a97d8,
+  0x6aa551e9, 0xb936bfa4,
+  0x6a6d98a4, 0xb8e31319, 0x6a359db9, 0xb88f926d, 0x69fd614a, 0xb83c3dd1,
+  0x69c4e37a, 0xb7e9157a,
+  0x698c246c, 0xb796199b, 0x69532442, 0xb7434a67, 0x6919e320, 0xb6f0a812,
+  0x68e06129, 0xb69e32cd,
+  0x68a69e81, 0xb64beacd, 0x686c9b4b, 0xb5f9d043, 0x683257ab, 0xb5a7e362,
+  0x67f7d3c5, 0xb556245e,
+  0x67bd0fbd, 0xb5049368, 0x67820bb7, 0xb4b330b3, 0x6746c7d8, 0xb461fc70,
+  0x670b4444, 0xb410f6d3,
+  0x66cf8120, 0xb3c0200c, 0x66937e91, 0xb36f784f, 0x66573cbb, 0xb31effcc,
+  0x661abbc5, 0xb2ceb6b5,
+  0x65ddfbd3, 0xb27e9d3c, 0x65a0fd0b, 0xb22eb392, 0x6563bf92, 0xb1def9e9,
+  0x6526438f, 0xb18f7071,
+  0x64e88926, 0xb140175b, 0x64aa907f, 0xb0f0eeda, 0x646c59bf, 0xb0a1f71d,
+  0x642de50d, 0xb0533055,
+  0x63ef3290, 0xb0049ab3, 0x63b0426d, 0xafb63667, 0x637114cc, 0xaf6803a2,
+  0x6331a9d4, 0xaf1a0293,
+  0x62f201ac, 0xaecc336c, 0x62b21c7b, 0xae7e965b, 0x6271fa69, 0xae312b92,
+  0x62319b9d, 0xade3f33e,
+  0x61f1003f, 0xad96ed92, 0x61b02876, 0xad4a1aba, 0x616f146c, 0xacfd7ae8,
+  0x612dc447, 0xacb10e4b,
+  0x60ec3830, 0xac64d510, 0x60aa7050, 0xac18cf69, 0x60686ccf, 0xabccfd83,
+  0x60262dd6, 0xab815f8d,
+  0x5fe3b38d, 0xab35f5b5, 0x5fa0fe1f, 0xaaeac02c, 0x5f5e0db3, 0xaa9fbf1e,
+  0x5f1ae274, 0xaa54f2ba,
+  0x5ed77c8a, 0xaa0a5b2e, 0x5e93dc1f, 0xa9bff8a8, 0x5e50015d, 0xa975cb57,
+  0x5e0bec6e, 0xa92bd367,
+  0x5dc79d7c, 0xa8e21106, 0x5d8314b1, 0xa8988463, 0x5d3e5237, 0xa84f2daa,
+  0x5cf95638, 0xa8060d08,
+  0x5cb420e0, 0xa7bd22ac, 0x5c6eb258, 0xa7746ec0, 0x5c290acc, 0xa72bf174,
+  0x5be32a67, 0xa6e3aaf2,
+  0x5b9d1154, 0xa69b9b68, 0x5b56bfbd, 0xa653c303, 0x5b1035cf, 0xa60c21ee,
+  0x5ac973b5, 0xa5c4b855,
+  0x5a82799a, 0xa57d8666, 0x5a3b47ab, 0xa5368c4b, 0x59f3de12, 0xa4efca31,
+  0x59ac3cfd, 0xa4a94043,
+  0x59646498, 0xa462eeac, 0x591c550e, 0xa41cd599, 0x58d40e8c, 0xa3d6f534,
+  0x588b9140, 0xa3914da8,
+  0x5842dd54, 0xa34bdf20, 0x57f9f2f8, 0xa306a9c8, 0x57b0d256, 0xa2c1adc9,
+  0x57677b9d, 0xa27ceb4f,
+  0x571deefa, 0xa2386284, 0x56d42c99, 0xa1f41392, 0x568a34a9, 0xa1affea3,
+  0x56400758, 0xa16c23e1,
+  0x55f5a4d2, 0xa1288376, 0x55ab0d46, 0xa0e51d8c, 0x556040e2, 0xa0a1f24d,
+  0x55153fd4, 0xa05f01e1,
+  0x54ca0a4b, 0xa01c4c73, 0x547ea073, 0x9fd9d22a, 0x5433027d, 0x9f979331,
+  0x53e73097, 0x9f558fb0,
+  0x539b2af0, 0x9f13c7d0, 0x534ef1b5, 0x9ed23bb9, 0x53028518, 0x9e90eb94,
+  0x52b5e546, 0x9e4fd78a,
+  0x5269126e, 0x9e0effc1, 0x521c0cc2, 0x9dce6463, 0x51ced46e, 0x9d8e0597,
+  0x518169a5, 0x9d4de385,
+  0x5133cc94, 0x9d0dfe54, 0x50e5fd6d, 0x9cce562c, 0x5097fc5e, 0x9c8eeb34,
+  0x5049c999, 0x9c4fbd93,
+  0x4ffb654d, 0x9c10cd70, 0x4faccfab, 0x9bd21af3, 0x4f5e08e3, 0x9b93a641,
+  0x4f0f1126, 0x9b556f81,
+  0x4ebfe8a5, 0x9b1776da, 0x4e708f8f, 0x9ad9bc71, 0x4e210617, 0x9a9c406e,
+  0x4dd14c6e, 0x9a5f02f5,
+  0x4d8162c4, 0x9a22042d, 0x4d31494b, 0x99e5443b, 0x4ce10034, 0x99a8c345,
+  0x4c9087b1, 0x996c816f,
+  0x4c3fdff4, 0x99307ee0, 0x4bef092d, 0x98f4bbbc, 0x4b9e0390, 0x98b93828,
+  0x4b4ccf4d, 0x987df449,
+  0x4afb6c98, 0x9842f043, 0x4aa9dba2, 0x98082c3b, 0x4a581c9e, 0x97cda855,
+  0x4a062fbd, 0x979364b5,
+  0x49b41533, 0x9759617f, 0x4961cd33, 0x971f9ed7, 0x490f57ee, 0x96e61ce0,
+  0x48bcb599, 0x96acdbbe,
+  0x4869e665, 0x9673db94, 0x4816ea86, 0x963b1c86, 0x47c3c22f, 0x96029eb6,
+  0x47706d93, 0x95ca6247,
+  0x471cece7, 0x9592675c, 0x46c9405c, 0x955aae17, 0x46756828, 0x9523369c,
+  0x4621647d, 0x94ec010b,
+  0x45cd358f, 0x94b50d87, 0x4578db93, 0x947e5c33, 0x452456bd, 0x9447ed2f,
+  0x44cfa740, 0x9411c09e,
+  0x447acd50, 0x93dbd6a0, 0x4425c923, 0x93a62f57, 0x43d09aed, 0x9370cae4,
+  0x437b42e1, 0x933ba968,
+  0x4325c135, 0x9306cb04, 0x42d0161e, 0x92d22fd9, 0x427a41d0, 0x929dd806,
+  0x42244481, 0x9269c3ac,
+  0x41ce1e65, 0x9235f2ec, 0x4177cfb1, 0x920265e4, 0x4121589b, 0x91cf1cb6,
+  0x40cab958, 0x919c1781,
+  0x4073f21d, 0x91695663, 0x401d0321, 0x9136d97d, 0x3fc5ec98, 0x9104a0ee,
+  0x3f6eaeb8, 0x90d2acd4,
+  0x3f1749b8, 0x90a0fd4e, 0x3ebfbdcd, 0x906f927c, 0x3e680b2c, 0x903e6c7b,
+  0x3e10320d, 0x900d8b69,
+  0x3db832a6, 0x8fdcef66, 0x3d600d2c, 0x8fac988f, 0x3d07c1d6, 0x8f7c8701,
+  0x3caf50da, 0x8f4cbadb,
+  0x3c56ba70, 0x8f1d343a, 0x3bfdfecd, 0x8eedf33b, 0x3ba51e29, 0x8ebef7fb,
+  0x3b4c18ba, 0x8e904298,
+  0x3af2eeb7, 0x8e61d32e, 0x3a99a057, 0x8e33a9da, 0x3a402dd2, 0x8e05c6b7,
+  0x39e6975e, 0x8dd829e4,
+  0x398cdd32, 0x8daad37b, 0x3932ff87, 0x8d7dc399, 0x38d8fe93, 0x8d50fa59,
+  0x387eda8e, 0x8d2477d8,
+  0x382493b0, 0x8cf83c30, 0x37ca2a30, 0x8ccc477d, 0x376f9e46, 0x8ca099da,
+  0x3714f02a, 0x8c753362,
+  0x36ba2014, 0x8c4a142f, 0x365f2e3b, 0x8c1f3c5d, 0x36041ad9, 0x8bf4ac05,
+  0x35a8e625, 0x8bca6343,
+  0x354d9057, 0x8ba0622f, 0x34f219a8, 0x8b76a8e4, 0x34968250, 0x8b4d377c,
+  0x343aca87, 0x8b240e11,
+  0x33def287, 0x8afb2cbb, 0x3382fa88, 0x8ad29394, 0x3326e2c3, 0x8aaa42b4,
+  0x32caab6f, 0x8a823a36,
+  0x326e54c7, 0x8a5a7a31, 0x3211df04, 0x8a3302be, 0x31b54a5e, 0x8a0bd3f5,
+  0x3158970e, 0x89e4edef,
+  0x30fbc54d, 0x89be50c3, 0x309ed556, 0x8997fc8a, 0x3041c761, 0x8971f15a,
+  0x2fe49ba7, 0x894c2f4c,
+  0x2f875262, 0x8926b677, 0x2f29ebcc, 0x890186f2, 0x2ecc681e, 0x88dca0d3,
+  0x2e6ec792, 0x88b80432,
+  0x2e110a62, 0x8893b125, 0x2db330c7, 0x886fa7c2, 0x2d553afc, 0x884be821,
+  0x2cf72939, 0x88287256,
+  0x2c98fbba, 0x88054677, 0x2c3ab2b9, 0x87e2649b, 0x2bdc4e6f, 0x87bfccd7,
+  0x2b7dcf17, 0x879d7f41,
+  0x2b1f34eb, 0x877b7bec, 0x2ac08026, 0x8759c2ef, 0x2a61b101, 0x8738545e,
+  0x2a02c7b8, 0x8717304e,
+  0x29a3c485, 0x86f656d3, 0x2944a7a2, 0x86d5c802, 0x28e5714b, 0x86b583ee,
+  0x288621b9, 0x86958aac,
+  0x2826b928, 0x8675dc4f, 0x27c737d3, 0x865678eb, 0x27679df4, 0x86376092,
+  0x2707ebc7, 0x86189359,
+  0x26a82186, 0x85fa1153, 0x26483f6c, 0x85dbda91, 0x25e845b6, 0x85bdef28,
+  0x2588349d, 0x85a04f28,
+  0x25280c5e, 0x8582faa5, 0x24c7cd33, 0x8565f1b0, 0x24677758, 0x8549345c,
+  0x24070b08, 0x852cc2bb,
+  0x23a6887f, 0x85109cdd, 0x2345eff8, 0x84f4c2d4, 0x22e541af, 0x84d934b1,
+  0x22847de0, 0x84bdf286,
+  0x2223a4c5, 0x84a2fc62, 0x21c2b69c, 0x84885258, 0x2161b3a0, 0x846df477,
+  0x21009c0c, 0x8453e2cf,
+  0x209f701c, 0x843a1d70, 0x203e300d, 0x8420a46c, 0x1fdcdc1b, 0x840777d0,
+  0x1f7b7481, 0x83ee97ad,
+  0x1f19f97b, 0x83d60412, 0x1eb86b46, 0x83bdbd0e, 0x1e56ca1e, 0x83a5c2b0,
+  0x1df5163f, 0x838e1507,
+  0x1d934fe5, 0x8376b422, 0x1d31774d, 0x835fa00f, 0x1ccf8cb3, 0x8348d8dc,
+  0x1c6d9053, 0x83325e97,
+  0x1c0b826a, 0x831c314e, 0x1ba96335, 0x83065110, 0x1b4732ef, 0x82f0bde8,
+  0x1ae4f1d6, 0x82db77e5,
+  0x1a82a026, 0x82c67f14, 0x1a203e1b, 0x82b1d381, 0x19bdcbf3, 0x829d753a,
+  0x195b49ea, 0x8289644b,
+  0x18f8b83c, 0x8275a0c0, 0x18961728, 0x82622aa6, 0x183366e9, 0x824f0208,
+  0x17d0a7bc, 0x823c26f3,
+  0x176dd9de, 0x82299971, 0x170afd8d, 0x82175990, 0x16a81305, 0x82056758,
+  0x16451a83, 0x81f3c2d7,
+  0x15e21445, 0x81e26c16, 0x157f0086, 0x81d16321, 0x151bdf86, 0x81c0a801,
+  0x14b8b17f, 0x81b03ac2,
+  0x145576b1, 0x81a01b6d, 0x13f22f58, 0x81904a0c, 0x138edbb1, 0x8180c6a9,
+  0x132b7bf9, 0x8171914e,
+  0x12c8106f, 0x8162aa04, 0x1264994e, 0x815410d4, 0x120116d5, 0x8145c5c7,
+  0x119d8941, 0x8137c8e6,
+  0x1139f0cf, 0x812a1a3a, 0x10d64dbd, 0x811cb9ca, 0x1072a048, 0x810fa7a0,
+  0x100ee8ad, 0x8102e3c4,
+  0xfab272b, 0x80f66e3c, 0xf475bff, 0x80ea4712, 0xee38766, 0x80de6e4c,
+  0xe7fa99e, 0x80d2e3f2,
+  0xe1bc2e4, 0x80c7a80a, 0xdb7d376, 0x80bcba9d, 0xd53db92, 0x80b21baf,
+  0xcefdb76, 0x80a7cb49,
+  0xc8bd35e, 0x809dc971, 0xc27c389, 0x8094162c, 0xbc3ac35, 0x808ab180,
+  0xb5f8d9f, 0x80819b74,
+  0xafb6805, 0x8078d40d, 0xa973ba5, 0x80705b50, 0xa3308bd, 0x80683143,
+  0x9cecf89, 0x806055eb,
+  0x96a9049, 0x8058c94c, 0x9064b3a, 0x80518b6b, 0x8a2009a, 0x804a9c4d,
+  0x83db0a7, 0x8043fbf6,
+  0x7d95b9e, 0x803daa6a, 0x77501be, 0x8037a7ac, 0x710a345, 0x8031f3c2,
+  0x6ac406f, 0x802c8ead,
+  0x647d97c, 0x80277872, 0x5e36ea9, 0x8022b114, 0x57f0035, 0x801e3895,
+  0x51a8e5c, 0x801a0ef8,
+  0x4b6195d, 0x80163440, 0x451a177, 0x8012a86f, 0x3ed26e6, 0x800f6b88,
+  0x388a9ea, 0x800c7d8c,
+  0x3242abf, 0x8009de7e, 0x2bfa9a4, 0x80078e5e, 0x25b26d7, 0x80058d2f,
+  0x1f6a297, 0x8003daf1,
+  0x1921d20, 0x800277a6, 0x12d96b1, 0x8001634e, 0xc90f88, 0x80009dea,
+  0x6487e3, 0x8000277a,
+};
+
+static const q31_t WeightsQ31_2048[4096] = {
+  0x7fffffff, 0x0, 0x7ffffd88, 0xffe6de05, 0x7ffff621, 0xffcdbc0b, 0x7fffe9cb,
+  0xffb49a12,
+  0x7fffd886, 0xff9b781d, 0x7fffc251, 0xff82562c, 0x7fffa72c, 0xff69343f,
+  0x7fff8719, 0xff501258,
+  0x7fff6216, 0xff36f078, 0x7fff3824, 0xff1dcea0, 0x7fff0943, 0xff04acd0,
+  0x7ffed572, 0xfeeb8b0a,
+  0x7ffe9cb2, 0xfed2694f, 0x7ffe5f03, 0xfeb947a0, 0x7ffe1c65, 0xfea025fd,
+  0x7ffdd4d7, 0xfe870467,
+  0x7ffd885a, 0xfe6de2e0, 0x7ffd36ee, 0xfe54c169, 0x7ffce093, 0xfe3ba002,
+  0x7ffc8549, 0xfe227eac,
+  0x7ffc250f, 0xfe095d69, 0x7ffbbfe6, 0xfdf03c3a, 0x7ffb55ce, 0xfdd71b1e,
+  0x7ffae6c7, 0xfdbdfa18,
+  0x7ffa72d1, 0xfda4d929, 0x7ff9f9ec, 0xfd8bb850, 0x7ff97c18, 0xfd729790,
+  0x7ff8f954, 0xfd5976e9,
+  0x7ff871a2, 0xfd40565c, 0x7ff7e500, 0xfd2735ea, 0x7ff75370, 0xfd0e1594,
+  0x7ff6bcf0, 0xfcf4f55c,
+  0x7ff62182, 0xfcdbd541, 0x7ff58125, 0xfcc2b545, 0x7ff4dbd9, 0xfca9956a,
+  0x7ff4319d, 0xfc9075af,
+  0x7ff38274, 0xfc775616, 0x7ff2ce5b, 0xfc5e36a0, 0x7ff21553, 0xfc45174e,
+  0x7ff1575d, 0xfc2bf821,
+  0x7ff09478, 0xfc12d91a, 0x7fefcca4, 0xfbf9ba39, 0x7feeffe1, 0xfbe09b80,
+  0x7fee2e30, 0xfbc77cf0,
+  0x7fed5791, 0xfbae5e89, 0x7fec7c02, 0xfb95404d, 0x7feb9b85, 0xfb7c223d,
+  0x7feab61a, 0xfb630459,
+  0x7fe9cbc0, 0xfb49e6a3, 0x7fe8dc78, 0xfb30c91b, 0x7fe7e841, 0xfb17abc2,
+  0x7fe6ef1c, 0xfafe8e9b,
+  0x7fe5f108, 0xfae571a4, 0x7fe4ee06, 0xfacc54e0, 0x7fe3e616, 0xfab3384f,
+  0x7fe2d938, 0xfa9a1bf3,
+  0x7fe1c76b, 0xfa80ffcb, 0x7fe0b0b1, 0xfa67e3da, 0x7fdf9508, 0xfa4ec821,
+  0x7fde7471, 0xfa35ac9f,
+  0x7fdd4eec, 0xfa1c9157, 0x7fdc247a, 0xfa037648, 0x7fdaf519, 0xf9ea5b75,
+  0x7fd9c0ca, 0xf9d140de,
+  0x7fd8878e, 0xf9b82684, 0x7fd74964, 0xf99f0c68, 0x7fd6064c, 0xf985f28a,
+  0x7fd4be46, 0xf96cd8ed,
+  0x7fd37153, 0xf953bf91, 0x7fd21f72, 0xf93aa676, 0x7fd0c8a3, 0xf9218d9e,
+  0x7fcf6ce8, 0xf908750a,
+  0x7fce0c3e, 0xf8ef5cbb, 0x7fcca6a7, 0xf8d644b2, 0x7fcb3c23, 0xf8bd2cef,
+  0x7fc9ccb2, 0xf8a41574,
+  0x7fc85854, 0xf88afe42, 0x7fc6df08, 0xf871e759, 0x7fc560cf, 0xf858d0bb,
+  0x7fc3dda9, 0xf83fba68,
+  0x7fc25596, 0xf826a462, 0x7fc0c896, 0xf80d8ea9, 0x7fbf36aa, 0xf7f4793e,
+  0x7fbd9fd0, 0xf7db6423,
+  0x7fbc040a, 0xf7c24f59, 0x7fba6357, 0xf7a93ae0, 0x7fb8bdb8, 0xf79026b9,
+  0x7fb7132b, 0xf77712e5,
+  0x7fb563b3, 0xf75dff66, 0x7fb3af4e, 0xf744ec3b, 0x7fb1f5fc, 0xf72bd967,
+  0x7fb037bf, 0xf712c6ea,
+  0x7fae7495, 0xf6f9b4c6, 0x7facac7f, 0xf6e0a2fa, 0x7faadf7c, 0xf6c79188,
+  0x7fa90d8e, 0xf6ae8071,
+  0x7fa736b4, 0xf6956fb7, 0x7fa55aee, 0xf67c5f59, 0x7fa37a3c, 0xf6634f59,
+  0x7fa1949e, 0xf64a3fb8,
+  0x7f9faa15, 0xf6313077, 0x7f9dbaa0, 0xf6182196, 0x7f9bc640, 0xf5ff1318,
+  0x7f99ccf4, 0xf5e604fc,
+  0x7f97cebd, 0xf5ccf743, 0x7f95cb9a, 0xf5b3e9f0, 0x7f93c38c, 0xf59add02,
+  0x7f91b694, 0xf581d07b,
+  0x7f8fa4b0, 0xf568c45b, 0x7f8d8de1, 0xf54fb8a4, 0x7f8b7227, 0xf536ad56,
+  0x7f895182, 0xf51da273,
+  0x7f872bf3, 0xf50497fb, 0x7f850179, 0xf4eb8def, 0x7f82d214, 0xf4d28451,
+  0x7f809dc5, 0xf4b97b21,
+  0x7f7e648c, 0xf4a07261, 0x7f7c2668, 0xf4876a10, 0x7f79e35a, 0xf46e6231,
+  0x7f779b62, 0xf4555ac5,
+  0x7f754e80, 0xf43c53cb, 0x7f72fcb4, 0xf4234d45, 0x7f70a5fe, 0xf40a4735,
+  0x7f6e4a5e, 0xf3f1419a,
+  0x7f6be9d4, 0xf3d83c77, 0x7f698461, 0xf3bf37cb, 0x7f671a05, 0xf3a63398,
+  0x7f64aabf, 0xf38d2fe0,
+  0x7f62368f, 0xf3742ca2, 0x7f5fbd77, 0xf35b29e0, 0x7f5d3f75, 0xf342279b,
+  0x7f5abc8a, 0xf32925d3,
+  0x7f5834b7, 0xf310248a, 0x7f55a7fa, 0xf2f723c1, 0x7f531655, 0xf2de2379,
+  0x7f507fc7, 0xf2c523b2,
+  0x7f4de451, 0xf2ac246e, 0x7f4b43f2, 0xf29325ad, 0x7f489eaa, 0xf27a2771,
+  0x7f45f47b, 0xf26129ba,
+  0x7f434563, 0xf2482c8a, 0x7f409164, 0xf22f2fe1, 0x7f3dd87c, 0xf21633c0,
+  0x7f3b1aad, 0xf1fd3829,
+  0x7f3857f6, 0xf1e43d1c, 0x7f359057, 0xf1cb429a, 0x7f32c3d1, 0xf1b248a5,
+  0x7f2ff263, 0xf1994f3d,
+  0x7f2d1c0e, 0xf1805662, 0x7f2a40d2, 0xf1675e17, 0x7f2760af, 0xf14e665c,
+  0x7f247ba5, 0xf1356f32,
+  0x7f2191b4, 0xf11c789a, 0x7f1ea2dc, 0xf1038295, 0x7f1baf1e, 0xf0ea8d24,
+  0x7f18b679, 0xf0d19848,
+  0x7f15b8ee, 0xf0b8a401, 0x7f12b67c, 0xf09fb051, 0x7f0faf25, 0xf086bd39,
+  0x7f0ca2e7, 0xf06dcaba,
+  0x7f0991c4, 0xf054d8d5, 0x7f067bba, 0xf03be78a, 0x7f0360cb, 0xf022f6da,
+  0x7f0040f6, 0xf00a06c8,
+  0x7efd1c3c, 0xeff11753, 0x7ef9f29d, 0xefd8287c, 0x7ef6c418, 0xefbf3a45,
+  0x7ef390ae, 0xefa64cae,
+  0x7ef05860, 0xef8d5fb8, 0x7eed1b2c, 0xef747365, 0x7ee9d914, 0xef5b87b5,
+  0x7ee69217, 0xef429caa,
+  0x7ee34636, 0xef29b243, 0x7edff570, 0xef10c883, 0x7edc9fc6, 0xeef7df6a,
+  0x7ed94538, 0xeedef6f9,
+  0x7ed5e5c6, 0xeec60f31, 0x7ed28171, 0xeead2813, 0x7ecf1837, 0xee9441a0,
+  0x7ecbaa1a, 0xee7b5bd9,
+  0x7ec8371a, 0xee6276bf, 0x7ec4bf36, 0xee499253, 0x7ec14270, 0xee30ae96,
+  0x7ebdc0c6, 0xee17cb88,
+  0x7eba3a39, 0xedfee92b, 0x7eb6aeca, 0xede60780, 0x7eb31e78, 0xedcd2687,
+  0x7eaf8943, 0xedb44642,
+  0x7eabef2c, 0xed9b66b2, 0x7ea85033, 0xed8287d7, 0x7ea4ac58, 0xed69a9b3,
+  0x7ea1039b, 0xed50cc46,
+  0x7e9d55fc, 0xed37ef91, 0x7e99a37c, 0xed1f1396, 0x7e95ec1a, 0xed063856,
+  0x7e922fd6, 0xeced5dd0,
+  0x7e8e6eb2, 0xecd48407, 0x7e8aa8ac, 0xecbbaafb, 0x7e86ddc6, 0xeca2d2ad,
+  0x7e830dff, 0xec89fb1e,
+  0x7e7f3957, 0xec71244f, 0x7e7b5fce, 0xec584e41, 0x7e778166, 0xec3f78f6,
+  0x7e739e1d, 0xec26a46d,
+  0x7e6fb5f4, 0xec0dd0a8, 0x7e6bc8eb, 0xebf4fda8, 0x7e67d703, 0xebdc2b6e,
+  0x7e63e03b, 0xebc359fb,
+  0x7e5fe493, 0xebaa894f, 0x7e5be40c, 0xeb91b96c, 0x7e57dea7, 0xeb78ea52,
+  0x7e53d462, 0xeb601c04,
+  0x7e4fc53e, 0xeb474e81, 0x7e4bb13c, 0xeb2e81ca, 0x7e47985b, 0xeb15b5e1,
+  0x7e437a9c, 0xeafceac6,
+  0x7e3f57ff, 0xeae4207a, 0x7e3b3083, 0xeacb56ff, 0x7e37042a, 0xeab28e56,
+  0x7e32d2f4, 0xea99c67e,
+  0x7e2e9cdf, 0xea80ff7a, 0x7e2a61ed, 0xea683949, 0x7e26221f, 0xea4f73ee,
+  0x7e21dd73, 0xea36af69,
+  0x7e1d93ea, 0xea1debbb, 0x7e194584, 0xea0528e5, 0x7e14f242, 0xe9ec66e8,
+  0x7e109a24, 0xe9d3a5c5,
+  0x7e0c3d29, 0xe9bae57d, 0x7e07db52, 0xe9a22610, 0x7e0374a0, 0xe9896781,
+  0x7dff0911, 0xe970a9ce,
+  0x7dfa98a8, 0xe957ecfb, 0x7df62362, 0xe93f3107, 0x7df1a942, 0xe92675f4,
+  0x7ded2a47, 0xe90dbbc2,
+  0x7de8a670, 0xe8f50273, 0x7de41dc0, 0xe8dc4a07, 0x7ddf9034, 0xe8c39280,
+  0x7ddafdce, 0xe8aadbde,
+  0x7dd6668f, 0xe8922622, 0x7dd1ca75, 0xe879714d, 0x7dcd2981, 0xe860bd61,
+  0x7dc883b4, 0xe8480a5d,
+  0x7dc3d90d, 0xe82f5844, 0x7dbf298d, 0xe816a716, 0x7dba7534, 0xe7fdf6d4,
+  0x7db5bc02, 0xe7e5477f,
+  0x7db0fdf8, 0xe7cc9917, 0x7dac3b15, 0xe7b3eb9f, 0x7da77359, 0xe79b3f16,
+  0x7da2a6c6, 0xe782937e,
+  0x7d9dd55a, 0xe769e8d8, 0x7d98ff17, 0xe7513f25, 0x7d9423fc, 0xe7389665,
+  0x7d8f4409, 0xe71fee99,
+  0x7d8a5f40, 0xe70747c4, 0x7d85759f, 0xe6eea1e4, 0x7d808728, 0xe6d5fcfc,
+  0x7d7b93da, 0xe6bd590d,
+  0x7d769bb5, 0xe6a4b616, 0x7d719eba, 0xe68c141a, 0x7d6c9ce9, 0xe6737319,
+  0x7d679642, 0xe65ad315,
+  0x7d628ac6, 0xe642340d, 0x7d5d7a74, 0xe6299604, 0x7d58654d, 0xe610f8f9,
+  0x7d534b50, 0xe5f85cef,
+  0x7d4e2c7f, 0xe5dfc1e5, 0x7d4908d9, 0xe5c727dd, 0x7d43e05e, 0xe5ae8ed8,
+  0x7d3eb30f, 0xe595f6d7,
+  0x7d3980ec, 0xe57d5fda, 0x7d3449f5, 0xe564c9e3, 0x7d2f0e2b, 0xe54c34f3,
+  0x7d29cd8c, 0xe533a10a,
+  0x7d24881b, 0xe51b0e2a, 0x7d1f3dd6, 0xe5027c53, 0x7d19eebf, 0xe4e9eb87,
+  0x7d149ad5, 0xe4d15bc6,
+  0x7d0f4218, 0xe4b8cd11, 0x7d09e489, 0xe4a03f69, 0x7d048228, 0xe487b2d0,
+  0x7cff1af5, 0xe46f2745,
+  0x7cf9aef0, 0xe4569ccb, 0x7cf43e1a, 0xe43e1362, 0x7ceec873, 0xe4258b0a,
+  0x7ce94dfb, 0xe40d03c6,
+  0x7ce3ceb2, 0xe3f47d96, 0x7cde4a98, 0xe3dbf87a, 0x7cd8c1ae, 0xe3c37474,
+  0x7cd333f3, 0xe3aaf184,
+  0x7ccda169, 0xe3926fad, 0x7cc80a0f, 0xe379eeed, 0x7cc26de5, 0xe3616f48,
+  0x7cbcccec, 0xe348f0bd,
+  0x7cb72724, 0xe330734d, 0x7cb17c8d, 0xe317f6fa, 0x7cabcd28, 0xe2ff7bc3,
+  0x7ca618f3, 0xe2e701ac,
+  0x7ca05ff1, 0xe2ce88b3, 0x7c9aa221, 0xe2b610da, 0x7c94df83, 0xe29d9a23,
+  0x7c8f1817, 0xe285248d,
+  0x7c894bde, 0xe26cb01b, 0x7c837ad8, 0xe2543ccc, 0x7c7da505, 0xe23bcaa2,
+  0x7c77ca65, 0xe223599e,
+  0x7c71eaf9, 0xe20ae9c1, 0x7c6c06c0, 0xe1f27b0b, 0x7c661dbc, 0xe1da0d7e,
+  0x7c602fec, 0xe1c1a11b,
+  0x7c5a3d50, 0xe1a935e2, 0x7c5445e9, 0xe190cbd4, 0x7c4e49b7, 0xe17862f3,
+  0x7c4848ba, 0xe15ffb3f,
+  0x7c4242f2, 0xe14794ba, 0x7c3c3860, 0xe12f2f63, 0x7c362904, 0xe116cb3d,
+  0x7c3014de, 0xe0fe6848,
+  0x7c29fbee, 0xe0e60685, 0x7c23de35, 0xe0cda5f5, 0x7c1dbbb3, 0xe0b54698,
+  0x7c179467, 0xe09ce871,
+  0x7c116853, 0xe0848b7f, 0x7c0b3777, 0xe06c2fc4, 0x7c0501d2, 0xe053d541,
+  0x7bfec765, 0xe03b7bf6,
+  0x7bf88830, 0xe02323e5, 0x7bf24434, 0xe00acd0e, 0x7bebfb70, 0xdff27773,
+  0x7be5ade6, 0xdfda2314,
+  0x7bdf5b94, 0xdfc1cff3, 0x7bd9047c, 0xdfa97e0f, 0x7bd2a89e, 0xdf912d6b,
+  0x7bcc47fa, 0xdf78de07,
+  0x7bc5e290, 0xdf608fe4, 0x7bbf7860, 0xdf484302, 0x7bb9096b, 0xdf2ff764,
+  0x7bb295b0, 0xdf17ad0a,
+  0x7bac1d31, 0xdeff63f4, 0x7ba59fee, 0xdee71c24, 0x7b9f1de6, 0xdeced59b,
+  0x7b989719, 0xdeb69059,
+  0x7b920b89, 0xde9e4c60, 0x7b8b7b36, 0xde8609b1, 0x7b84e61f, 0xde6dc84b,
+  0x7b7e4c45, 0xde558831,
+  0x7b77ada8, 0xde3d4964, 0x7b710a49, 0xde250be3, 0x7b6a6227, 0xde0ccfb1,
+  0x7b63b543, 0xddf494ce,
+  0x7b5d039e, 0xdddc5b3b, 0x7b564d36, 0xddc422f8, 0x7b4f920e, 0xddabec08,
+  0x7b48d225, 0xdd93b66a,
+  0x7b420d7a, 0xdd7b8220, 0x7b3b4410, 0xdd634f2b, 0x7b3475e5, 0xdd4b1d8c,
+  0x7b2da2fa, 0xdd32ed43,
+  0x7b26cb4f, 0xdd1abe51, 0x7b1feee5, 0xdd0290b8, 0x7b190dbc, 0xdcea6478,
+  0x7b1227d3, 0xdcd23993,
+  0x7b0b3d2c, 0xdcba1008, 0x7b044dc7, 0xdca1e7da, 0x7afd59a4, 0xdc89c109,
+  0x7af660c2, 0xdc719b96,
+  0x7aef6323, 0xdc597781, 0x7ae860c7, 0xdc4154cd, 0x7ae159ae, 0xdc293379,
+  0x7ada4dd8, 0xdc111388,
+  0x7ad33d45, 0xdbf8f4f8, 0x7acc27f7, 0xdbe0d7cd, 0x7ac50dec, 0xdbc8bc06,
+  0x7abdef25, 0xdbb0a1a4,
+  0x7ab6cba4, 0xdb9888a8, 0x7aafa367, 0xdb807114, 0x7aa8766f, 0xdb685ae9,
+  0x7aa144bc, 0xdb504626,
+  0x7a9a0e50, 0xdb3832cd, 0x7a92d329, 0xdb2020e0, 0x7a8b9348, 0xdb08105e,
+  0x7a844eae, 0xdaf00149,
+  0x7a7d055b, 0xdad7f3a2, 0x7a75b74f, 0xdabfe76a, 0x7a6e648a, 0xdaa7dca1,
+  0x7a670d0d, 0xda8fd349,
+  0x7a5fb0d8, 0xda77cb63, 0x7a584feb, 0xda5fc4ef, 0x7a50ea47, 0xda47bfee,
+  0x7a497feb, 0xda2fbc61,
+  0x7a4210d8, 0xda17ba4a, 0x7a3a9d0f, 0xd9ffb9a9, 0x7a332490, 0xd9e7ba7f,
+  0x7a2ba75a, 0xd9cfbccd,
+  0x7a24256f, 0xd9b7c094, 0x7a1c9ece, 0xd99fc5d4, 0x7a151378, 0xd987cc90,
+  0x7a0d836d, 0xd96fd4c7,
+  0x7a05eead, 0xd957de7a, 0x79fe5539, 0xd93fe9ab, 0x79f6b711, 0xd927f65b,
+  0x79ef1436, 0xd910048a,
+  0x79e76ca7, 0xd8f81439, 0x79dfc064, 0xd8e0256a, 0x79d80f6f, 0xd8c8381d,
+  0x79d059c8, 0xd8b04c52,
+  0x79c89f6e, 0xd898620c, 0x79c0e062, 0xd880794b, 0x79b91ca4, 0xd868920f,
+  0x79b15435, 0xd850ac5a,
+  0x79a98715, 0xd838c82d, 0x79a1b545, 0xd820e589, 0x7999dec4, 0xd809046e,
+  0x79920392, 0xd7f124dd,
+  0x798a23b1, 0xd7d946d8, 0x79823f20, 0xd7c16a5f, 0x797a55e0, 0xd7a98f73,
+  0x797267f2, 0xd791b616,
+  0x796a7554, 0xd779de47, 0x79627e08, 0xd7620808, 0x795a820e, 0xd74a335b,
+  0x79528167, 0xd732603f,
+  0x794a7c12, 0xd71a8eb5, 0x79427210, 0xd702bec0, 0x793a6361, 0xd6eaf05f,
+  0x79325006, 0xd6d32393,
+  0x792a37fe, 0xd6bb585e, 0x79221b4b, 0xd6a38ec0, 0x7919f9ec, 0xd68bc6ba,
+  0x7911d3e2, 0xd674004e,
+  0x7909a92d, 0xd65c3b7b, 0x790179cd, 0xd6447844, 0x78f945c3, 0xd62cb6a8,
+  0x78f10d0f, 0xd614f6a9,
+  0x78e8cfb2, 0xd5fd3848, 0x78e08dab, 0xd5e57b85, 0x78d846fb, 0xd5cdc062,
+  0x78cffba3, 0xd5b606e0,
+  0x78c7aba2, 0xd59e4eff, 0x78bf56f9, 0xd58698c0, 0x78b6fda8, 0xd56ee424,
+  0x78ae9fb0, 0xd557312d,
+  0x78a63d11, 0xd53f7fda, 0x789dd5cb, 0xd527d02e, 0x789569df, 0xd5102228,
+  0x788cf94c, 0xd4f875ca,
+  0x78848414, 0xd4e0cb15, 0x787c0a36, 0xd4c92209, 0x78738bb3, 0xd4b17aa8,
+  0x786b088c, 0xd499d4f2,
+  0x786280bf, 0xd48230e9, 0x7859f44f, 0xd46a8e8d, 0x7851633b, 0xd452eddf,
+  0x7848cd83, 0xd43b4ee0,
+  0x78403329, 0xd423b191, 0x7837942b, 0xd40c15f3, 0x782ef08b, 0xd3f47c06,
+  0x78264849, 0xd3dce3cd,
+  0x781d9b65, 0xd3c54d47, 0x7814e9df, 0xd3adb876, 0x780c33b8, 0xd396255a,
+  0x780378f1, 0xd37e93f4,
+  0x77fab989, 0xd3670446, 0x77f1f581, 0xd34f764f, 0x77e92cd9, 0xd337ea12,
+  0x77e05f91, 0xd3205f8f,
+  0x77d78daa, 0xd308d6c7, 0x77ceb725, 0xd2f14fba, 0x77c5dc01, 0xd2d9ca6a,
+  0x77bcfc3f, 0xd2c246d8,
+  0x77b417df, 0xd2aac504, 0x77ab2ee2, 0xd29344f0, 0x77a24148, 0xd27bc69c,
+  0x77994f11, 0xd2644a0a,
+  0x7790583e, 0xd24ccf39, 0x77875cce, 0xd235562b, 0x777e5cc3, 0xd21ddee2,
+  0x7775581d, 0xd206695d,
+  0x776c4edb, 0xd1eef59e, 0x776340ff, 0xd1d783a6, 0x775a2e89, 0xd1c01375,
+  0x77511778, 0xd1a8a50d,
+  0x7747fbce, 0xd191386e, 0x773edb8b, 0xd179cd99, 0x7735b6af, 0xd1626490,
+  0x772c8d3a, 0xd14afd52,
+  0x77235f2d, 0xd13397e2, 0x771a2c88, 0xd11c343f, 0x7710f54c, 0xd104d26b,
+  0x7707b979, 0xd0ed7267,
+  0x76fe790e, 0xd0d61434, 0x76f5340e, 0xd0beb7d2, 0x76ebea77, 0xd0a75d42,
+  0x76e29c4b, 0xd0900486,
+  0x76d94989, 0xd078ad9e, 0x76cff232, 0xd061588b, 0x76c69647, 0xd04a054e,
+  0x76bd35c7, 0xd032b3e7,
+  0x76b3d0b4, 0xd01b6459, 0x76aa670d, 0xd00416a3, 0x76a0f8d2, 0xcfeccac7,
+  0x76978605, 0xcfd580c6,
+  0x768e0ea6, 0xcfbe389f, 0x768492b4, 0xcfa6f255, 0x767b1231, 0xcf8fade9,
+  0x76718d1c, 0xcf786b5a,
+  0x76680376, 0xcf612aaa, 0x765e7540, 0xcf49ebda, 0x7654e279, 0xcf32aeeb,
+  0x764b4b23, 0xcf1b73de,
+  0x7641af3d, 0xcf043ab3, 0x76380ec8, 0xceed036b, 0x762e69c4, 0xced5ce08,
+  0x7624c031, 0xcebe9a8a,
+  0x761b1211, 0xcea768f2, 0x76115f63, 0xce903942, 0x7607a828, 0xce790b79,
+  0x75fdec60, 0xce61df99,
+  0x75f42c0b, 0xce4ab5a2, 0x75ea672a, 0xce338d97, 0x75e09dbd, 0xce1c6777,
+  0x75d6cfc5, 0xce054343,
+  0x75ccfd42, 0xcdee20fc, 0x75c32634, 0xcdd700a4, 0x75b94a9c, 0xcdbfe23a,
+  0x75af6a7b, 0xcda8c5c1,
+  0x75a585cf, 0xcd91ab39, 0x759b9c9b, 0xcd7a92a2, 0x7591aedd, 0xcd637bfe,
+  0x7587bc98, 0xcd4c674d,
+  0x757dc5ca, 0xcd355491, 0x7573ca75, 0xcd1e43ca, 0x7569ca99, 0xcd0734f9,
+  0x755fc635, 0xccf0281f,
+  0x7555bd4c, 0xccd91d3d, 0x754bafdc, 0xccc21455, 0x75419de7, 0xccab0d65,
+  0x7537876c, 0xcc940871,
+  0x752d6c6c, 0xcc7d0578, 0x75234ce8, 0xcc66047b, 0x751928e0, 0xcc4f057c,
+  0x750f0054, 0xcc38087b,
+  0x7504d345, 0xcc210d79, 0x74faa1b3, 0xcc0a1477, 0x74f06b9e, 0xcbf31d75,
+  0x74e63108, 0xcbdc2876,
+  0x74dbf1ef, 0xcbc53579, 0x74d1ae55, 0xcbae447f, 0x74c7663a, 0xcb97558a,
+  0x74bd199f, 0xcb80689a,
+  0x74b2c884, 0xcb697db0, 0x74a872e8, 0xcb5294ce, 0x749e18cd, 0xcb3badf3,
+  0x7493ba34, 0xcb24c921,
+  0x7489571c, 0xcb0de658, 0x747eef85, 0xcaf7059a, 0x74748371, 0xcae026e8,
+  0x746a12df, 0xcac94a42,
+  0x745f9dd1, 0xcab26fa9, 0x74552446, 0xca9b971e, 0x744aa63f, 0xca84c0a3,
+  0x744023bc, 0xca6dec37,
+  0x74359cbd, 0xca5719db, 0x742b1144, 0xca404992, 0x74208150, 0xca297b5a,
+  0x7415ece2, 0xca12af37,
+  0x740b53fb, 0xc9fbe527, 0x7400b69a, 0xc9e51d2d, 0x73f614c0, 0xc9ce5748,
+  0x73eb6e6e, 0xc9b7937a,
+  0x73e0c3a3, 0xc9a0d1c5, 0x73d61461, 0xc98a1227, 0x73cb60a8, 0xc97354a4,
+  0x73c0a878, 0xc95c993a,
+  0x73b5ebd1, 0xc945dfec, 0x73ab2ab4, 0xc92f28ba, 0x73a06522, 0xc91873a5,
+  0x73959b1b, 0xc901c0ae,
+  0x738acc9e, 0xc8eb0fd6, 0x737ff9ae, 0xc8d4611d, 0x73752249, 0xc8bdb485,
+  0x736a4671, 0xc8a70a0e,
+  0x735f6626, 0xc89061ba, 0x73548168, 0xc879bb89, 0x73499838, 0xc863177b,
+  0x733eaa96, 0xc84c7593,
+  0x7333b883, 0xc835d5d0, 0x7328c1ff, 0xc81f3834, 0x731dc70a, 0xc8089cbf,
+  0x7312c7a5, 0xc7f20373,
+  0x7307c3d0, 0xc7db6c50, 0x72fcbb8c, 0xc7c4d757, 0x72f1aed9, 0xc7ae4489,
+  0x72e69db7, 0xc797b3e7,
+  0x72db8828, 0xc7812572, 0x72d06e2b, 0xc76a992a, 0x72c54fc1, 0xc7540f11,
+  0x72ba2cea, 0xc73d8727,
+  0x72af05a7, 0xc727016d, 0x72a3d9f7, 0xc7107de4, 0x7298a9dd, 0xc6f9fc8d,
+  0x728d7557, 0xc6e37d69,
+  0x72823c67, 0xc6cd0079, 0x7276ff0d, 0xc6b685bd, 0x726bbd48, 0xc6a00d37,
+  0x7260771b, 0xc68996e7,
+  0x72552c85, 0xc67322ce, 0x7249dd86, 0xc65cb0ed, 0x723e8a20, 0xc6464144,
+  0x72333251, 0xc62fd3d6,
+  0x7227d61c, 0xc61968a2, 0x721c7580, 0xc602ffaa, 0x7211107e, 0xc5ec98ee,
+  0x7205a716, 0xc5d6346f,
+  0x71fa3949, 0xc5bfd22e, 0x71eec716, 0xc5a9722c, 0x71e35080, 0xc593146a,
+  0x71d7d585, 0xc57cb8e9,
+  0x71cc5626, 0xc5665fa9, 0x71c0d265, 0xc55008ab, 0x71b54a41, 0xc539b3f1,
+  0x71a9bdba, 0xc523617a,
+  0x719e2cd2, 0xc50d1149, 0x71929789, 0xc4f6c35d, 0x7186fdde, 0xc4e077b8,
+  0x717b5fd3, 0xc4ca2e5b,
+  0x716fbd68, 0xc4b3e746, 0x7164169d, 0xc49da27a, 0x71586b74, 0xc4875ff9,
+  0x714cbbeb, 0xc4711fc2,
+  0x71410805, 0xc45ae1d7, 0x71354fc0, 0xc444a639, 0x7129931f, 0xc42e6ce8,
+  0x711dd220, 0xc41835e6,
+  0x71120cc5, 0xc4020133, 0x7106430e, 0xc3ebced0, 0x70fa74fc, 0xc3d59ebe,
+  0x70eea28e, 0xc3bf70fd,
+  0x70e2cbc6, 0xc3a94590, 0x70d6f0a4, 0xc3931c76, 0x70cb1128, 0xc37cf5b0,
+  0x70bf2d53, 0xc366d140,
+  0x70b34525, 0xc350af26, 0x70a7589f, 0xc33a8f62, 0x709b67c0, 0xc32471f7,
+  0x708f728b, 0xc30e56e4,
+  0x708378ff, 0xc2f83e2a, 0x70777b1c, 0xc2e227cb, 0x706b78e3, 0xc2cc13c7,
+  0x705f7255, 0xc2b6021f,
+  0x70536771, 0xc29ff2d4, 0x70475839, 0xc289e5e7, 0x703b44ad, 0xc273db58,
+  0x702f2ccd, 0xc25dd329,
+  0x7023109a, 0xc247cd5a, 0x7016f014, 0xc231c9ec, 0x700acb3c, 0xc21bc8e1,
+  0x6ffea212, 0xc205ca38,
+  0x6ff27497, 0xc1efcdf3, 0x6fe642ca, 0xc1d9d412, 0x6fda0cae, 0xc1c3dc97,
+  0x6fcdd241, 0xc1ade781,
+  0x6fc19385, 0xc197f4d4, 0x6fb5507a, 0xc182048d, 0x6fa90921, 0xc16c16b0,
+  0x6f9cbd79, 0xc1562b3d,
+  0x6f906d84, 0xc1404233, 0x6f841942, 0xc12a5b95, 0x6f77c0b3, 0xc1147764,
+  0x6f6b63d8, 0xc0fe959f,
+  0x6f5f02b2, 0xc0e8b648, 0x6f529d40, 0xc0d2d960, 0x6f463383, 0xc0bcfee7,
+  0x6f39c57d, 0xc0a726df,
+  0x6f2d532c, 0xc0915148, 0x6f20dc92, 0xc07b7e23, 0x6f1461b0, 0xc065ad70,
+  0x6f07e285, 0xc04fdf32,
+  0x6efb5f12, 0xc03a1368, 0x6eeed758, 0xc0244a14, 0x6ee24b57, 0xc00e8336,
+  0x6ed5bb10, 0xbff8bece,
+  0x6ec92683, 0xbfe2fcdf, 0x6ebc8db0, 0xbfcd3d69, 0x6eaff099, 0xbfb7806c,
+  0x6ea34f3d, 0xbfa1c5ea,
+  0x6e96a99d, 0xbf8c0de3, 0x6e89ffb9, 0xbf765858, 0x6e7d5193, 0xbf60a54a,
+  0x6e709f2a, 0xbf4af4ba,
+  0x6e63e87f, 0xbf3546a8, 0x6e572d93, 0xbf1f9b16, 0x6e4a6e66, 0xbf09f205,
+  0x6e3daaf8, 0xbef44b74,
+  0x6e30e34a, 0xbedea765, 0x6e24175c, 0xbec905d9, 0x6e174730, 0xbeb366d1,
+  0x6e0a72c5, 0xbe9dca4e,
+  0x6dfd9a1c, 0xbe88304f, 0x6df0bd35, 0xbe7298d7, 0x6de3dc11, 0xbe5d03e6,
+  0x6dd6f6b1, 0xbe47717c,
+  0x6dca0d14, 0xbe31e19b, 0x6dbd1f3c, 0xbe1c5444, 0x6db02d29, 0xbe06c977,
+  0x6da336dc, 0xbdf14135,
+  0x6d963c54, 0xbddbbb7f, 0x6d893d93, 0xbdc63856, 0x6d7c3a98, 0xbdb0b7bb,
+  0x6d6f3365, 0xbd9b39ad,
+  0x6d6227fa, 0xbd85be30, 0x6d551858, 0xbd704542, 0x6d48047e, 0xbd5acee5,
+  0x6d3aec6e, 0xbd455b1a,
+  0x6d2dd027, 0xbd2fe9e2, 0x6d20afac, 0xbd1a7b3d, 0x6d138afb, 0xbd050f2c,
+  0x6d066215, 0xbcefa5b0,
+  0x6cf934fc, 0xbcda3ecb, 0x6cec03af, 0xbcc4da7b, 0x6cdece2f, 0xbcaf78c4,
+  0x6cd1947c, 0xbc9a19a5,
+  0x6cc45698, 0xbc84bd1f, 0x6cb71482, 0xbc6f6333, 0x6ca9ce3b, 0xbc5a0be2,
+  0x6c9c83c3, 0xbc44b72c,
+  0x6c8f351c, 0xbc2f6513, 0x6c81e245, 0xbc1a1598, 0x6c748b3f, 0xbc04c8ba,
+  0x6c67300b, 0xbbef7e7c,
+  0x6c59d0a9, 0xbbda36dd, 0x6c4c6d1a, 0xbbc4f1df, 0x6c3f055d, 0xbbafaf82,
+  0x6c319975, 0xbb9a6fc7,
+  0x6c242960, 0xbb8532b0, 0x6c16b521, 0xbb6ff83c, 0x6c093cb6, 0xbb5ac06d,
+  0x6bfbc021, 0xbb458b43,
+  0x6bee3f62, 0xbb3058c0, 0x6be0ba7b, 0xbb1b28e4, 0x6bd3316a, 0xbb05fbb0,
+  0x6bc5a431, 0xbaf0d125,
+  0x6bb812d1, 0xbadba943, 0x6baa7d49, 0xbac6840c, 0x6b9ce39b, 0xbab16180,
+  0x6b8f45c7, 0xba9c41a0,
+  0x6b81a3cd, 0xba87246d, 0x6b73fdae, 0xba7209e7, 0x6b66536b, 0xba5cf210,
+  0x6b58a503, 0xba47dce8,
+  0x6b4af279, 0xba32ca71, 0x6b3d3bcb, 0xba1dbaaa, 0x6b2f80fb, 0xba08ad95,
+  0x6b21c208, 0xb9f3a332,
+  0x6b13fef5, 0xb9de9b83, 0x6b0637c1, 0xb9c99688, 0x6af86c6c, 0xb9b49442,
+  0x6aea9cf8, 0xb99f94b2,
+  0x6adcc964, 0xb98a97d8, 0x6acef1b2, 0xb9759db6, 0x6ac115e2, 0xb960a64c,
+  0x6ab335f4, 0xb94bb19b,
+  0x6aa551e9, 0xb936bfa4, 0x6a9769c1, 0xb921d067, 0x6a897d7d, 0xb90ce3e6,
+  0x6a7b8d1e, 0xb8f7fa21,
+  0x6a6d98a4, 0xb8e31319, 0x6a5fa010, 0xb8ce2ecf, 0x6a51a361, 0xb8b94d44,
+  0x6a43a29a, 0xb8a46e78,
+  0x6a359db9, 0xb88f926d, 0x6a2794c1, 0xb87ab922, 0x6a1987b0, 0xb865e299,
+  0x6a0b7689, 0xb8510ed4,
+  0x69fd614a, 0xb83c3dd1, 0x69ef47f6, 0xb8276f93, 0x69e12a8c, 0xb812a41a,
+  0x69d3090e, 0xb7fddb67,
+  0x69c4e37a, 0xb7e9157a, 0x69b6b9d3, 0xb7d45255, 0x69a88c19, 0xb7bf91f8,
+  0x699a5a4c, 0xb7aad465,
+  0x698c246c, 0xb796199b, 0x697dea7b, 0xb781619c, 0x696fac78, 0xb76cac69,
+  0x69616a65, 0xb757fa01,
+  0x69532442, 0xb7434a67, 0x6944da10, 0xb72e9d9b, 0x69368bce, 0xb719f39e,
+  0x6928397e, 0xb7054c6f,
+  0x6919e320, 0xb6f0a812, 0x690b88b5, 0xb6dc0685, 0x68fd2a3d, 0xb6c767ca,
+  0x68eec7b9, 0xb6b2cbe2,
+  0x68e06129, 0xb69e32cd, 0x68d1f68f, 0xb6899c8d, 0x68c387e9, 0xb6750921,
+  0x68b5153a, 0xb660788c,
+  0x68a69e81, 0xb64beacd, 0x689823bf, 0xb6375fe5, 0x6889a4f6, 0xb622d7d6,
+  0x687b2224, 0xb60e529f,
+  0x686c9b4b, 0xb5f9d043, 0x685e106c, 0xb5e550c1, 0x684f8186, 0xb5d0d41a,
+  0x6840ee9b, 0xb5bc5a50,
+  0x683257ab, 0xb5a7e362, 0x6823bcb7, 0xb5936f53, 0x68151dbe, 0xb57efe22,
+  0x68067ac3, 0xb56a8fd0,
+  0x67f7d3c5, 0xb556245e, 0x67e928c5, 0xb541bbcd, 0x67da79c3, 0xb52d561e,
+  0x67cbc6c0, 0xb518f351,
+  0x67bd0fbd, 0xb5049368, 0x67ae54ba, 0xb4f03663, 0x679f95b7, 0xb4dbdc42,
+  0x6790d2b6, 0xb4c78507,
+  0x67820bb7, 0xb4b330b3, 0x677340ba, 0xb49edf45, 0x676471c0, 0xb48a90c0,
+  0x67559eca, 0xb4764523,
+  0x6746c7d8, 0xb461fc70, 0x6737ecea, 0xb44db6a8, 0x67290e02, 0xb43973ca,
+  0x671a2b20, 0xb42533d8,
+  0x670b4444, 0xb410f6d3, 0x66fc596f, 0xb3fcbcbb, 0x66ed6aa1, 0xb3e88592,
+  0x66de77dc, 0xb3d45157,
+  0x66cf8120, 0xb3c0200c, 0x66c0866d, 0xb3abf1b2, 0x66b187c3, 0xb397c649,
+  0x66a28524, 0xb3839dd3,
+  0x66937e91, 0xb36f784f, 0x66847408, 0xb35b55bf, 0x6675658c, 0xb3473623,
+  0x6666531d, 0xb333197c,
+  0x66573cbb, 0xb31effcc, 0x66482267, 0xb30ae912, 0x66390422, 0xb2f6d550,
+  0x6629e1ec, 0xb2e2c486,
+  0x661abbc5, 0xb2ceb6b5, 0x660b91af, 0xb2baabde, 0x65fc63a9, 0xb2a6a402,
+  0x65ed31b5, 0xb2929f21,
+  0x65ddfbd3, 0xb27e9d3c, 0x65cec204, 0xb26a9e54, 0x65bf8447, 0xb256a26a,
+  0x65b0429f, 0xb242a97e,
+  0x65a0fd0b, 0xb22eb392, 0x6591b38c, 0xb21ac0a6, 0x65826622, 0xb206d0ba,
+  0x657314cf, 0xb1f2e3d0,
+  0x6563bf92, 0xb1def9e9, 0x6554666d, 0xb1cb1304, 0x6545095f, 0xb1b72f23,
+  0x6535a86b, 0xb1a34e47,
+  0x6526438f, 0xb18f7071, 0x6516dacd, 0xb17b95a0, 0x65076e25, 0xb167bdd7,
+  0x64f7fd98, 0xb153e915,
+  0x64e88926, 0xb140175b, 0x64d910d1, 0xb12c48ab, 0x64c99498, 0xb1187d05,
+  0x64ba147d, 0xb104b46a,
+  0x64aa907f, 0xb0f0eeda, 0x649b08a0, 0xb0dd2c56, 0x648b7ce0, 0xb0c96ce0,
+  0x647bed3f, 0xb0b5b077,
+  0x646c59bf, 0xb0a1f71d, 0x645cc260, 0xb08e40d2, 0x644d2722, 0xb07a8d97,
+  0x643d8806, 0xb066dd6d,
+  0x642de50d, 0xb0533055, 0x641e3e38, 0xb03f864f, 0x640e9386, 0xb02bdf5c,
+  0x63fee4f8, 0xb0183b7d,
+  0x63ef3290, 0xb0049ab3, 0x63df7c4d, 0xaff0fcfe, 0x63cfc231, 0xafdd625f,
+  0x63c0043b, 0xafc9cad7,
+  0x63b0426d, 0xafb63667, 0x63a07cc7, 0xafa2a50f, 0x6390b34a, 0xaf8f16d1,
+  0x6380e5f6, 0xaf7b8bac,
+  0x637114cc, 0xaf6803a2, 0x63613fcd, 0xaf547eb3, 0x635166f9, 0xaf40fce1,
+  0x63418a50, 0xaf2d7e2b,
+  0x6331a9d4, 0xaf1a0293, 0x6321c585, 0xaf068a1a, 0x6311dd64, 0xaef314c0,
+  0x6301f171, 0xaedfa285,
+  0x62f201ac, 0xaecc336c, 0x62e20e17, 0xaeb8c774, 0x62d216b3, 0xaea55e9e,
+  0x62c21b7e, 0xae91f8eb,
+  0x62b21c7b, 0xae7e965b, 0x62a219aa, 0xae6b36f0, 0x6292130c, 0xae57daab,
+  0x628208a1, 0xae44818b,
+  0x6271fa69, 0xae312b92, 0x6261e866, 0xae1dd8c0, 0x6251d298, 0xae0a8916,
+  0x6241b8ff, 0xadf73c96,
+  0x62319b9d, 0xade3f33e, 0x62217a72, 0xadd0ad12, 0x6211557e, 0xadbd6a10,
+  0x62012cc2, 0xadaa2a3b,
+  0x61f1003f, 0xad96ed92, 0x61e0cff5, 0xad83b416, 0x61d09be5, 0xad707dc8,
+  0x61c06410, 0xad5d4aaa,
+  0x61b02876, 0xad4a1aba, 0x619fe918, 0xad36edfc, 0x618fa5f7, 0xad23c46e,
+  0x617f5f12, 0xad109e12,
+  0x616f146c, 0xacfd7ae8, 0x615ec603, 0xacea5af2, 0x614e73da, 0xacd73e30,
+  0x613e1df0, 0xacc424a3,
+  0x612dc447, 0xacb10e4b, 0x611d66de, 0xac9dfb29, 0x610d05b7, 0xac8aeb3e,
+  0x60fca0d2, 0xac77de8b,
+  0x60ec3830, 0xac64d510, 0x60dbcbd1, 0xac51cecf, 0x60cb5bb7, 0xac3ecbc7,
+  0x60bae7e1, 0xac2bcbfa,
+  0x60aa7050, 0xac18cf69, 0x6099f505, 0xac05d613, 0x60897601, 0xabf2dffb,
+  0x6078f344, 0xabdfed1f,
+  0x60686ccf, 0xabccfd83, 0x6057e2a2, 0xabba1125, 0x604754bf, 0xaba72807,
+  0x6036c325, 0xab944229,
+  0x60262dd6, 0xab815f8d, 0x601594d1, 0xab6e8032, 0x6004f819, 0xab5ba41a,
+  0x5ff457ad, 0xab48cb46,
+  0x5fe3b38d, 0xab35f5b5, 0x5fd30bbc, 0xab23236a, 0x5fc26038, 0xab105464,
+  0x5fb1b104, 0xaafd88a4,
+  0x5fa0fe1f, 0xaaeac02c, 0x5f90478a, 0xaad7fafb, 0x5f7f8d46, 0xaac53912,
+  0x5f6ecf53, 0xaab27a73,
+  0x5f5e0db3, 0xaa9fbf1e, 0x5f4d4865, 0xaa8d0713, 0x5f3c7f6b, 0xaa7a5253,
+  0x5f2bb2c5, 0xaa67a0e0,
+  0x5f1ae274, 0xaa54f2ba, 0x5f0a0e77, 0xaa4247e1, 0x5ef936d1, 0xaa2fa056,
+  0x5ee85b82, 0xaa1cfc1a,
+  0x5ed77c8a, 0xaa0a5b2e, 0x5ec699e9, 0xa9f7bd92, 0x5eb5b3a2, 0xa9e52347,
+  0x5ea4c9b3, 0xa9d28c4e,
+  0x5e93dc1f, 0xa9bff8a8, 0x5e82eae5, 0xa9ad6855, 0x5e71f606, 0xa99adb56,
+  0x5e60fd84, 0xa98851ac,
+  0x5e50015d, 0xa975cb57, 0x5e3f0194, 0xa9634858, 0x5e2dfe29, 0xa950c8b0,
+  0x5e1cf71c, 0xa93e4c5f,
+  0x5e0bec6e, 0xa92bd367, 0x5dfade20, 0xa9195dc7, 0x5de9cc33, 0xa906eb82,
+  0x5dd8b6a7, 0xa8f47c97,
+  0x5dc79d7c, 0xa8e21106, 0x5db680b4, 0xa8cfa8d2, 0x5da5604f, 0xa8bd43fa,
+  0x5d943c4e, 0xa8aae280,
+  0x5d8314b1, 0xa8988463, 0x5d71e979, 0xa88629a5, 0x5d60baa7, 0xa873d246,
+  0x5d4f883b, 0xa8617e48,
+  0x5d3e5237, 0xa84f2daa, 0x5d2d189a, 0xa83ce06e, 0x5d1bdb65, 0xa82a9693,
+  0x5d0a9a9a, 0xa818501c,
+  0x5cf95638, 0xa8060d08, 0x5ce80e41, 0xa7f3cd59, 0x5cd6c2b5, 0xa7e1910f,
+  0x5cc57394, 0xa7cf582a,
+  0x5cb420e0, 0xa7bd22ac, 0x5ca2ca99, 0xa7aaf094, 0x5c9170bf, 0xa798c1e5,
+  0x5c801354, 0xa786969e,
+  0x5c6eb258, 0xa7746ec0, 0x5c5d4dcc, 0xa7624a4d, 0x5c4be5b0, 0xa7502943,
+  0x5c3a7a05, 0xa73e0ba5,
+  0x5c290acc, 0xa72bf174, 0x5c179806, 0xa719daae, 0x5c0621b2, 0xa707c757,
+  0x5bf4a7d2, 0xa6f5b76d,
+  0x5be32a67, 0xa6e3aaf2, 0x5bd1a971, 0xa6d1a1e7, 0x5bc024f0, 0xa6bf9c4b,
+  0x5bae9ce7, 0xa6ad9a21,
+  0x5b9d1154, 0xa69b9b68, 0x5b8b8239, 0xa689a022, 0x5b79ef96, 0xa677a84e,
+  0x5b68596d, 0xa665b3ee,
+  0x5b56bfbd, 0xa653c303, 0x5b452288, 0xa641d58c, 0x5b3381ce, 0xa62feb8b,
+  0x5b21dd90, 0xa61e0501,
+  0x5b1035cf, 0xa60c21ee, 0x5afe8a8b, 0xa5fa4252, 0x5aecdbc5, 0xa5e8662f,
+  0x5adb297d, 0xa5d68d85,
+  0x5ac973b5, 0xa5c4b855, 0x5ab7ba6c, 0xa5b2e6a0, 0x5aa5fda5, 0xa5a11866,
+  0x5a943d5e, 0xa58f4da8,
+  0x5a82799a, 0xa57d8666, 0x5a70b258, 0xa56bc2a2, 0x5a5ee79a, 0xa55a025b,
+  0x5a4d1960, 0xa5484594,
+  0x5a3b47ab, 0xa5368c4b, 0x5a29727b, 0xa524d683, 0x5a1799d1, 0xa513243b,
+  0x5a05bdae, 0xa5017575,
+  0x59f3de12, 0xa4efca31, 0x59e1faff, 0xa4de2270, 0x59d01475, 0xa4cc7e32,
+  0x59be2a74, 0xa4badd78,
+  0x59ac3cfd, 0xa4a94043, 0x599a4c12, 0xa497a693, 0x598857b2, 0xa486106a,
+  0x59765fde, 0xa4747dc7,
+  0x59646498, 0xa462eeac, 0x595265df, 0xa4516319, 0x594063b5, 0xa43fdb10,
+  0x592e5e19, 0xa42e568f,
+  0x591c550e, 0xa41cd599, 0x590a4893, 0xa40b582e, 0x58f838a9, 0xa3f9de4e,
+  0x58e62552, 0xa3e867fa,
+  0x58d40e8c, 0xa3d6f534, 0x58c1f45b, 0xa3c585fb, 0x58afd6bd, 0xa3b41a50,
+  0x589db5b3, 0xa3a2b234,
+  0x588b9140, 0xa3914da8, 0x58796962, 0xa37fecac, 0x58673e1b, 0xa36e8f41,
+  0x58550f6c, 0xa35d3567,
+  0x5842dd54, 0xa34bdf20, 0x5830a7d6, 0xa33a8c6c, 0x581e6ef1, 0xa3293d4b,
+  0x580c32a7, 0xa317f1bf,
+  0x57f9f2f8, 0xa306a9c8, 0x57e7afe4, 0xa2f56566, 0x57d5696d, 0xa2e4249b,
+  0x57c31f92, 0xa2d2e766,
+  0x57b0d256, 0xa2c1adc9, 0x579e81b8, 0xa2b077c5, 0x578c2dba, 0xa29f4559,
+  0x5779d65b, 0xa28e1687,
+  0x57677b9d, 0xa27ceb4f, 0x57551d80, 0xa26bc3b2, 0x5742bc06, 0xa25a9fb1,
+  0x5730572e, 0xa2497f4c,
+  0x571deefa, 0xa2386284, 0x570b8369, 0xa2274959, 0x56f9147e, 0xa21633cd,
+  0x56e6a239, 0xa20521e0,
+  0x56d42c99, 0xa1f41392, 0x56c1b3a1, 0xa1e308e4, 0x56af3750, 0xa1d201d7,
+  0x569cb7a8, 0xa1c0fe6c,
+  0x568a34a9, 0xa1affea3, 0x5677ae54, 0xa19f027c, 0x566524aa, 0xa18e09fa,
+  0x565297ab, 0xa17d151b,
+  0x56400758, 0xa16c23e1, 0x562d73b2, 0xa15b364d, 0x561adcb9, 0xa14a4c5e,
+  0x5608426e, 0xa1396617,
+  0x55f5a4d2, 0xa1288376, 0x55e303e6, 0xa117a47e, 0x55d05faa, 0xa106c92f,
+  0x55bdb81f, 0xa0f5f189,
+  0x55ab0d46, 0xa0e51d8c, 0x55985f20, 0xa0d44d3b, 0x5585adad, 0xa0c38095,
+  0x5572f8ed, 0xa0b2b79b,
+  0x556040e2, 0xa0a1f24d, 0x554d858d, 0xa09130ad, 0x553ac6ee, 0xa08072ba,
+  0x55280505, 0xa06fb876,
+  0x55153fd4, 0xa05f01e1, 0x5502775c, 0xa04e4efc, 0x54efab9c, 0xa03d9fc8,
+  0x54dcdc96, 0xa02cf444,
+  0x54ca0a4b, 0xa01c4c73, 0x54b734ba, 0xa00ba853, 0x54a45be6, 0x9ffb07e7,
+  0x54917fce, 0x9fea6b2f,
+  0x547ea073, 0x9fd9d22a, 0x546bbdd7, 0x9fc93cdb, 0x5458d7f9, 0x9fb8ab41,
+  0x5445eedb, 0x9fa81d5e,
+  0x5433027d, 0x9f979331, 0x542012e1, 0x9f870cbc, 0x540d2005, 0x9f7689ff,
+  0x53fa29ed, 0x9f660afb,
+  0x53e73097, 0x9f558fb0, 0x53d43406, 0x9f45181f, 0x53c13439, 0x9f34a449,
+  0x53ae3131, 0x9f24342f,
+  0x539b2af0, 0x9f13c7d0, 0x53882175, 0x9f035f2e, 0x537514c2, 0x9ef2fa49,
+  0x536204d7, 0x9ee29922,
+  0x534ef1b5, 0x9ed23bb9, 0x533bdb5d, 0x9ec1e210, 0x5328c1d0, 0x9eb18c26,
+  0x5315a50e, 0x9ea139fd,
+  0x53028518, 0x9e90eb94, 0x52ef61ee, 0x9e80a0ee, 0x52dc3b92, 0x9e705a09,
+  0x52c91204, 0x9e6016e8,
+  0x52b5e546, 0x9e4fd78a, 0x52a2b556, 0x9e3f9bf0, 0x528f8238, 0x9e2f641b,
+  0x527c4bea, 0x9e1f300b,
+  0x5269126e, 0x9e0effc1, 0x5255d5c5, 0x9dfed33e, 0x524295f0, 0x9deeaa82,
+  0x522f52ee, 0x9dde858e,
+  0x521c0cc2, 0x9dce6463, 0x5208c36a, 0x9dbe4701, 0x51f576ea, 0x9dae2d68,
+  0x51e22740, 0x9d9e179a,
+  0x51ced46e, 0x9d8e0597, 0x51bb7e75, 0x9d7df75f, 0x51a82555, 0x9d6decf4,
+  0x5194c910, 0x9d5de656,
+  0x518169a5, 0x9d4de385, 0x516e0715, 0x9d3de482, 0x515aa162, 0x9d2de94d,
+  0x5147388c, 0x9d1df1e9,
+  0x5133cc94, 0x9d0dfe54, 0x51205d7b, 0x9cfe0e8f, 0x510ceb40, 0x9cee229c,
+  0x50f975e6, 0x9cde3a7b,
+  0x50e5fd6d, 0x9cce562c, 0x50d281d5, 0x9cbe75b0, 0x50bf031f, 0x9cae9907,
+  0x50ab814d, 0x9c9ec033,
+  0x5097fc5e, 0x9c8eeb34, 0x50847454, 0x9c7f1a0a, 0x5070e92f, 0x9c6f4cb6,
+  0x505d5af1, 0x9c5f8339,
+  0x5049c999, 0x9c4fbd93, 0x50363529, 0x9c3ffbc5, 0x50229da1, 0x9c303dcf,
+  0x500f0302, 0x9c2083b3,
+  0x4ffb654d, 0x9c10cd70, 0x4fe7c483, 0x9c011b08, 0x4fd420a4, 0x9bf16c7a,
+  0x4fc079b1, 0x9be1c1c8,
+  0x4faccfab, 0x9bd21af3, 0x4f992293, 0x9bc277fa, 0x4f857269, 0x9bb2d8de,
+  0x4f71bf2e, 0x9ba33da0,
+  0x4f5e08e3, 0x9b93a641, 0x4f4a4f89, 0x9b8412c1, 0x4f369320, 0x9b748320,
+  0x4f22d3aa, 0x9b64f760,
+  0x4f0f1126, 0x9b556f81, 0x4efb4b96, 0x9b45eb83, 0x4ee782fb, 0x9b366b68,
+  0x4ed3b755, 0x9b26ef2f,
+  0x4ebfe8a5, 0x9b1776da, 0x4eac16eb, 0x9b080268, 0x4e984229, 0x9af891db,
+  0x4e846a60, 0x9ae92533,
+  0x4e708f8f, 0x9ad9bc71, 0x4e5cb1b9, 0x9aca5795, 0x4e48d0dd, 0x9abaf6a1,
+  0x4e34ecfc, 0x9aab9993,
+  0x4e210617, 0x9a9c406e, 0x4e0d1c30, 0x9a8ceb31, 0x4df92f46, 0x9a7d99de,
+  0x4de53f5a, 0x9a6e4c74,
+  0x4dd14c6e, 0x9a5f02f5, 0x4dbd5682, 0x9a4fbd61, 0x4da95d96, 0x9a407bb9,
+  0x4d9561ac, 0x9a313dfc,
+  0x4d8162c4, 0x9a22042d, 0x4d6d60df, 0x9a12ce4b, 0x4d595bfe, 0x9a039c57,
+  0x4d455422, 0x99f46e51,
+  0x4d31494b, 0x99e5443b, 0x4d1d3b7a, 0x99d61e14, 0x4d092ab0, 0x99c6fbde,
+  0x4cf516ee, 0x99b7dd99,
+  0x4ce10034, 0x99a8c345, 0x4ccce684, 0x9999ace3, 0x4cb8c9dd, 0x998a9a74,
+  0x4ca4aa41, 0x997b8bf8,
+  0x4c9087b1, 0x996c816f, 0x4c7c622d, 0x995d7adc, 0x4c6839b7, 0x994e783d,
+  0x4c540e4e, 0x993f7993,
+  0x4c3fdff4, 0x99307ee0, 0x4c2baea9, 0x99218824, 0x4c177a6e, 0x9912955f,
+  0x4c034345, 0x9903a691,
+  0x4bef092d, 0x98f4bbbc, 0x4bdacc28, 0x98e5d4e0, 0x4bc68c36, 0x98d6f1fe,
+  0x4bb24958, 0x98c81316,
+  0x4b9e0390, 0x98b93828, 0x4b89badd, 0x98aa6136, 0x4b756f40, 0x989b8e40,
+  0x4b6120bb, 0x988cbf46,
+  0x4b4ccf4d, 0x987df449, 0x4b387af9, 0x986f2d4a, 0x4b2423be, 0x98606a49,
+  0x4b0fc99d, 0x9851ab46,
+  0x4afb6c98, 0x9842f043, 0x4ae70caf, 0x98343940, 0x4ad2a9e2, 0x9825863d,
+  0x4abe4433, 0x9816d73b,
+  0x4aa9dba2, 0x98082c3b, 0x4a957030, 0x97f9853d, 0x4a8101de, 0x97eae242,
+  0x4a6c90ad, 0x97dc4349,
+  0x4a581c9e, 0x97cda855, 0x4a43a5b0, 0x97bf1165, 0x4a2f2be6, 0x97b07e7a,
+  0x4a1aaf3f, 0x97a1ef94,
+  0x4a062fbd, 0x979364b5, 0x49f1ad61, 0x9784dddc, 0x49dd282a, 0x97765b0a,
+  0x49c8a01b, 0x9767dc41,
+  0x49b41533, 0x9759617f, 0x499f8774, 0x974aeac6, 0x498af6df, 0x973c7817,
+  0x49766373, 0x972e0971,
+  0x4961cd33, 0x971f9ed7, 0x494d341e, 0x97113847, 0x49389836, 0x9702d5c3,
+  0x4923f97b, 0x96f4774b,
+  0x490f57ee, 0x96e61ce0, 0x48fab391, 0x96d7c682, 0x48e60c62, 0x96c97432,
+  0x48d16265, 0x96bb25f0,
+  0x48bcb599, 0x96acdbbe, 0x48a805ff, 0x969e959b, 0x48935397, 0x96905388,
+  0x487e9e64, 0x96821585,
+  0x4869e665, 0x9673db94, 0x48552b9b, 0x9665a5b4, 0x48406e08, 0x965773e7,
+  0x482badab, 0x9649462d,
+  0x4816ea86, 0x963b1c86, 0x48022499, 0x962cf6f2, 0x47ed5be6, 0x961ed574,
+  0x47d8906d, 0x9610b80a,
+  0x47c3c22f, 0x96029eb6, 0x47aef12c, 0x95f48977, 0x479a1d67, 0x95e67850,
+  0x478546de, 0x95d86b3f,
+  0x47706d93, 0x95ca6247, 0x475b9188, 0x95bc5d66, 0x4746b2bc, 0x95ae5c9f,
+  0x4731d131, 0x95a05ff0,
+  0x471cece7, 0x9592675c, 0x470805df, 0x958472e2, 0x46f31c1a, 0x95768283,
+  0x46de2f99, 0x9568963f,
+  0x46c9405c, 0x955aae17, 0x46b44e65, 0x954cca0c, 0x469f59b4, 0x953eea1e,
+  0x468a624a, 0x95310e4e,
+  0x46756828, 0x9523369c, 0x46606b4e, 0x95156308, 0x464b6bbe, 0x95079394,
+  0x46366978, 0x94f9c83f,
+  0x4621647d, 0x94ec010b, 0x460c5cce, 0x94de3df8, 0x45f7526b, 0x94d07f05,
+  0x45e24556, 0x94c2c435,
+  0x45cd358f, 0x94b50d87, 0x45b82318, 0x94a75afd, 0x45a30df0, 0x9499ac95,
+  0x458df619, 0x948c0252,
+  0x4578db93, 0x947e5c33, 0x4563be60, 0x9470ba39, 0x454e9e80, 0x94631c65,
+  0x45397bf4, 0x945582b7,
+  0x452456bd, 0x9447ed2f, 0x450f2edb, 0x943a5bcf, 0x44fa0450, 0x942cce96,
+  0x44e4d71c, 0x941f4585,
+  0x44cfa740, 0x9411c09e, 0x44ba74bd, 0x94043fdf, 0x44a53f93, 0x93f6c34a,
+  0x449007c4, 0x93e94adf,
+  0x447acd50, 0x93dbd6a0, 0x44659039, 0x93ce668b, 0x4450507e, 0x93c0faa3,
+  0x443b0e21, 0x93b392e6,
+  0x4425c923, 0x93a62f57, 0x44108184, 0x9398cff5, 0x43fb3746, 0x938b74c1,
+  0x43e5ea68, 0x937e1dbb,
+  0x43d09aed, 0x9370cae4, 0x43bb48d4, 0x93637c3d, 0x43a5f41e, 0x935631c5,
+  0x43909ccd, 0x9348eb7e,
+  0x437b42e1, 0x933ba968, 0x4365e65b, 0x932e6b84, 0x4350873c, 0x932131d1,
+  0x433b2585, 0x9313fc51,
+  0x4325c135, 0x9306cb04, 0x43105a50, 0x92f99deb, 0x42faf0d4, 0x92ec7505,
+  0x42e584c3, 0x92df5054,
+  0x42d0161e, 0x92d22fd9, 0x42baa4e6, 0x92c51392, 0x42a5311b, 0x92b7fb82,
+  0x428fbabe, 0x92aae7a8,
+  0x427a41d0, 0x929dd806, 0x4264c653, 0x9290cc9b, 0x424f4845, 0x9283c568,
+  0x4239c7aa, 0x9276c26d,
+  0x42244481, 0x9269c3ac, 0x420ebecb, 0x925cc924, 0x41f93689, 0x924fd2d7,
+  0x41e3abbc, 0x9242e0c4,
+  0x41ce1e65, 0x9235f2ec, 0x41b88e84, 0x9229094f, 0x41a2fc1a, 0x921c23ef,
+  0x418d6729, 0x920f42cb,
+  0x4177cfb1, 0x920265e4, 0x416235b2, 0x91f58d3b, 0x414c992f, 0x91e8b8d0,
+  0x4136fa27, 0x91dbe8a4,
+  0x4121589b, 0x91cf1cb6, 0x410bb48c, 0x91c25508, 0x40f60dfb, 0x91b5919a,
+  0x40e064ea, 0x91a8d26d,
+  0x40cab958, 0x919c1781, 0x40b50b46, 0x918f60d6, 0x409f5ab6, 0x9182ae6d,
+  0x4089a7a8, 0x91760047,
+  0x4073f21d, 0x91695663, 0x405e3a16, 0x915cb0c3, 0x40487f94, 0x91500f67,
+  0x4032c297, 0x91437250,
+  0x401d0321, 0x9136d97d, 0x40074132, 0x912a44f0, 0x3ff17cca, 0x911db4a9,
+  0x3fdbb5ec, 0x911128a8,
+  0x3fc5ec98, 0x9104a0ee, 0x3fb020ce, 0x90f81d7b, 0x3f9a5290, 0x90eb9e50,
+  0x3f8481dd, 0x90df236e,
+  0x3f6eaeb8, 0x90d2acd4, 0x3f58d921, 0x90c63a83, 0x3f430119, 0x90b9cc7d,
+  0x3f2d26a0, 0x90ad62c0,
+  0x3f1749b8, 0x90a0fd4e, 0x3f016a61, 0x90949c28, 0x3eeb889c, 0x90883f4d,
+  0x3ed5a46b, 0x907be6be,
+  0x3ebfbdcd, 0x906f927c, 0x3ea9d4c3, 0x90634287, 0x3e93e950, 0x9056f6df,
+  0x3e7dfb73, 0x904aaf86,
+  0x3e680b2c, 0x903e6c7b, 0x3e52187f, 0x90322dbf, 0x3e3c2369, 0x9025f352,
+  0x3e262bee, 0x9019bd36,
+  0x3e10320d, 0x900d8b69, 0x3dfa35c8, 0x90015dee, 0x3de4371f, 0x8ff534c4,
+  0x3dce3614, 0x8fe90fec,
+  0x3db832a6, 0x8fdcef66, 0x3da22cd7, 0x8fd0d333, 0x3d8c24a8, 0x8fc4bb53,
+  0x3d761a19, 0x8fb8a7c7,
+  0x3d600d2c, 0x8fac988f, 0x3d49fde1, 0x8fa08dab, 0x3d33ec39, 0x8f94871d,
+  0x3d1dd835, 0x8f8884e4,
+  0x3d07c1d6, 0x8f7c8701, 0x3cf1a91c, 0x8f708d75, 0x3cdb8e09, 0x8f649840,
+  0x3cc5709e, 0x8f58a761,
+  0x3caf50da, 0x8f4cbadb, 0x3c992ec0, 0x8f40d2ad, 0x3c830a50, 0x8f34eed8,
+  0x3c6ce38a, 0x8f290f5c,
+  0x3c56ba70, 0x8f1d343a, 0x3c408f03, 0x8f115d72, 0x3c2a6142, 0x8f058b04,
+  0x3c143130, 0x8ef9bcf2,
+  0x3bfdfecd, 0x8eedf33b, 0x3be7ca1a, 0x8ee22de0, 0x3bd19318, 0x8ed66ce1,
+  0x3bbb59c7, 0x8ecab040,
+  0x3ba51e29, 0x8ebef7fb, 0x3b8ee03e, 0x8eb34415, 0x3b78a007, 0x8ea7948c,
+  0x3b625d86, 0x8e9be963,
+  0x3b4c18ba, 0x8e904298, 0x3b35d1a5, 0x8e84a02d, 0x3b1f8848, 0x8e790222,
+  0x3b093ca3, 0x8e6d6877,
+  0x3af2eeb7, 0x8e61d32e, 0x3adc9e86, 0x8e564246, 0x3ac64c0f, 0x8e4ab5bf,
+  0x3aaff755, 0x8e3f2d9b,
+  0x3a99a057, 0x8e33a9da, 0x3a834717, 0x8e282a7b, 0x3a6ceb96, 0x8e1caf80,
+  0x3a568dd4, 0x8e1138ea,
+  0x3a402dd2, 0x8e05c6b7, 0x3a29cb91, 0x8dfa58ea, 0x3a136712, 0x8deeef82,
+  0x39fd0056, 0x8de38a80,
+  0x39e6975e, 0x8dd829e4, 0x39d02c2a, 0x8dcccdaf, 0x39b9bebc, 0x8dc175e0,
+  0x39a34f13, 0x8db6227a,
+  0x398cdd32, 0x8daad37b, 0x39766919, 0x8d9f88e5, 0x395ff2c9, 0x8d9442b8,
+  0x39497a43, 0x8d8900f3,
+  0x3932ff87, 0x8d7dc399, 0x391c8297, 0x8d728aa9, 0x39060373, 0x8d675623,
+  0x38ef821c, 0x8d5c2609,
+  0x38d8fe93, 0x8d50fa59, 0x38c278d9, 0x8d45d316, 0x38abf0ef, 0x8d3ab03f,
+  0x389566d6, 0x8d2f91d5,
+  0x387eda8e, 0x8d2477d8, 0x38684c19, 0x8d196249, 0x3851bb77, 0x8d0e5127,
+  0x383b28a9, 0x8d034474,
+  0x382493b0, 0x8cf83c30, 0x380dfc8d, 0x8ced385b, 0x37f76341, 0x8ce238f6,
+  0x37e0c7cc, 0x8cd73e01,
+  0x37ca2a30, 0x8ccc477d, 0x37b38a6d, 0x8cc1556a, 0x379ce885, 0x8cb667c8,
+  0x37864477, 0x8cab7e98,
+  0x376f9e46, 0x8ca099da, 0x3758f5f2, 0x8c95b98f, 0x37424b7b, 0x8c8addb7,
+  0x372b9ee3, 0x8c800652,
+  0x3714f02a, 0x8c753362, 0x36fe3f52, 0x8c6a64e5, 0x36e78c5b, 0x8c5f9ade,
+  0x36d0d746, 0x8c54d54c,
+  0x36ba2014, 0x8c4a142f, 0x36a366c6, 0x8c3f5788, 0x368cab5c, 0x8c349f58,
+  0x3675edd9, 0x8c29eb9f,
+  0x365f2e3b, 0x8c1f3c5d, 0x36486c86, 0x8c149192, 0x3631a8b8, 0x8c09eb40,
+  0x361ae2d3, 0x8bff4966,
+  0x36041ad9, 0x8bf4ac05, 0x35ed50c9, 0x8bea131e, 0x35d684a6, 0x8bdf7eb0,
+  0x35bfb66e, 0x8bd4eebc,
+  0x35a8e625, 0x8bca6343, 0x359213c9, 0x8bbfdc44, 0x357b3f5d, 0x8bb559c1,
+  0x356468e2, 0x8baadbba,
+  0x354d9057, 0x8ba0622f, 0x3536b5be, 0x8b95ed21, 0x351fd918, 0x8b8b7c8f,
+  0x3508fa66, 0x8b81107b,
+  0x34f219a8, 0x8b76a8e4, 0x34db36df, 0x8b6c45cc, 0x34c4520d, 0x8b61e733,
+  0x34ad6b32, 0x8b578d18,
+  0x34968250, 0x8b4d377c, 0x347f9766, 0x8b42e661, 0x3468aa76, 0x8b3899c6,
+  0x3451bb81, 0x8b2e51ab,
+  0x343aca87, 0x8b240e11, 0x3423d78a, 0x8b19cef8, 0x340ce28b, 0x8b0f9462,
+  0x33f5eb89, 0x8b055e4d,
+  0x33def287, 0x8afb2cbb, 0x33c7f785, 0x8af0ffac, 0x33b0fa84, 0x8ae6d720,
+  0x3399fb85, 0x8adcb318,
+  0x3382fa88, 0x8ad29394, 0x336bf78f, 0x8ac87894, 0x3354f29b, 0x8abe6219,
+  0x333debab, 0x8ab45024,
+  0x3326e2c3, 0x8aaa42b4, 0x330fd7e1, 0x8aa039cb, 0x32f8cb07, 0x8a963567,
+  0x32e1bc36, 0x8a8c358b,
+  0x32caab6f, 0x8a823a36, 0x32b398b3, 0x8a784368, 0x329c8402, 0x8a6e5123,
+  0x32856d5e, 0x8a646365,
+  0x326e54c7, 0x8a5a7a31, 0x32573a3f, 0x8a509585, 0x32401dc6, 0x8a46b564,
+  0x3228ff5c, 0x8a3cd9cc,
+  0x3211df04, 0x8a3302be, 0x31fabcbd, 0x8a29303b, 0x31e39889, 0x8a1f6243,
+  0x31cc7269, 0x8a1598d6,
+  0x31b54a5e, 0x8a0bd3f5, 0x319e2067, 0x8a0213a0, 0x3186f487, 0x89f857d8,
+  0x316fc6be, 0x89eea09d,
+  0x3158970e, 0x89e4edef, 0x31416576, 0x89db3fcf, 0x312a31f8, 0x89d1963c,
+  0x3112fc95, 0x89c7f138,
+  0x30fbc54d, 0x89be50c3, 0x30e48c22, 0x89b4b4dd, 0x30cd5115, 0x89ab1d87,
+  0x30b61426, 0x89a18ac0,
+  0x309ed556, 0x8997fc8a, 0x308794a6, 0x898e72e4, 0x30705217, 0x8984edcf,
+  0x30590dab, 0x897b6d4c,
+  0x3041c761, 0x8971f15a, 0x302a7f3a, 0x896879fb, 0x30133539, 0x895f072e,
+  0x2ffbe95d, 0x895598f3,
+  0x2fe49ba7, 0x894c2f4c, 0x2fcd4c19, 0x8942ca39, 0x2fb5fab2, 0x893969b9,
+  0x2f9ea775, 0x89300dce,
+  0x2f875262, 0x8926b677, 0x2f6ffb7a, 0x891d63b5, 0x2f58a2be, 0x89141589,
+  0x2f41482e, 0x890acbf2,
+  0x2f29ebcc, 0x890186f2, 0x2f128d99, 0x88f84687, 0x2efb2d95, 0x88ef0ab4,
+  0x2ee3cbc1, 0x88e5d378,
+  0x2ecc681e, 0x88dca0d3, 0x2eb502ae, 0x88d372c6, 0x2e9d9b70, 0x88ca4951,
+  0x2e863267, 0x88c12475,
+  0x2e6ec792, 0x88b80432, 0x2e575af3, 0x88aee888, 0x2e3fec8b, 0x88a5d177,
+  0x2e287c5a, 0x889cbf01,
+  0x2e110a62, 0x8893b125, 0x2df996a3, 0x888aa7e3, 0x2de2211e, 0x8881a33d,
+  0x2dcaa9d5, 0x8878a332,
+  0x2db330c7, 0x886fa7c2, 0x2d9bb5f6, 0x8866b0ef, 0x2d843964, 0x885dbeb8,
+  0x2d6cbb10, 0x8854d11e,
+  0x2d553afc, 0x884be821, 0x2d3db928, 0x884303c1, 0x2d263596, 0x883a23ff,
+  0x2d0eb046, 0x883148db,
+  0x2cf72939, 0x88287256, 0x2cdfa071, 0x881fa06f, 0x2cc815ee, 0x8816d327,
+  0x2cb089b1, 0x880e0a7f,
+  0x2c98fbba, 0x88054677, 0x2c816c0c, 0x87fc870f, 0x2c69daa6, 0x87f3cc48,
+  0x2c52478a, 0x87eb1621,
+  0x2c3ab2b9, 0x87e2649b, 0x2c231c33, 0x87d9b7b7, 0x2c0b83fa, 0x87d10f75,
+  0x2bf3ea0d, 0x87c86bd5,
+  0x2bdc4e6f, 0x87bfccd7, 0x2bc4b120, 0x87b7327d, 0x2bad1221, 0x87ae9cc5,
+  0x2b957173, 0x87a60bb1,
+  0x2b7dcf17, 0x879d7f41, 0x2b662b0e, 0x8794f774, 0x2b4e8558, 0x878c744d,
+  0x2b36ddf7, 0x8783f5ca,
+  0x2b1f34eb, 0x877b7bec, 0x2b078a36, 0x877306b4, 0x2aefddd8, 0x876a9621,
+  0x2ad82fd2, 0x87622a35,
+  0x2ac08026, 0x8759c2ef, 0x2aa8ced3, 0x87516050, 0x2a911bdc, 0x87490258,
+  0x2a796740, 0x8740a907,
+  0x2a61b101, 0x8738545e, 0x2a49f920, 0x8730045d, 0x2a323f9e, 0x8727b905,
+  0x2a1a847b, 0x871f7255,
+  0x2a02c7b8, 0x8717304e, 0x29eb0957, 0x870ef2f1, 0x29d34958, 0x8706ba3d,
+  0x29bb87bc, 0x86fe8633,
+  0x29a3c485, 0x86f656d3, 0x298bffb2, 0x86ee2c1e, 0x29743946, 0x86e60614,
+  0x295c7140, 0x86dde4b5,
+  0x2944a7a2, 0x86d5c802, 0x292cdc6d, 0x86cdaffa, 0x29150fa1, 0x86c59c9f,
+  0x28fd4140, 0x86bd8df0,
+  0x28e5714b, 0x86b583ee, 0x28cd9fc1, 0x86ad7e99, 0x28b5cca5, 0x86a57df2,
+  0x289df7f8, 0x869d81f8,
+  0x288621b9, 0x86958aac, 0x286e49ea, 0x868d980e, 0x2856708d, 0x8685aa20,
+  0x283e95a1, 0x867dc0e0,
+  0x2826b928, 0x8675dc4f, 0x280edb23, 0x866dfc6e, 0x27f6fb92, 0x8666213c,
+  0x27df1a77, 0x865e4abb,
+  0x27c737d3, 0x865678eb, 0x27af53a6, 0x864eabcb, 0x27976df1, 0x8646e35c,
+  0x277f86b5, 0x863f1f9e,
+  0x27679df4, 0x86376092, 0x274fb3ae, 0x862fa638, 0x2737c7e3, 0x8627f091,
+  0x271fda96, 0x86203f9c,
+  0x2707ebc7, 0x86189359, 0x26effb76, 0x8610ebca, 0x26d809a5, 0x860948ef,
+  0x26c01655, 0x8601aac7,
+  0x26a82186, 0x85fa1153, 0x26902b39, 0x85f27c93, 0x26783370, 0x85eaec88,
+  0x26603a2c, 0x85e36132,
+  0x26483f6c, 0x85dbda91, 0x26304333, 0x85d458a6, 0x26184581, 0x85ccdb70,
+  0x26004657, 0x85c562f1,
+  0x25e845b6, 0x85bdef28, 0x25d0439f, 0x85b68015, 0x25b84012, 0x85af15b9,
+  0x25a03b11, 0x85a7b015,
+  0x2588349d, 0x85a04f28, 0x25702cb7, 0x8598f2f3, 0x2558235f, 0x85919b76,
+  0x25401896, 0x858a48b1,
+  0x25280c5e, 0x8582faa5, 0x250ffeb7, 0x857bb152, 0x24f7efa2, 0x85746cb8,
+  0x24dfdf20, 0x856d2cd7,
+  0x24c7cd33, 0x8565f1b0, 0x24afb9da, 0x855ebb44, 0x2497a517, 0x85578991,
+  0x247f8eec, 0x85505c99,
+  0x24677758, 0x8549345c, 0x244f5e5c, 0x854210db, 0x243743fa, 0x853af214,
+  0x241f2833, 0x8533d809,
+  0x24070b08, 0x852cc2bb, 0x23eeec78, 0x8525b228, 0x23d6cc87, 0x851ea652,
+  0x23beab33, 0x85179f39,
+  0x23a6887f, 0x85109cdd, 0x238e646a, 0x85099f3e, 0x23763ef7, 0x8502a65c,
+  0x235e1826, 0x84fbb239,
+  0x2345eff8, 0x84f4c2d4, 0x232dc66d, 0x84edd82d, 0x23159b88, 0x84e6f244,
+  0x22fd6f48, 0x84e0111b,
+  0x22e541af, 0x84d934b1, 0x22cd12bd, 0x84d25d06, 0x22b4e274, 0x84cb8a1b,
+  0x229cb0d5, 0x84c4bbf0,
+  0x22847de0, 0x84bdf286, 0x226c4996, 0x84b72ddb, 0x225413f8, 0x84b06df2,
+  0x223bdd08, 0x84a9b2ca,
+  0x2223a4c5, 0x84a2fc62, 0x220b6b32, 0x849c4abd, 0x21f3304f, 0x84959dd9,
+  0x21daf41d, 0x848ef5b7,
+  0x21c2b69c, 0x84885258, 0x21aa77cf, 0x8481b3bb, 0x219237b5, 0x847b19e1,
+  0x2179f64f, 0x847484ca,
+  0x2161b3a0, 0x846df477, 0x21496fa7, 0x846768e7, 0x21312a65, 0x8460e21a,
+  0x2118e3dc, 0x845a6012,
+  0x21009c0c, 0x8453e2cf, 0x20e852f6, 0x844d6a50, 0x20d0089c, 0x8446f695,
+  0x20b7bcfe, 0x844087a0,
+  0x209f701c, 0x843a1d70, 0x208721f9, 0x8433b806, 0x206ed295, 0x842d5762,
+  0x205681f1, 0x8426fb84,
+  0x203e300d, 0x8420a46c, 0x2025dcec, 0x841a521a, 0x200d888d, 0x84140490,
+  0x1ff532f2, 0x840dbbcc,
+  0x1fdcdc1b, 0x840777d0, 0x1fc4840a, 0x8401389b, 0x1fac2abf, 0x83fafe2e,
+  0x1f93d03c, 0x83f4c889,
+  0x1f7b7481, 0x83ee97ad, 0x1f63178f, 0x83e86b99, 0x1f4ab968, 0x83e2444d,
+  0x1f325a0b, 0x83dc21cb,
+  0x1f19f97b, 0x83d60412, 0x1f0197b8, 0x83cfeb22, 0x1ee934c3, 0x83c9d6fc,
+  0x1ed0d09d, 0x83c3c7a0,
+  0x1eb86b46, 0x83bdbd0e, 0x1ea004c1, 0x83b7b746, 0x1e879d0d, 0x83b1b649,
+  0x1e6f342c, 0x83abba17,
+  0x1e56ca1e, 0x83a5c2b0, 0x1e3e5ee5, 0x839fd014, 0x1e25f282, 0x8399e244,
+  0x1e0d84f5, 0x8393f940,
+  0x1df5163f, 0x838e1507, 0x1ddca662, 0x8388359b, 0x1dc4355e, 0x83825afb,
+  0x1dabc334, 0x837c8528,
+  0x1d934fe5, 0x8376b422, 0x1d7adb73, 0x8370e7e9, 0x1d6265dd, 0x836b207d,
+  0x1d49ef26, 0x83655ddf,
+  0x1d31774d, 0x835fa00f, 0x1d18fe54, 0x8359e70d, 0x1d00843d, 0x835432d8,
+  0x1ce80906, 0x834e8373,
+  0x1ccf8cb3, 0x8348d8dc, 0x1cb70f43, 0x83433314, 0x1c9e90b8, 0x833d921b,
+  0x1c861113, 0x8337f5f1,
+  0x1c6d9053, 0x83325e97, 0x1c550e7c, 0x832ccc0d, 0x1c3c8b8c, 0x83273e52,
+  0x1c240786, 0x8321b568,
+  0x1c0b826a, 0x831c314e, 0x1bf2fc3a, 0x8316b205, 0x1bda74f6, 0x8311378d,
+  0x1bc1ec9e, 0x830bc1e6,
+  0x1ba96335, 0x83065110, 0x1b90d8bb, 0x8300e50b, 0x1b784d30, 0x82fb7dd8,
+  0x1b5fc097, 0x82f61b77,
+  0x1b4732ef, 0x82f0bde8, 0x1b2ea43a, 0x82eb652b, 0x1b161479, 0x82e61141,
+  0x1afd83ad, 0x82e0c22a,
+  0x1ae4f1d6, 0x82db77e5, 0x1acc5ef6, 0x82d63274, 0x1ab3cb0d, 0x82d0f1d5,
+  0x1a9b361d, 0x82cbb60b,
+  0x1a82a026, 0x82c67f14, 0x1a6a0929, 0x82c14cf1, 0x1a517128, 0x82bc1fa2,
+  0x1a38d823, 0x82b6f727,
+  0x1a203e1b, 0x82b1d381, 0x1a07a311, 0x82acb4b0, 0x19ef0707, 0x82a79ab3,
+  0x19d669fc, 0x82a2858c,
+  0x19bdcbf3, 0x829d753a, 0x19a52ceb, 0x829869be, 0x198c8ce7, 0x82936317,
+  0x1973ebe6, 0x828e6146,
+  0x195b49ea, 0x8289644b, 0x1942a6f3, 0x82846c26, 0x192a0304, 0x827f78d8,
+  0x19115e1c, 0x827a8a61,
+  0x18f8b83c, 0x8275a0c0, 0x18e01167, 0x8270bbf7, 0x18c7699b, 0x826bdc04,
+  0x18aec0db, 0x826700e9,
+  0x18961728, 0x82622aa6, 0x187d6c82, 0x825d593a, 0x1864c0ea, 0x82588ca7,
+  0x184c1461, 0x8253c4eb,
+  0x183366e9, 0x824f0208, 0x181ab881, 0x824a43fe, 0x1802092c, 0x82458acc,
+  0x17e958ea, 0x8240d673,
+  0x17d0a7bc, 0x823c26f3, 0x17b7f5a3, 0x82377c4c, 0x179f429f, 0x8232d67f,
+  0x17868eb3, 0x822e358b,
+  0x176dd9de, 0x82299971, 0x17552422, 0x82250232, 0x173c6d80, 0x82206fcc,
+  0x1723b5f9, 0x821be240,
+  0x170afd8d, 0x82175990, 0x16f2443e, 0x8212d5b9, 0x16d98a0c, 0x820e56be,
+  0x16c0cef9, 0x8209dc9e,
+  0x16a81305, 0x82056758, 0x168f5632, 0x8200f6ef, 0x1676987f, 0x81fc8b60,
+  0x165dd9f0, 0x81f824ae,
+  0x16451a83, 0x81f3c2d7, 0x162c5a3b, 0x81ef65dc, 0x16139918, 0x81eb0dbe,
+  0x15fad71b, 0x81e6ba7c,
+  0x15e21445, 0x81e26c16, 0x15c95097, 0x81de228d, 0x15b08c12, 0x81d9dde1,
+  0x1597c6b7, 0x81d59e13,
+  0x157f0086, 0x81d16321, 0x15663982, 0x81cd2d0c, 0x154d71aa, 0x81c8fbd6,
+  0x1534a901, 0x81c4cf7d,
+  0x151bdf86, 0x81c0a801, 0x1503153a, 0x81bc8564, 0x14ea4a1f, 0x81b867a5,
+  0x14d17e36, 0x81b44ec4,
+  0x14b8b17f, 0x81b03ac2, 0x149fe3fc, 0x81ac2b9e, 0x148715ae, 0x81a82159,
+  0x146e4694, 0x81a41bf4,
+  0x145576b1, 0x81a01b6d, 0x143ca605, 0x819c1fc5, 0x1423d492, 0x819828fd,
+  0x140b0258, 0x81943715,
+  0x13f22f58, 0x81904a0c, 0x13d95b93, 0x818c61e3, 0x13c0870a, 0x81887e9a,
+  0x13a7b1bf, 0x8184a032,
+  0x138edbb1, 0x8180c6a9, 0x137604e2, 0x817cf201, 0x135d2d53, 0x8179223a,
+  0x13445505, 0x81755754,
+  0x132b7bf9, 0x8171914e, 0x1312a230, 0x816dd02a, 0x12f9c7aa, 0x816a13e6,
+  0x12e0ec6a, 0x81665c84,
+  0x12c8106f, 0x8162aa04, 0x12af33ba, 0x815efc65, 0x1296564d, 0x815b53a8,
+  0x127d7829, 0x8157afcd,
+  0x1264994e, 0x815410d4, 0x124bb9be, 0x815076bd, 0x1232d979, 0x814ce188,
+  0x1219f880, 0x81495136,
+  0x120116d5, 0x8145c5c7, 0x11e83478, 0x81423f3a, 0x11cf516a, 0x813ebd90,
+  0x11b66dad, 0x813b40ca,
+  0x119d8941, 0x8137c8e6, 0x1184a427, 0x813455e6, 0x116bbe60, 0x8130e7c9,
+  0x1152d7ed, 0x812d7e8f,
+  0x1139f0cf, 0x812a1a3a, 0x11210907, 0x8126bac8, 0x11082096, 0x8123603a,
+  0x10ef377d, 0x81200a90,
+  0x10d64dbd, 0x811cb9ca, 0x10bd6356, 0x81196de9, 0x10a4784b, 0x811626ec,
+  0x108b8c9b, 0x8112e4d4,
+  0x1072a048, 0x810fa7a0, 0x1059b352, 0x810c6f52, 0x1040c5bb, 0x81093be8,
+  0x1027d784, 0x81060d63,
+  0x100ee8ad, 0x8102e3c4, 0xff5f938, 0x80ffbf0a, 0xfdd0926, 0x80fc9f35,
+  0xfc41876, 0x80f98446,
+  0xfab272b, 0x80f66e3c, 0xf923546, 0x80f35d19, 0xf7942c7, 0x80f050db,
+  0xf604faf, 0x80ed4984,
+  0xf475bff, 0x80ea4712, 0xf2e67b8, 0x80e74987, 0xf1572dc, 0x80e450e2,
+  0xefc7d6b, 0x80e15d24,
+  0xee38766, 0x80de6e4c, 0xeca90ce, 0x80db845b, 0xeb199a4, 0x80d89f51,
+  0xe98a1e9, 0x80d5bf2e,
+  0xe7fa99e, 0x80d2e3f2, 0xe66b0c3, 0x80d00d9d, 0xe4db75b, 0x80cd3c2f,
+  0xe34bd66, 0x80ca6fa9,
+  0xe1bc2e4, 0x80c7a80a, 0xe02c7d7, 0x80c4e553, 0xde9cc40, 0x80c22784,
+  0xdd0d01f, 0x80bf6e9c,
+  0xdb7d376, 0x80bcba9d, 0xd9ed646, 0x80ba0b85, 0xd85d88f, 0x80b76156,
+  0xd6cda53, 0x80b4bc0e,
+  0xd53db92, 0x80b21baf, 0xd3adc4e, 0x80af8039, 0xd21dc87, 0x80ace9ab,
+  0xd08dc3f, 0x80aa5806,
+  0xcefdb76, 0x80a7cb49, 0xcd6da2d, 0x80a54376, 0xcbdd865, 0x80a2c08b,
+  0xca4d620, 0x80a04289,
+  0xc8bd35e, 0x809dc971, 0xc72d020, 0x809b5541, 0xc59cc68, 0x8098e5fb,
+  0xc40c835, 0x80967b9f,
+  0xc27c389, 0x8094162c, 0xc0ebe66, 0x8091b5a2, 0xbf5b8cb, 0x808f5a02,
+  0xbdcb2bb, 0x808d034c,
+  0xbc3ac35, 0x808ab180, 0xbaaa53b, 0x8088649e, 0xb919dcf, 0x80861ca6,
+  0xb7895f0, 0x8083d998,
+  0xb5f8d9f, 0x80819b74, 0xb4684df, 0x807f623b, 0xb2d7baf, 0x807d2dec,
+  0xb147211, 0x807afe87,
+  0xafb6805, 0x8078d40d, 0xae25d8d, 0x8076ae7e, 0xac952aa, 0x80748dd9,
+  0xab0475c, 0x8072721f,
+  0xa973ba5, 0x80705b50, 0xa7e2f85, 0x806e496c, 0xa6522fe, 0x806c3c74,
+  0xa4c1610, 0x806a3466,
+  0xa3308bd, 0x80683143, 0xa19fb04, 0x8066330c, 0xa00ece8, 0x806439c0,
+  0x9e7de6a, 0x80624560,
+  0x9cecf89, 0x806055eb, 0x9b5c048, 0x805e6b62, 0x99cb0a7, 0x805c85c4,
+  0x983a0a7, 0x805aa512,
+  0x96a9049, 0x8058c94c, 0x9517f8f, 0x8056f272, 0x9386e78, 0x80552084,
+  0x91f5d06, 0x80535381,
+  0x9064b3a, 0x80518b6b, 0x8ed3916, 0x804fc841, 0x8d42699, 0x804e0a04,
+  0x8bb13c5, 0x804c50b2,
+  0x8a2009a, 0x804a9c4d, 0x888ed1b, 0x8048ecd5, 0x86fd947, 0x80474248,
+  0x856c520, 0x80459ca9,
+  0x83db0a7, 0x8043fbf6, 0x8249bdd, 0x80426030, 0x80b86c2, 0x8040c956,
+  0x7f27157, 0x803f376a,
+  0x7d95b9e, 0x803daa6a, 0x7c04598, 0x803c2257, 0x7a72f45, 0x803a9f31,
+  0x78e18a7, 0x803920f8,
+  0x77501be, 0x8037a7ac, 0x75bea8c, 0x8036334e, 0x742d311, 0x8034c3dd,
+  0x729bb4e, 0x80335959,
+  0x710a345, 0x8031f3c2, 0x6f78af6, 0x80309318, 0x6de7262, 0x802f375d,
+  0x6c5598a, 0x802de08e,
+  0x6ac406f, 0x802c8ead, 0x6932713, 0x802b41ba, 0x67a0d76, 0x8029f9b4,
+  0x660f398, 0x8028b69c,
+  0x647d97c, 0x80277872, 0x62ebf22, 0x80263f36, 0x615a48b, 0x80250ae7,
+  0x5fc89b8, 0x8023db86,
+  0x5e36ea9, 0x8022b114, 0x5ca5361, 0x80218b8f, 0x5b137df, 0x80206af8,
+  0x5981c26, 0x801f4f4f,
+  0x57f0035, 0x801e3895, 0x565e40d, 0x801d26c8, 0x54cc7b1, 0x801c19ea,
+  0x533ab20, 0x801b11fa,
+  0x51a8e5c, 0x801a0ef8, 0x5017165, 0x801910e4, 0x4e8543e, 0x801817bf,
+  0x4cf36e5, 0x80172388,
+  0x4b6195d, 0x80163440, 0x49cfba7, 0x801549e6, 0x483ddc3, 0x8014647b,
+  0x46abfb3, 0x801383fe,
+  0x451a177, 0x8012a86f, 0x4388310, 0x8011d1d0, 0x41f6480, 0x8011001f,
+  0x40645c7, 0x8010335c,
+  0x3ed26e6, 0x800f6b88, 0x3d407df, 0x800ea8a3, 0x3bae8b2, 0x800deaad,
+  0x3a1c960, 0x800d31a5,
+  0x388a9ea, 0x800c7d8c, 0x36f8a51, 0x800bce63, 0x3566a96, 0x800b2427,
+  0x33d4abb, 0x800a7edb,
+  0x3242abf, 0x8009de7e, 0x30b0aa4, 0x80094310, 0x2f1ea6c, 0x8008ac90,
+  0x2d8ca16, 0x80081b00,
+  0x2bfa9a4, 0x80078e5e, 0x2a68917, 0x800706ac, 0x28d6870, 0x800683e8,
+  0x27447b0, 0x80060614,
+  0x25b26d7, 0x80058d2f, 0x24205e8, 0x80051939, 0x228e4e2, 0x8004aa32,
+  0x20fc3c6, 0x8004401a,
+  0x1f6a297, 0x8003daf1, 0x1dd8154, 0x80037ab7, 0x1c45ffe, 0x80031f6d,
+  0x1ab3e97, 0x8002c912,
+  0x1921d20, 0x800277a6, 0x178fb99, 0x80022b29, 0x15fda03, 0x8001e39b,
+  0x146b860, 0x8001a0fd,
+  0x12d96b1, 0x8001634e, 0x11474f6, 0x80012a8e, 0xfb5330, 0x8000f6bd,
+  0xe23160, 0x8000c7dc,
+  0xc90f88, 0x80009dea, 0xafeda8, 0x800078e7, 0x96cbc1, 0x800058d4, 0x7da9d4,
+  0x80003daf,
+  0x6487e3, 0x8000277a, 0x4b65ee, 0x80001635, 0x3243f5, 0x800009df, 0x1921fb,
+  0x80000278,
+};
+
+/**   
+* \par   
+* cosFactor tables are generated using the formula : 
    cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
       
+* \par   
+* C command to generate the table   
+* 
       
+* for(i = 0; i< N; i++)   
+* {   
+*   cos_factors[i]= 2 * cos((2*i+1)*c/2);   
+* } 
       
+* \par   
+* where N is the number of factors to generate and c is pi/(2*N)   
+* \par   
+* Then converted to q31 format by multiplying with 2^31 and saturated if required.   
+*/
+
+
+static const q31_t cos_factorsQ31_128[128] = {
+  0x7fff6216, 0x7ffa72d1, 0x7ff09478, 0x7fe1c76b, 0x7fce0c3e, 0x7fb563b3,
+  0x7f97cebd, 0x7f754e80,
+  0x7f4de451, 0x7f2191b4, 0x7ef05860, 0x7eba3a39, 0x7e7f3957, 0x7e3f57ff,
+  0x7dfa98a8, 0x7db0fdf8,
+  0x7d628ac6, 0x7d0f4218, 0x7cb72724, 0x7c5a3d50, 0x7bf88830, 0x7b920b89,
+  0x7b26cb4f, 0x7ab6cba4,
+  0x7a4210d8, 0x79c89f6e, 0x794a7c12, 0x78c7aba2, 0x78403329, 0x77b417df,
+  0x77235f2d, 0x768e0ea6,
+  0x75f42c0b, 0x7555bd4c, 0x74b2c884, 0x740b53fb, 0x735f6626, 0x72af05a7,
+  0x71fa3949, 0x71410805,
+  0x708378ff, 0x6fc19385, 0x6efb5f12, 0x6e30e34a, 0x6d6227fa, 0x6c8f351c,
+  0x6bb812d1, 0x6adcc964,
+  0x69fd614a, 0x6919e320, 0x683257ab, 0x6746c7d8, 0x66573cbb, 0x6563bf92,
+  0x646c59bf, 0x637114cc,
+  0x6271fa69, 0x616f146c, 0x60686ccf, 0x5f5e0db3, 0x5e50015d, 0x5d3e5237,
+  0x5c290acc, 0x5b1035cf,
+  0x59f3de12, 0x58d40e8c, 0x57b0d256, 0x568a34a9, 0x556040e2, 0x5433027d,
+  0x53028518, 0x51ced46e,
+  0x5097fc5e, 0x4f5e08e3, 0x4e210617, 0x4ce10034, 0x4b9e0390, 0x4a581c9e,
+  0x490f57ee, 0x47c3c22f,
+  0x46756828, 0x452456bd, 0x43d09aed, 0x427a41d0, 0x4121589b, 0x3fc5ec98,
+  0x3e680b2c, 0x3d07c1d6,
+  0x3ba51e29, 0x3a402dd2, 0x38d8fe93, 0x376f9e46, 0x36041ad9, 0x34968250,
+  0x3326e2c3, 0x31b54a5e,
+  0x3041c761, 0x2ecc681e, 0x2d553afc, 0x2bdc4e6f, 0x2a61b101, 0x28e5714b,
+  0x27679df4, 0x25e845b6,
+  0x24677758, 0x22e541af, 0x2161b3a0, 0x1fdcdc1b, 0x1e56ca1e, 0x1ccf8cb3,
+  0x1b4732ef, 0x19bdcbf3,
+  0x183366e9, 0x16a81305, 0x151bdf86, 0x138edbb1, 0x120116d5, 0x1072a048,
+  0xee38766, 0xd53db92,
+  0xbc3ac35, 0xa3308bd, 0x8a2009a, 0x710a345, 0x57f0035, 0x3ed26e6, 0x25b26d7,
+  0xc90f88,
+};
+
+static const q31_t cos_factorsQ31_512[512] = {
+  0x7ffff621, 0x7fffa72c, 0x7fff0943, 0x7ffe1c65, 0x7ffce093, 0x7ffb55ce,
+  0x7ff97c18, 0x7ff75370,
+  0x7ff4dbd9, 0x7ff21553, 0x7feeffe1, 0x7feb9b85, 0x7fe7e841, 0x7fe3e616,
+  0x7fdf9508, 0x7fdaf519,
+  0x7fd6064c, 0x7fd0c8a3, 0x7fcb3c23, 0x7fc560cf, 0x7fbf36aa, 0x7fb8bdb8,
+  0x7fb1f5fc, 0x7faadf7c,
+  0x7fa37a3c, 0x7f9bc640, 0x7f93c38c, 0x7f8b7227, 0x7f82d214, 0x7f79e35a,
+  0x7f70a5fe, 0x7f671a05,
+  0x7f5d3f75, 0x7f531655, 0x7f489eaa, 0x7f3dd87c, 0x7f32c3d1, 0x7f2760af,
+  0x7f1baf1e, 0x7f0faf25,
+  0x7f0360cb, 0x7ef6c418, 0x7ee9d914, 0x7edc9fc6, 0x7ecf1837, 0x7ec14270,
+  0x7eb31e78, 0x7ea4ac58,
+  0x7e95ec1a, 0x7e86ddc6, 0x7e778166, 0x7e67d703, 0x7e57dea7, 0x7e47985b,
+  0x7e37042a, 0x7e26221f,
+  0x7e14f242, 0x7e0374a0, 0x7df1a942, 0x7ddf9034, 0x7dcd2981, 0x7dba7534,
+  0x7da77359, 0x7d9423fc,
+  0x7d808728, 0x7d6c9ce9, 0x7d58654d, 0x7d43e05e, 0x7d2f0e2b, 0x7d19eebf,
+  0x7d048228, 0x7ceec873,
+  0x7cd8c1ae, 0x7cc26de5, 0x7cabcd28, 0x7c94df83, 0x7c7da505, 0x7c661dbc,
+  0x7c4e49b7, 0x7c362904,
+  0x7c1dbbb3, 0x7c0501d2, 0x7bebfb70, 0x7bd2a89e, 0x7bb9096b, 0x7b9f1de6,
+  0x7b84e61f, 0x7b6a6227,
+  0x7b4f920e, 0x7b3475e5, 0x7b190dbc, 0x7afd59a4, 0x7ae159ae, 0x7ac50dec,
+  0x7aa8766f, 0x7a8b9348,
+  0x7a6e648a, 0x7a50ea47, 0x7a332490, 0x7a151378, 0x79f6b711, 0x79d80f6f,
+  0x79b91ca4, 0x7999dec4,
+  0x797a55e0, 0x795a820e, 0x793a6361, 0x7919f9ec, 0x78f945c3, 0x78d846fb,
+  0x78b6fda8, 0x789569df,
+  0x78738bb3, 0x7851633b, 0x782ef08b, 0x780c33b8, 0x77e92cd9, 0x77c5dc01,
+  0x77a24148, 0x777e5cc3,
+  0x775a2e89, 0x7735b6af, 0x7710f54c, 0x76ebea77, 0x76c69647, 0x76a0f8d2,
+  0x767b1231, 0x7654e279,
+  0x762e69c4, 0x7607a828, 0x75e09dbd, 0x75b94a9c, 0x7591aedd, 0x7569ca99,
+  0x75419de7, 0x751928e0,
+  0x74f06b9e, 0x74c7663a, 0x749e18cd, 0x74748371, 0x744aa63f, 0x74208150,
+  0x73f614c0, 0x73cb60a8,
+  0x73a06522, 0x73752249, 0x73499838, 0x731dc70a, 0x72f1aed9, 0x72c54fc1,
+  0x7298a9dd, 0x726bbd48,
+  0x723e8a20, 0x7211107e, 0x71e35080, 0x71b54a41, 0x7186fdde, 0x71586b74,
+  0x7129931f, 0x70fa74fc,
+  0x70cb1128, 0x709b67c0, 0x706b78e3, 0x703b44ad, 0x700acb3c, 0x6fda0cae,
+  0x6fa90921, 0x6f77c0b3,
+  0x6f463383, 0x6f1461b0, 0x6ee24b57, 0x6eaff099, 0x6e7d5193, 0x6e4a6e66,
+  0x6e174730, 0x6de3dc11,
+  0x6db02d29, 0x6d7c3a98, 0x6d48047e, 0x6d138afb, 0x6cdece2f, 0x6ca9ce3b,
+  0x6c748b3f, 0x6c3f055d,
+  0x6c093cb6, 0x6bd3316a, 0x6b9ce39b, 0x6b66536b, 0x6b2f80fb, 0x6af86c6c,
+  0x6ac115e2, 0x6a897d7d,
+  0x6a51a361, 0x6a1987b0, 0x69e12a8c, 0x69a88c19, 0x696fac78, 0x69368bce,
+  0x68fd2a3d, 0x68c387e9,
+  0x6889a4f6, 0x684f8186, 0x68151dbe, 0x67da79c3, 0x679f95b7, 0x676471c0,
+  0x67290e02, 0x66ed6aa1,
+  0x66b187c3, 0x6675658c, 0x66390422, 0x65fc63a9, 0x65bf8447, 0x65826622,
+  0x6545095f, 0x65076e25,
+  0x64c99498, 0x648b7ce0, 0x644d2722, 0x640e9386, 0x63cfc231, 0x6390b34a,
+  0x635166f9, 0x6311dd64,
+  0x62d216b3, 0x6292130c, 0x6251d298, 0x6211557e, 0x61d09be5, 0x618fa5f7,
+  0x614e73da, 0x610d05b7,
+  0x60cb5bb7, 0x60897601, 0x604754bf, 0x6004f819, 0x5fc26038, 0x5f7f8d46,
+  0x5f3c7f6b, 0x5ef936d1,
+  0x5eb5b3a2, 0x5e71f606, 0x5e2dfe29, 0x5de9cc33, 0x5da5604f, 0x5d60baa7,
+  0x5d1bdb65, 0x5cd6c2b5,
+  0x5c9170bf, 0x5c4be5b0, 0x5c0621b2, 0x5bc024f0, 0x5b79ef96, 0x5b3381ce,
+  0x5aecdbc5, 0x5aa5fda5,
+  0x5a5ee79a, 0x5a1799d1, 0x59d01475, 0x598857b2, 0x594063b5, 0x58f838a9,
+  0x58afd6bd, 0x58673e1b,
+  0x581e6ef1, 0x57d5696d, 0x578c2dba, 0x5742bc06, 0x56f9147e, 0x56af3750,
+  0x566524aa, 0x561adcb9,
+  0x55d05faa, 0x5585adad, 0x553ac6ee, 0x54efab9c, 0x54a45be6, 0x5458d7f9,
+  0x540d2005, 0x53c13439,
+  0x537514c2, 0x5328c1d0, 0x52dc3b92, 0x528f8238, 0x524295f0, 0x51f576ea,
+  0x51a82555, 0x515aa162,
+  0x510ceb40, 0x50bf031f, 0x5070e92f, 0x50229da1, 0x4fd420a4, 0x4f857269,
+  0x4f369320, 0x4ee782fb,
+  0x4e984229, 0x4e48d0dd, 0x4df92f46, 0x4da95d96, 0x4d595bfe, 0x4d092ab0,
+  0x4cb8c9dd, 0x4c6839b7,
+  0x4c177a6e, 0x4bc68c36, 0x4b756f40, 0x4b2423be, 0x4ad2a9e2, 0x4a8101de,
+  0x4a2f2be6, 0x49dd282a,
+  0x498af6df, 0x49389836, 0x48e60c62, 0x48935397, 0x48406e08, 0x47ed5be6,
+  0x479a1d67, 0x4746b2bc,
+  0x46f31c1a, 0x469f59b4, 0x464b6bbe, 0x45f7526b, 0x45a30df0, 0x454e9e80,
+  0x44fa0450, 0x44a53f93,
+  0x4450507e, 0x43fb3746, 0x43a5f41e, 0x4350873c, 0x42faf0d4, 0x42a5311b,
+  0x424f4845, 0x41f93689,
+  0x41a2fc1a, 0x414c992f, 0x40f60dfb, 0x409f5ab6, 0x40487f94, 0x3ff17cca,
+  0x3f9a5290, 0x3f430119,
+  0x3eeb889c, 0x3e93e950, 0x3e3c2369, 0x3de4371f, 0x3d8c24a8, 0x3d33ec39,
+  0x3cdb8e09, 0x3c830a50,
+  0x3c2a6142, 0x3bd19318, 0x3b78a007, 0x3b1f8848, 0x3ac64c0f, 0x3a6ceb96,
+  0x3a136712, 0x39b9bebc,
+  0x395ff2c9, 0x39060373, 0x38abf0ef, 0x3851bb77, 0x37f76341, 0x379ce885,
+  0x37424b7b, 0x36e78c5b,
+  0x368cab5c, 0x3631a8b8, 0x35d684a6, 0x357b3f5d, 0x351fd918, 0x34c4520d,
+  0x3468aa76, 0x340ce28b,
+  0x33b0fa84, 0x3354f29b, 0x32f8cb07, 0x329c8402, 0x32401dc6, 0x31e39889,
+  0x3186f487, 0x312a31f8,
+  0x30cd5115, 0x30705217, 0x30133539, 0x2fb5fab2, 0x2f58a2be, 0x2efb2d95,
+  0x2e9d9b70, 0x2e3fec8b,
+  0x2de2211e, 0x2d843964, 0x2d263596, 0x2cc815ee, 0x2c69daa6, 0x2c0b83fa,
+  0x2bad1221, 0x2b4e8558,
+  0x2aefddd8, 0x2a911bdc, 0x2a323f9e, 0x29d34958, 0x29743946, 0x29150fa1,
+  0x28b5cca5, 0x2856708d,
+  0x27f6fb92, 0x27976df1, 0x2737c7e3, 0x26d809a5, 0x26783370, 0x26184581,
+  0x25b84012, 0x2558235f,
+  0x24f7efa2, 0x2497a517, 0x243743fa, 0x23d6cc87, 0x23763ef7, 0x23159b88,
+  0x22b4e274, 0x225413f8,
+  0x21f3304f, 0x219237b5, 0x21312a65, 0x20d0089c, 0x206ed295, 0x200d888d,
+  0x1fac2abf, 0x1f4ab968,
+  0x1ee934c3, 0x1e879d0d, 0x1e25f282, 0x1dc4355e, 0x1d6265dd, 0x1d00843d,
+  0x1c9e90b8, 0x1c3c8b8c,
+  0x1bda74f6, 0x1b784d30, 0x1b161479, 0x1ab3cb0d, 0x1a517128, 0x19ef0707,
+  0x198c8ce7, 0x192a0304,
+  0x18c7699b, 0x1864c0ea, 0x1802092c, 0x179f429f, 0x173c6d80, 0x16d98a0c,
+  0x1676987f, 0x16139918,
+  0x15b08c12, 0x154d71aa, 0x14ea4a1f, 0x148715ae, 0x1423d492, 0x13c0870a,
+  0x135d2d53, 0x12f9c7aa,
+  0x1296564d, 0x1232d979, 0x11cf516a, 0x116bbe60, 0x11082096, 0x10a4784b,
+  0x1040c5bb, 0xfdd0926,
+  0xf7942c7, 0xf1572dc, 0xeb199a4, 0xe4db75b, 0xde9cc40, 0xd85d88f, 0xd21dc87,
+  0xcbdd865,
+  0xc59cc68, 0xbf5b8cb, 0xb919dcf, 0xb2d7baf, 0xac952aa, 0xa6522fe, 0xa00ece8,
+  0x99cb0a7,
+  0x9386e78, 0x8d42699, 0x86fd947, 0x80b86c2, 0x7a72f45, 0x742d311, 0x6de7262,
+  0x67a0d76,
+  0x615a48b, 0x5b137df, 0x54cc7b1, 0x4e8543e, 0x483ddc3, 0x41f6480, 0x3bae8b2,
+  0x3566a96,
+  0x2f1ea6c, 0x28d6870, 0x228e4e2, 0x1c45ffe, 0x15fda03, 0xfb5330, 0x96cbc1,
+  0x3243f5,
+};
+
+static const q31_t cos_factorsQ31_2048[2048] = {
+  0x7fffff62, 0x7ffffa73, 0x7ffff094, 0x7fffe1c6, 0x7fffce09, 0x7fffb55c,
+  0x7fff97c1, 0x7fff7536,
+  0x7fff4dbb, 0x7fff2151, 0x7ffeeff8, 0x7ffeb9b0, 0x7ffe7e79, 0x7ffe3e52,
+  0x7ffdf93c, 0x7ffdaf37,
+  0x7ffd6042, 0x7ffd0c5f, 0x7ffcb38c, 0x7ffc55ca, 0x7ffbf319, 0x7ffb8b78,
+  0x7ffb1ee9, 0x7ffaad6a,
+  0x7ffa36fc, 0x7ff9bba0, 0x7ff93b54, 0x7ff8b619, 0x7ff82bef, 0x7ff79cd6,
+  0x7ff708ce, 0x7ff66fd7,
+  0x7ff5d1f1, 0x7ff52f1d, 0x7ff48759, 0x7ff3daa6, 0x7ff32905, 0x7ff27275,
+  0x7ff1b6f6, 0x7ff0f688,
+  0x7ff0312c, 0x7fef66e1, 0x7fee97a7, 0x7fedc37e, 0x7fecea67, 0x7fec0c62,
+  0x7feb296d, 0x7fea418b,
+  0x7fe954ba, 0x7fe862fa, 0x7fe76c4c, 0x7fe670b0, 0x7fe57025, 0x7fe46aac,
+  0x7fe36045, 0x7fe250ef,
+  0x7fe13cac, 0x7fe0237a, 0x7fdf055a, 0x7fdde24d, 0x7fdcba51, 0x7fdb8d67,
+  0x7fda5b8f, 0x7fd924ca,
+  0x7fd7e917, 0x7fd6a875, 0x7fd562e7, 0x7fd4186a, 0x7fd2c900, 0x7fd174a8,
+  0x7fd01b63, 0x7fcebd31,
+  0x7fcd5a11, 0x7fcbf203, 0x7fca8508, 0x7fc91320, 0x7fc79c4b, 0x7fc62089,
+  0x7fc49fda, 0x7fc31a3d,
+  0x7fc18fb4, 0x7fc0003e, 0x7fbe6bdb, 0x7fbcd28b, 0x7fbb344e, 0x7fb99125,
+  0x7fb7e90f, 0x7fb63c0d,
+  0x7fb48a1e, 0x7fb2d343, 0x7fb1177b, 0x7faf56c7, 0x7fad9127, 0x7fabc69b,
+  0x7fa9f723, 0x7fa822bf,
+  0x7fa6496e, 0x7fa46b32, 0x7fa2880b, 0x7fa09ff7, 0x7f9eb2f8, 0x7f9cc10d,
+  0x7f9aca37, 0x7f98ce76,
+  0x7f96cdc9, 0x7f94c831, 0x7f92bdad, 0x7f90ae3f, 0x7f8e99e6, 0x7f8c80a1,
+  0x7f8a6272, 0x7f883f58,
+  0x7f861753, 0x7f83ea64, 0x7f81b88a, 0x7f7f81c6, 0x7f7d4617, 0x7f7b057e,
+  0x7f78bffb, 0x7f76758e,
+  0x7f742637, 0x7f71d1f6, 0x7f6f78cb, 0x7f6d1ab6, 0x7f6ab7b8, 0x7f684fd0,
+  0x7f65e2ff, 0x7f637144,
+  0x7f60faa0, 0x7f5e7f13, 0x7f5bfe9d, 0x7f59793e, 0x7f56eef5, 0x7f545fc5,
+  0x7f51cbab, 0x7f4f32a9,
+  0x7f4c94be, 0x7f49f1eb, 0x7f474a30, 0x7f449d8c, 0x7f41ec01, 0x7f3f358d,
+  0x7f3c7a31, 0x7f39b9ee,
+  0x7f36f4c3, 0x7f342ab1, 0x7f315bb7, 0x7f2e87d6, 0x7f2baf0d, 0x7f28d15d,
+  0x7f25eec7, 0x7f230749,
+  0x7f201ae5, 0x7f1d299a, 0x7f1a3368, 0x7f173850, 0x7f143852, 0x7f11336d,
+  0x7f0e29a3, 0x7f0b1af2,
+  0x7f08075c, 0x7f04eedf, 0x7f01d17d, 0x7efeaf36, 0x7efb8809, 0x7ef85bf7,
+  0x7ef52b00, 0x7ef1f524,
+  0x7eeeba62, 0x7eeb7abc, 0x7ee83632, 0x7ee4ecc3, 0x7ee19e6f, 0x7ede4b38,
+  0x7edaf31c, 0x7ed7961c,
+  0x7ed43438, 0x7ed0cd70, 0x7ecd61c5, 0x7ec9f137, 0x7ec67bc5, 0x7ec3016f,
+  0x7ebf8237, 0x7ebbfe1c,
+  0x7eb8751e, 0x7eb4e73d, 0x7eb1547a, 0x7eadbcd4, 0x7eaa204c, 0x7ea67ee2,
+  0x7ea2d896, 0x7e9f2d68,
+  0x7e9b7d58, 0x7e97c867, 0x7e940e94, 0x7e904fe0, 0x7e8c8c4b, 0x7e88c3d5,
+  0x7e84f67e, 0x7e812447,
+  0x7e7d4d2f, 0x7e797136, 0x7e75905d, 0x7e71aaa4, 0x7e6dc00c, 0x7e69d093,
+  0x7e65dc3b, 0x7e61e303,
+  0x7e5de4ec, 0x7e59e1f5, 0x7e55da20, 0x7e51cd6c, 0x7e4dbbd9, 0x7e49a567,
+  0x7e458a17, 0x7e4169e9,
+  0x7e3d44dd, 0x7e391af3, 0x7e34ec2b, 0x7e30b885, 0x7e2c8002, 0x7e2842a2,
+  0x7e240064, 0x7e1fb94a,
+  0x7e1b6d53, 0x7e171c7f, 0x7e12c6ce, 0x7e0e6c42, 0x7e0a0cd9, 0x7e05a894,
+  0x7e013f74, 0x7dfcd178,
+  0x7df85ea0, 0x7df3e6ee, 0x7def6a60, 0x7deae8f7, 0x7de662b3, 0x7de1d795,
+  0x7ddd479d, 0x7dd8b2ca,
+  0x7dd4191d, 0x7dcf7a96, 0x7dcad736, 0x7dc62efc, 0x7dc181e8, 0x7dbccffc,
+  0x7db81936, 0x7db35d98,
+  0x7dae9d21, 0x7da9d7d2, 0x7da50dab, 0x7da03eab, 0x7d9b6ad3, 0x7d969224,
+  0x7d91b49e, 0x7d8cd240,
+  0x7d87eb0a, 0x7d82fefe, 0x7d7e0e1c, 0x7d791862, 0x7d741dd2, 0x7d6f1e6c,
+  0x7d6a1a31, 0x7d65111f,
+  0x7d600338, 0x7d5af07b, 0x7d55d8e9, 0x7d50bc82, 0x7d4b9b46, 0x7d467536,
+  0x7d414a51, 0x7d3c1a98,
+  0x7d36e60b, 0x7d31acaa, 0x7d2c6e76, 0x7d272b6e, 0x7d21e393, 0x7d1c96e5,
+  0x7d174564, 0x7d11ef11,
+  0x7d0c93eb, 0x7d0733f3, 0x7d01cf29, 0x7cfc658d, 0x7cf6f720, 0x7cf183e1,
+  0x7cec0bd1, 0x7ce68ef0,
+  0x7ce10d3f, 0x7cdb86bd, 0x7cd5fb6a, 0x7cd06b48, 0x7ccad656, 0x7cc53c94,
+  0x7cbf9e03, 0x7cb9faa2,
+  0x7cb45272, 0x7caea574, 0x7ca8f3a7, 0x7ca33d0c, 0x7c9d81a3, 0x7c97c16b,
+  0x7c91fc66, 0x7c8c3294,
+  0x7c8663f4, 0x7c809088, 0x7c7ab84e, 0x7c74db48, 0x7c6ef976, 0x7c6912d7,
+  0x7c63276d, 0x7c5d3737,
+  0x7c574236, 0x7c514869, 0x7c4b49d2, 0x7c45466f, 0x7c3f3e42, 0x7c39314b,
+  0x7c331f8a, 0x7c2d08ff,
+  0x7c26edab, 0x7c20cd8d, 0x7c1aa8a6, 0x7c147ef6, 0x7c0e507e, 0x7c081d3d,
+  0x7c01e534, 0x7bfba863,
+  0x7bf566cb, 0x7bef206b, 0x7be8d544, 0x7be28556, 0x7bdc30a1, 0x7bd5d726,
+  0x7bcf78e5, 0x7bc915dd,
+  0x7bc2ae10, 0x7bbc417e, 0x7bb5d026, 0x7baf5a09, 0x7ba8df28, 0x7ba25f82,
+  0x7b9bdb18, 0x7b9551ea,
+  0x7b8ec3f8, 0x7b883143, 0x7b8199ca, 0x7b7afd8f, 0x7b745c91, 0x7b6db6d0,
+  0x7b670c4d, 0x7b605d09,
+  0x7b59a902, 0x7b52f03a, 0x7b4c32b1, 0x7b457068, 0x7b3ea95d, 0x7b37dd92,
+  0x7b310d07, 0x7b2a37bc,
+  0x7b235db2, 0x7b1c7ee8, 0x7b159b5f, 0x7b0eb318, 0x7b07c612, 0x7b00d44d,
+  0x7af9ddcb, 0x7af2e28b,
+  0x7aebe28d, 0x7ae4ddd2, 0x7addd45b, 0x7ad6c626, 0x7acfb336, 0x7ac89b89,
+  0x7ac17f20, 0x7aba5dfc,
+  0x7ab3381d, 0x7aac0d82, 0x7aa4de2d, 0x7a9daa1d, 0x7a967153, 0x7a8f33d0,
+  0x7a87f192, 0x7a80aa9c,
+  0x7a795eec, 0x7a720e84, 0x7a6ab963, 0x7a635f8a, 0x7a5c00f9, 0x7a549db0,
+  0x7a4d35b0, 0x7a45c8f9,
+  0x7a3e578b, 0x7a36e166, 0x7a2f668c, 0x7a27e6fb, 0x7a2062b5, 0x7a18d9b9,
+  0x7a114c09, 0x7a09b9a4,
+  0x7a02228a, 0x79fa86bc, 0x79f2e63a, 0x79eb4105, 0x79e3971c, 0x79dbe880,
+  0x79d43532, 0x79cc7d31,
+  0x79c4c07e, 0x79bcff19, 0x79b53903, 0x79ad6e3c, 0x79a59ec3, 0x799dca9a,
+  0x7995f1c1, 0x798e1438,
+  0x798631ff, 0x797e4b16, 0x79765f7f, 0x796e6f39, 0x79667a44, 0x795e80a1,
+  0x79568250, 0x794e7f52,
+  0x794677a6, 0x793e6b4e, 0x79365a49, 0x792e4497, 0x79262a3a, 0x791e0b31,
+  0x7915e77c, 0x790dbf1d,
+  0x79059212, 0x78fd605d, 0x78f529fe, 0x78eceef6, 0x78e4af44, 0x78dc6ae8,
+  0x78d421e4, 0x78cbd437,
+  0x78c381e2, 0x78bb2ae5, 0x78b2cf41, 0x78aa6ef5, 0x78a20a03, 0x7899a06a,
+  0x7891322a, 0x7888bf45,
+  0x788047ba, 0x7877cb89, 0x786f4ab4, 0x7866c53a, 0x785e3b1c, 0x7855ac5a,
+  0x784d18f4, 0x784480ea,
+  0x783be43e, 0x783342ef, 0x782a9cfe, 0x7821f26b, 0x78194336, 0x78108f60,
+  0x7807d6e9, 0x77ff19d1,
+  0x77f65819, 0x77ed91c0, 0x77e4c6c9, 0x77dbf732, 0x77d322fc, 0x77ca4a27,
+  0x77c16cb4, 0x77b88aa3,
+  0x77afa3f5, 0x77a6b8a9, 0x779dc8c0, 0x7794d43b, 0x778bdb19, 0x7782dd5c,
+  0x7779db03, 0x7770d40f,
+  0x7767c880, 0x775eb857, 0x7755a394, 0x774c8a36, 0x77436c40, 0x773a49b0,
+  0x77312287, 0x7727f6c6,
+  0x771ec66e, 0x7715917d, 0x770c57f5, 0x770319d6, 0x76f9d721, 0x76f08fd5,
+  0x76e743f4, 0x76ddf37c,
+  0x76d49e70, 0x76cb44cf, 0x76c1e699, 0x76b883d0, 0x76af1c72, 0x76a5b082,
+  0x769c3ffe, 0x7692cae8,
+  0x7689513f, 0x767fd304, 0x76765038, 0x766cc8db, 0x76633ced, 0x7659ac6f,
+  0x76501760, 0x76467dc2,
+  0x763cdf94, 0x76333cd8, 0x7629958c, 0x761fe9b3, 0x7616394c, 0x760c8457,
+  0x7602cad5, 0x75f90cc7,
+  0x75ef4a2c, 0x75e58305, 0x75dbb753, 0x75d1e715, 0x75c8124d, 0x75be38fa,
+  0x75b45b1d, 0x75aa78b6,
+  0x75a091c6, 0x7596a64d, 0x758cb64c, 0x7582c1c2, 0x7578c8b0, 0x756ecb18,
+  0x7564c8f8, 0x755ac251,
+  0x7550b725, 0x7546a772, 0x753c933a, 0x75327a7d, 0x75285d3b, 0x751e3b75,
+  0x7514152b, 0x7509ea5d,
+  0x74ffbb0d, 0x74f58739, 0x74eb4ee3, 0x74e1120c, 0x74d6d0b2, 0x74cc8ad8,
+  0x74c2407d, 0x74b7f1a1,
+  0x74ad9e46, 0x74a3466b, 0x7498ea11, 0x748e8938, 0x748423e0, 0x7479ba0b,
+  0x746f4bb8, 0x7464d8e8,
+  0x745a619b, 0x744fe5d2, 0x7445658d, 0x743ae0cc, 0x74305790, 0x7425c9da,
+  0x741b37a9, 0x7410a0fe,
+  0x740605d9, 0x73fb663c, 0x73f0c226, 0x73e61997, 0x73db6c91, 0x73d0bb13,
+  0x73c6051f, 0x73bb4ab3,
+  0x73b08bd1, 0x73a5c87a, 0x739b00ad, 0x7390346b, 0x738563b5, 0x737a8e8a,
+  0x736fb4ec, 0x7364d6da,
+  0x7359f456, 0x734f0d5f, 0x734421f6, 0x7339321b, 0x732e3dcf, 0x73234512,
+  0x731847e5, 0x730d4648,
+  0x7302403c, 0x72f735c0, 0x72ec26d6, 0x72e1137d, 0x72d5fbb7, 0x72cadf83,
+  0x72bfbee3, 0x72b499d6,
+  0x72a9705c, 0x729e4277, 0x72931027, 0x7287d96c, 0x727c9e47, 0x72715eb8,
+  0x72661abf, 0x725ad25d,
+  0x724f8593, 0x72443460, 0x7238dec5, 0x722d84c4, 0x7222265b, 0x7216c38c,
+  0x720b5c57, 0x71fff0bc,
+  0x71f480bc, 0x71e90c57, 0x71dd938f, 0x71d21662, 0x71c694d2, 0x71bb0edf,
+  0x71af848a, 0x71a3f5d2,
+  0x719862b9, 0x718ccb3f, 0x71812f65, 0x71758f29, 0x7169ea8f, 0x715e4194,
+  0x7152943b, 0x7146e284,
+  0x713b2c6e, 0x712f71fb, 0x7123b32b, 0x7117effe, 0x710c2875, 0x71005c90,
+  0x70f48c50, 0x70e8b7b5,
+  0x70dcdec0, 0x70d10171, 0x70c51fc8, 0x70b939c7, 0x70ad4f6d, 0x70a160ba,
+  0x70956db1, 0x70897650,
+  0x707d7a98, 0x70717a8a, 0x70657626, 0x70596d6d, 0x704d6060, 0x70414efd,
+  0x70353947, 0x70291f3e,
+  0x701d00e1, 0x7010de32, 0x7004b731, 0x6ff88bde, 0x6fec5c3b, 0x6fe02846,
+  0x6fd3f001, 0x6fc7b36d,
+  0x6fbb728a, 0x6faf2d57, 0x6fa2e3d7, 0x6f969608, 0x6f8a43ed, 0x6f7ded84,
+  0x6f7192cf, 0x6f6533ce,
+  0x6f58d082, 0x6f4c68eb, 0x6f3ffd09, 0x6f338cde, 0x6f271868, 0x6f1a9faa,
+  0x6f0e22a3, 0x6f01a155,
+  0x6ef51bbe, 0x6ee891e1, 0x6edc03bc, 0x6ecf7152, 0x6ec2daa2, 0x6eb63fad,
+  0x6ea9a073, 0x6e9cfcf5,
+  0x6e905534, 0x6e83a92f, 0x6e76f8e7, 0x6e6a445d, 0x6e5d8b91, 0x6e50ce84,
+  0x6e440d37, 0x6e3747a9,
+  0x6e2a7ddb, 0x6e1dafce, 0x6e10dd82, 0x6e0406f8, 0x6df72c30, 0x6dea4d2b,
+  0x6ddd69e9, 0x6dd0826a,
+  0x6dc396b0, 0x6db6a6ba, 0x6da9b28a, 0x6d9cba1f, 0x6d8fbd7a, 0x6d82bc9d,
+  0x6d75b786, 0x6d68ae37,
+  0x6d5ba0b0, 0x6d4e8ef2, 0x6d4178fd, 0x6d345ed1, 0x6d274070, 0x6d1a1dda,
+  0x6d0cf70f, 0x6cffcc0f,
+  0x6cf29cdc, 0x6ce56975, 0x6cd831dc, 0x6ccaf610, 0x6cbdb613, 0x6cb071e4,
+  0x6ca32985, 0x6c95dcf6,
+  0x6c888c36, 0x6c7b3748, 0x6c6dde2b, 0x6c6080e0, 0x6c531f67, 0x6c45b9c1,
+  0x6c384fef, 0x6c2ae1f0,
+  0x6c1d6fc6, 0x6c0ff971, 0x6c027ef1, 0x6bf50047, 0x6be77d74, 0x6bd9f677,
+  0x6bcc6b53, 0x6bbedc06,
+  0x6bb14892, 0x6ba3b0f7, 0x6b961536, 0x6b88754f, 0x6b7ad142, 0x6b6d2911,
+  0x6b5f7cbc, 0x6b51cc42,
+  0x6b4417a6, 0x6b365ee7, 0x6b28a206, 0x6b1ae103, 0x6b0d1bdf, 0x6aff529a,
+  0x6af18536, 0x6ae3b3b2,
+  0x6ad5de0f, 0x6ac8044e, 0x6aba266e, 0x6aac4472, 0x6a9e5e58, 0x6a907423,
+  0x6a8285d1, 0x6a749365,
+  0x6a669cdd, 0x6a58a23c, 0x6a4aa381, 0x6a3ca0ad, 0x6a2e99c0, 0x6a208ebb,
+  0x6a127f9f, 0x6a046c6c,
+  0x69f65523, 0x69e839c4, 0x69da1a50, 0x69cbf6c7, 0x69bdcf29, 0x69afa378,
+  0x69a173b5, 0x69933fde,
+  0x698507f6, 0x6976cbfc, 0x69688bf1, 0x695a47d6, 0x694bffab, 0x693db371,
+  0x692f6328, 0x69210ed1,
+  0x6912b66c, 0x690459fb, 0x68f5f97d, 0x68e794f3, 0x68d92c5d, 0x68cabfbd,
+  0x68bc4f13, 0x68adda5f,
+  0x689f61a1, 0x6890e4dc, 0x6882640e, 0x6873df38, 0x6865565c, 0x6856c979,
+  0x68483891, 0x6839a3a4,
+  0x682b0ab1, 0x681c6dbb, 0x680dccc1, 0x67ff27c4, 0x67f07ec5, 0x67e1d1c4,
+  0x67d320c1, 0x67c46bbe,
+  0x67b5b2bb, 0x67a6f5b8, 0x679834b6, 0x67896fb6, 0x677aa6b8, 0x676bd9bd,
+  0x675d08c4, 0x674e33d0,
+  0x673f5ae0, 0x67307df5, 0x67219d10, 0x6712b831, 0x6703cf58, 0x66f4e287,
+  0x66e5f1be, 0x66d6fcfd,
+  0x66c80445, 0x66b90797, 0x66aa06f3, 0x669b0259, 0x668bf9cb, 0x667ced49,
+  0x666ddcd3, 0x665ec86b,
+  0x664fb010, 0x664093c3, 0x66317385, 0x66224f56, 0x66132738, 0x6603fb2a,
+  0x65f4cb2d, 0x65e59742,
+  0x65d65f69, 0x65c723a3, 0x65b7e3f1, 0x65a8a052, 0x659958c9, 0x658a0d54,
+  0x657abdf6, 0x656b6aae,
+  0x655c137d, 0x654cb863, 0x653d5962, 0x652df679, 0x651e8faa, 0x650f24f5,
+  0x64ffb65b, 0x64f043dc,
+  0x64e0cd78, 0x64d15331, 0x64c1d507, 0x64b252fa, 0x64a2cd0c, 0x6493433c,
+  0x6483b58c, 0x647423fb,
+  0x64648e8c, 0x6454f53d, 0x64455810, 0x6435b706, 0x6426121e, 0x6416695a,
+  0x6406bcba, 0x63f70c3f,
+  0x63e757ea, 0x63d79fba, 0x63c7e3b1, 0x63b823cf, 0x63a86015, 0x63989884,
+  0x6388cd1b, 0x6378fddc,
+  0x63692ac7, 0x635953dd, 0x6349791f, 0x63399a8d, 0x6329b827, 0x6319d1ef,
+  0x6309e7e4, 0x62f9fa09,
+  0x62ea085c, 0x62da12df, 0x62ca1992, 0x62ba1c77, 0x62aa1b8d, 0x629a16d5,
+  0x628a0e50, 0x627a01fe,
+  0x6269f1e1, 0x6259ddf8, 0x6249c645, 0x6239aac7, 0x62298b81, 0x62196871,
+  0x62094199, 0x61f916f9,
+  0x61e8e893, 0x61d8b666, 0x61c88074, 0x61b846bc, 0x61a80940, 0x6197c800,
+  0x618782fd, 0x61773a37,
+  0x6166edb0, 0x61569d67, 0x6146495d, 0x6135f193, 0x6125960a, 0x611536c2,
+  0x6104d3bc, 0x60f46cf9,
+  0x60e40278, 0x60d3943b, 0x60c32243, 0x60b2ac8f, 0x60a23322, 0x6091b5fa,
+  0x60813519, 0x6070b080,
+  0x6060282f, 0x604f9c27, 0x603f0c69, 0x602e78f4, 0x601de1ca, 0x600d46ec,
+  0x5ffca859, 0x5fec0613,
+  0x5fdb601b, 0x5fcab670, 0x5fba0914, 0x5fa95807, 0x5f98a34a, 0x5f87eade,
+  0x5f772ec2, 0x5f666ef9,
+  0x5f55ab82, 0x5f44e45e, 0x5f34198e, 0x5f234b12, 0x5f1278eb, 0x5f01a31a,
+  0x5ef0c99f, 0x5edfec7b,
+  0x5ecf0baf, 0x5ebe273b, 0x5ead3f1f, 0x5e9c535e, 0x5e8b63f7, 0x5e7a70ea,
+  0x5e697a39, 0x5e587fe5,
+  0x5e4781ed, 0x5e368053, 0x5e257b17, 0x5e147239, 0x5e0365bb, 0x5df2559e,
+  0x5de141e1, 0x5dd02a85,
+  0x5dbf0f8c, 0x5dadf0f5, 0x5d9ccec2, 0x5d8ba8f3, 0x5d7a7f88, 0x5d695283,
+  0x5d5821e4, 0x5d46edac,
+  0x5d35b5db, 0x5d247a72, 0x5d133b72, 0x5d01f8dc, 0x5cf0b2af, 0x5cdf68ed,
+  0x5cce1b97, 0x5cbccaac,
+  0x5cab762f, 0x5c9a1e1e, 0x5c88c27c, 0x5c776348, 0x5c660084, 0x5c549a30,
+  0x5c43304d, 0x5c31c2db,
+  0x5c2051db, 0x5c0edd4e, 0x5bfd6534, 0x5bebe98e, 0x5bda6a5d, 0x5bc8e7a2,
+  0x5bb7615d, 0x5ba5d78e,
+  0x5b944a37, 0x5b82b958, 0x5b7124f2, 0x5b5f8d06, 0x5b4df193, 0x5b3c529c,
+  0x5b2ab020, 0x5b190a20,
+  0x5b07609d, 0x5af5b398, 0x5ae40311, 0x5ad24f09, 0x5ac09781, 0x5aaedc78,
+  0x5a9d1df1, 0x5a8b5bec,
+  0x5a799669, 0x5a67cd69, 0x5a5600ec, 0x5a4430f5, 0x5a325d82, 0x5a208695,
+  0x5a0eac2e, 0x59fcce4f,
+  0x59eaecf8, 0x59d90829, 0x59c71fe3, 0x59b53427, 0x59a344f6, 0x59915250,
+  0x597f5c36, 0x596d62a9,
+  0x595b65aa, 0x59496538, 0x59376155, 0x59255a02, 0x59134f3e, 0x5901410c,
+  0x58ef2f6b, 0x58dd1a5d,
+  0x58cb01e1, 0x58b8e5f9, 0x58a6c6a5, 0x5894a3e7, 0x58827dbe, 0x5870542c,
+  0x585e2730, 0x584bf6cd,
+  0x5839c302, 0x58278bd1, 0x58155139, 0x5803133c, 0x57f0d1da, 0x57de8d15,
+  0x57cc44ec, 0x57b9f960,
+  0x57a7aa73, 0x57955825, 0x57830276, 0x5770a968, 0x575e4cfa, 0x574bed2f,
+  0x57398a05, 0x5727237f,
+  0x5714b99d, 0x57024c5f, 0x56efdbc7, 0x56dd67d4, 0x56caf088, 0x56b875e4,
+  0x56a5f7e7, 0x56937694,
+  0x5680f1ea, 0x566e69ea, 0x565bde95, 0x56494fec, 0x5636bdef, 0x5624289f,
+  0x56118ffe, 0x55fef40a,
+  0x55ec54c6, 0x55d9b232, 0x55c70c4f, 0x55b4631d, 0x55a1b69d, 0x558f06d0,
+  0x557c53b6, 0x55699d51,
+  0x5556e3a1, 0x554426a7, 0x55316663, 0x551ea2d6, 0x550bdc01, 0x54f911e5,
+  0x54e64482, 0x54d373d9,
+  0x54c09feb, 0x54adc8b8, 0x549aee42, 0x54881089, 0x54752f8d, 0x54624b50,
+  0x544f63d2, 0x543c7914,
+  0x54298b17, 0x541699db, 0x5403a561, 0x53f0adaa, 0x53ddb2b6, 0x53cab486,
+  0x53b7b31c, 0x53a4ae77,
+  0x5391a699, 0x537e9b82, 0x536b8d33, 0x53587bad, 0x534566f0, 0x53324efd,
+  0x531f33d5, 0x530c1579,
+  0x52f8f3e9, 0x52e5cf27, 0x52d2a732, 0x52bf7c0b, 0x52ac4db4, 0x52991c2d,
+  0x5285e777, 0x5272af92,
+  0x525f7480, 0x524c3640, 0x5238f4d4, 0x5225b03d, 0x5212687b, 0x51ff1d8f,
+  0x51ebcf7a, 0x51d87e3c,
+  0x51c529d7, 0x51b1d24a, 0x519e7797, 0x518b19bf, 0x5177b8c2, 0x516454a0,
+  0x5150ed5c, 0x513d82f4,
+  0x512a156b, 0x5116a4c1, 0x510330f7, 0x50efba0d, 0x50dc4005, 0x50c8c2de,
+  0x50b5429a, 0x50a1bf39,
+  0x508e38bd, 0x507aaf25, 0x50672273, 0x505392a8, 0x503fffc4, 0x502c69c8,
+  0x5018d0b4, 0x5005348a,
+  0x4ff1954b, 0x4fddf2f6, 0x4fca4d8d, 0x4fb6a510, 0x4fa2f981, 0x4f8f4ae0,
+  0x4f7b992d, 0x4f67e46a,
+  0x4f542c98, 0x4f4071b6, 0x4f2cb3c7, 0x4f18f2c9, 0x4f052ec0, 0x4ef167aa,
+  0x4edd9d89, 0x4ec9d05e,
+  0x4eb60029, 0x4ea22ceb, 0x4e8e56a5, 0x4e7a7d58, 0x4e66a105, 0x4e52c1ab,
+  0x4e3edf4d, 0x4e2af9ea,
+  0x4e171184, 0x4e03261b, 0x4def37b0, 0x4ddb4644, 0x4dc751d8, 0x4db35a6c,
+  0x4d9f6001, 0x4d8b6298,
+  0x4d776231, 0x4d635ece, 0x4d4f5870, 0x4d3b4f16, 0x4d2742c2, 0x4d133374,
+  0x4cff212e, 0x4ceb0bf0,
+  0x4cd6f3bb, 0x4cc2d88f, 0x4caeba6e, 0x4c9a9958, 0x4c86754e, 0x4c724e50,
+  0x4c5e2460, 0x4c49f77f,
+  0x4c35c7ac, 0x4c2194e9, 0x4c0d5f37, 0x4bf92697, 0x4be4eb08, 0x4bd0ac8d,
+  0x4bbc6b25, 0x4ba826d1,
+  0x4b93df93, 0x4b7f956b, 0x4b6b485a, 0x4b56f861, 0x4b42a580, 0x4b2e4fb8,
+  0x4b19f70a, 0x4b059b77,
+  0x4af13d00, 0x4adcdba5, 0x4ac87767, 0x4ab41046, 0x4a9fa645, 0x4a8b3963,
+  0x4a76c9a2, 0x4a625701,
+  0x4a4de182, 0x4a396926, 0x4a24edee, 0x4a106fda, 0x49fbeeea, 0x49e76b21,
+  0x49d2e47e, 0x49be5b02,
+  0x49a9ceaf, 0x49953f84, 0x4980ad84, 0x496c18ae, 0x49578103, 0x4942e684,
+  0x492e4933, 0x4919a90f,
+  0x4905061a, 0x48f06054, 0x48dbb7be, 0x48c70c59, 0x48b25e25, 0x489dad25,
+  0x4888f957, 0x487442be,
+  0x485f8959, 0x484acd2a, 0x48360e32, 0x48214c71, 0x480c87e8, 0x47f7c099,
+  0x47e2f682, 0x47ce29a7,
+  0x47b95a06, 0x47a487a2, 0x478fb27b, 0x477ada91, 0x4765ffe6, 0x4751227a,
+  0x473c424e, 0x47275f63,
+  0x471279ba, 0x46fd9154, 0x46e8a631, 0x46d3b852, 0x46bec7b8, 0x46a9d464,
+  0x4694de56, 0x467fe590,
+  0x466aea12, 0x4655ebdd, 0x4640eaf2, 0x462be751, 0x4616e0fc, 0x4601d7f3,
+  0x45eccc37, 0x45d7bdc9,
+  0x45c2acaa, 0x45ad98da, 0x4598825a, 0x4583692c, 0x456e4d4f, 0x45592ec6,
+  0x45440d90, 0x452ee9ae,
+  0x4519c321, 0x450499eb, 0x44ef6e0b, 0x44da3f83, 0x44c50e53, 0x44afda7d,
+  0x449aa400, 0x44856adf,
+  0x44702f19, 0x445af0b0, 0x4445afa4, 0x44306bf6, 0x441b25a8, 0x4405dcb9,
+  0x43f0912b, 0x43db42fe,
+  0x43c5f234, 0x43b09ecc, 0x439b48c9, 0x4385f02a, 0x437094f1, 0x435b371f,
+  0x4345d6b3, 0x433073b0,
+  0x431b0e15, 0x4305a5e5, 0x42f03b1e, 0x42dacdc3, 0x42c55dd4, 0x42afeb53,
+  0x429a763f, 0x4284fe99,
+  0x426f8463, 0x425a079e, 0x42448849, 0x422f0667, 0x421981f7, 0x4203fafb,
+  0x41ee7174, 0x41d8e561,
+  0x41c356c5, 0x41adc5a0, 0x419831f3, 0x41829bbe, 0x416d0302, 0x415767c1,
+  0x4141c9fb, 0x412c29b1,
+  0x411686e4, 0x4100e194, 0x40eb39c3, 0x40d58f71, 0x40bfe29f, 0x40aa334e,
+  0x4094817f, 0x407ecd32,
+  0x40691669, 0x40535d24, 0x403da165, 0x4027e32b, 0x40122278, 0x3ffc5f4d,
+  0x3fe699aa, 0x3fd0d191,
+  0x3fbb0702, 0x3fa539fd, 0x3f8f6a85, 0x3f799899, 0x3f63c43b, 0x3f4ded6b,
+  0x3f38142a, 0x3f22387a,
+  0x3f0c5a5a, 0x3ef679cc, 0x3ee096d1, 0x3ecab169, 0x3eb4c995, 0x3e9edf57,
+  0x3e88f2ae, 0x3e73039d,
+  0x3e5d1222, 0x3e471e41, 0x3e3127f9, 0x3e1b2f4a, 0x3e053437, 0x3def36c0,
+  0x3dd936e6, 0x3dc334a9,
+  0x3dad300b, 0x3d97290b, 0x3d811fac, 0x3d6b13ee, 0x3d5505d2, 0x3d3ef559,
+  0x3d28e282, 0x3d12cd51,
+  0x3cfcb5c4, 0x3ce69bde, 0x3cd07f9f, 0x3cba6107, 0x3ca44018, 0x3c8e1cd3,
+  0x3c77f737, 0x3c61cf48,
+  0x3c4ba504, 0x3c35786d, 0x3c1f4983, 0x3c091849, 0x3bf2e4be, 0x3bdcaee3,
+  0x3bc676b9, 0x3bb03c42,
+  0x3b99ff7d, 0x3b83c06c, 0x3b6d7f10, 0x3b573b69, 0x3b40f579, 0x3b2aad3f,
+  0x3b1462be, 0x3afe15f6,
+  0x3ae7c6e7, 0x3ad17593, 0x3abb21fb, 0x3aa4cc1e, 0x3a8e7400, 0x3a78199f,
+  0x3a61bcfd, 0x3a4b5e1b,
+  0x3a34fcf9, 0x3a1e9999, 0x3a0833fc, 0x39f1cc21, 0x39db620b, 0x39c4f5ba,
+  0x39ae872f, 0x3998166a,
+  0x3981a36d, 0x396b2e38, 0x3954b6cd, 0x393e3d2c, 0x3927c155, 0x3911434b,
+  0x38fac30e, 0x38e4409e,
+  0x38cdbbfc, 0x38b7352a, 0x38a0ac29, 0x388a20f8, 0x38739399, 0x385d040d,
+  0x38467255, 0x382fde72,
+  0x38194864, 0x3802b02c, 0x37ec15cb, 0x37d57943, 0x37beda93, 0x37a839be,
+  0x379196c3, 0x377af1a3,
+  0x37644a60, 0x374da0fa, 0x3736f573, 0x372047ca, 0x37099802, 0x36f2e61a,
+  0x36dc3214, 0x36c57bf0,
+  0x36aec3b0, 0x36980954, 0x36814cde, 0x366a8e4d, 0x3653cda3, 0x363d0ae2,
+  0x36264609, 0x360f7f19,
+  0x35f8b614, 0x35e1eafa, 0x35cb1dcc, 0x35b44e8c, 0x359d7d39, 0x3586a9d5,
+  0x356fd461, 0x3558fcde,
+  0x3542234c, 0x352b47ad, 0x35146a00, 0x34fd8a48, 0x34e6a885, 0x34cfc4b7,
+  0x34b8dee1, 0x34a1f702,
+  0x348b0d1c, 0x3474212f, 0x345d333c, 0x34464345, 0x342f5149, 0x34185d4b,
+  0x3401674a, 0x33ea6f48,
+  0x33d37546, 0x33bc7944, 0x33a57b44, 0x338e7b46, 0x3377794b, 0x33607554,
+  0x33496f62, 0x33326776,
+  0x331b5d91, 0x330451b3, 0x32ed43de, 0x32d63412, 0x32bf2250, 0x32a80e99,
+  0x3290f8ef, 0x3279e151,
+  0x3262c7c1, 0x324bac40, 0x32348ecf, 0x321d6f6e, 0x32064e1e, 0x31ef2ae1,
+  0x31d805b7, 0x31c0dea1,
+  0x31a9b5a0, 0x31928ab4, 0x317b5de0, 0x31642f23, 0x314cfe7f, 0x3135cbf4,
+  0x311e9783, 0x3107612e,
+  0x30f028f4, 0x30d8eed8, 0x30c1b2da, 0x30aa74fa, 0x3093353a, 0x307bf39b,
+  0x3064b01d, 0x304d6ac1,
+  0x30362389, 0x301eda75, 0x30078f86, 0x2ff042bd, 0x2fd8f41b, 0x2fc1a3a0,
+  0x2faa514f, 0x2f92fd26,
+  0x2f7ba729, 0x2f644f56, 0x2f4cf5b0, 0x2f359a37, 0x2f1e3ced, 0x2f06ddd1,
+  0x2eef7ce5, 0x2ed81a29,
+  0x2ec0b5a0, 0x2ea94f49, 0x2e91e725, 0x2e7a7d36, 0x2e63117c, 0x2e4ba3f8,
+  0x2e3434ac, 0x2e1cc397,
+  0x2e0550bb, 0x2deddc19, 0x2dd665b2, 0x2dbeed86, 0x2da77397, 0x2d8ff7e5,
+  0x2d787a72, 0x2d60fb3e,
+  0x2d497a4a, 0x2d31f797, 0x2d1a7325, 0x2d02ecf7, 0x2ceb650d, 0x2cd3db67,
+  0x2cbc5006, 0x2ca4c2ed,
+  0x2c8d341a, 0x2c75a390, 0x2c5e114f, 0x2c467d58, 0x2c2ee7ad, 0x2c17504d,
+  0x2bffb73a, 0x2be81c74,
+  0x2bd07ffe, 0x2bb8e1d7, 0x2ba14200, 0x2b89a07b, 0x2b71fd48, 0x2b5a5868,
+  0x2b42b1dd, 0x2b2b09a6,
+  0x2b135fc6, 0x2afbb43c, 0x2ae4070a, 0x2acc5831, 0x2ab4a7b1, 0x2a9cf58c,
+  0x2a8541c3, 0x2a6d8c55,
+  0x2a55d545, 0x2a3e1c93, 0x2a266240, 0x2a0ea64d, 0x29f6e8bb, 0x29df298b,
+  0x29c768be, 0x29afa654,
+  0x2997e24f, 0x29801caf, 0x29685576, 0x29508ca4, 0x2938c23a, 0x2920f63a,
+  0x290928a3, 0x28f15978,
+  0x28d988b8, 0x28c1b666, 0x28a9e281, 0x28920d0a, 0x287a3604, 0x28625d6d,
+  0x284a8349, 0x2832a796,
+  0x281aca57, 0x2802eb8c, 0x27eb0b36, 0x27d32956, 0x27bb45ed, 0x27a360fc,
+  0x278b7a84, 0x27739285,
+  0x275ba901, 0x2743bdf9, 0x272bd16d, 0x2713e35f, 0x26fbf3ce, 0x26e402bd,
+  0x26cc102d, 0x26b41c1d,
+  0x269c268f, 0x26842f84, 0x266c36fe, 0x26543cfb, 0x263c417f, 0x26244489,
+  0x260c461b, 0x25f44635,
+  0x25dc44d9, 0x25c44207, 0x25ac3dc0, 0x25943806, 0x257c30d8, 0x25642839,
+  0x254c1e28, 0x253412a8,
+  0x251c05b8, 0x2503f75a, 0x24ebe78f, 0x24d3d657, 0x24bbc3b4, 0x24a3afa6,
+  0x248b9a2f, 0x2473834f,
+  0x245b6b07, 0x24435158, 0x242b3644, 0x241319ca, 0x23fafbec, 0x23e2dcac,
+  0x23cabc09, 0x23b29a05,
+  0x239a76a0, 0x238251dd, 0x236a2bba, 0x2352043b, 0x2339db5e, 0x2321b126,
+  0x23098593, 0x22f158a7,
+  0x22d92a61, 0x22c0fac4, 0x22a8c9cf, 0x22909785, 0x227863e5, 0x22602ef1,
+  0x2247f8aa, 0x222fc111,
+  0x22178826, 0x21ff4dea, 0x21e71260, 0x21ced586, 0x21b6975f, 0x219e57eb,
+  0x2186172b, 0x216dd521,
+  0x215591cc, 0x213d4d2f, 0x21250749, 0x210cc01d, 0x20f477aa, 0x20dc2df2,
+  0x20c3e2f5, 0x20ab96b5,
+  0x20934933, 0x207afa6f, 0x2062aa6b, 0x204a5927, 0x203206a4, 0x2019b2e4,
+  0x20015de7, 0x1fe907ae,
+  0x1fd0b03a, 0x1fb8578b, 0x1f9ffda4, 0x1f87a285, 0x1f6f462f, 0x1f56e8a2,
+  0x1f3e89e0, 0x1f2629ea,
+  0x1f0dc8c0, 0x1ef56664, 0x1edd02d6, 0x1ec49e17, 0x1eac3829, 0x1e93d10c,
+  0x1e7b68c2, 0x1e62ff4a,
+  0x1e4a94a7, 0x1e3228d9, 0x1e19bbe0, 0x1e014dbf, 0x1de8de75, 0x1dd06e04,
+  0x1db7fc6d, 0x1d9f89b1,
+  0x1d8715d0, 0x1d6ea0cc, 0x1d562aa6, 0x1d3db35e, 0x1d253af5, 0x1d0cc16c,
+  0x1cf446c5, 0x1cdbcb00,
+  0x1cc34e1f, 0x1caad021, 0x1c925109, 0x1c79d0d6, 0x1c614f8b, 0x1c48cd27,
+  0x1c3049ac, 0x1c17c51b,
+  0x1bff3f75, 0x1be6b8ba, 0x1bce30ec, 0x1bb5a80c, 0x1b9d1e1a, 0x1b849317,
+  0x1b6c0705, 0x1b5379e5,
+  0x1b3aebb6, 0x1b225c7b, 0x1b09cc34, 0x1af13ae3, 0x1ad8a887, 0x1ac01522,
+  0x1aa780b6, 0x1a8eeb42,
+  0x1a7654c8, 0x1a5dbd49, 0x1a4524c6, 0x1a2c8b3f, 0x1a13f0b6, 0x19fb552c,
+  0x19e2b8a2, 0x19ca1b17,
+  0x19b17c8f, 0x1998dd09, 0x19803c86, 0x19679b07, 0x194ef88e, 0x1936551b,
+  0x191db0af, 0x19050b4b,
+  0x18ec64f0, 0x18d3bda0, 0x18bb155a, 0x18a26c20, 0x1889c1f3, 0x187116d4,
+  0x18586ac3, 0x183fbdc3,
+  0x18270fd3, 0x180e60f4, 0x17f5b129, 0x17dd0070, 0x17c44ecd, 0x17ab9c3e,
+  0x1792e8c6, 0x177a3466,
+  0x17617f1d, 0x1748c8ee, 0x173011d9, 0x171759df, 0x16fea102, 0x16e5e741,
+  0x16cd2c9f, 0x16b4711b,
+  0x169bb4b7, 0x1682f774, 0x166a3953, 0x16517a55, 0x1638ba7a, 0x161ff9c4,
+  0x16073834, 0x15ee75cb,
+  0x15d5b288, 0x15bcee6f, 0x15a4297f, 0x158b63b9, 0x15729d1f, 0x1559d5b1,
+  0x15410d70, 0x1528445d,
+  0x150f7a7a, 0x14f6afc7, 0x14dde445, 0x14c517f4, 0x14ac4ad7, 0x14937cee,
+  0x147aae3a, 0x1461debc,
+  0x14490e74, 0x14303d65, 0x14176b8e, 0x13fe98f1, 0x13e5c58e, 0x13ccf167,
+  0x13b41c7d, 0x139b46d0,
+  0x13827062, 0x13699933, 0x1350c144, 0x1337e897, 0x131f0f2c, 0x13063505,
+  0x12ed5a21, 0x12d47e83,
+  0x12bba22b, 0x12a2c51b, 0x1289e752, 0x127108d2, 0x1258299c, 0x123f49b2,
+  0x12266913, 0x120d87c1,
+  0x11f4a5bd, 0x11dbc307, 0x11c2dfa2, 0x11a9fb8d, 0x119116c9, 0x11783159,
+  0x115f4b3c, 0x11466473,
+  0x112d7d00, 0x111494e4, 0x10fbac1e, 0x10e2c2b2, 0x10c9d89e, 0x10b0ede5,
+  0x10980287, 0x107f1686,
+  0x106629e1, 0x104d3c9b, 0x10344eb4, 0x101b602d, 0x10027107, 0xfe98143,
+  0xfd090e1, 0xfb79fe4,
+  0xf9eae4c, 0xf85bc19, 0xf6cc94e, 0xf53d5ea, 0xf3ae1ee, 0xf21ed5d, 0xf08f836,
+  0xef0027b,
+  0xed70c2c, 0xebe154b, 0xea51dd8, 0xe8c25d5, 0xe732d42, 0xe5a3421, 0xe413a72,
+  0xe284036,
+  0xe0f456f, 0xdf64a1c, 0xddd4e40, 0xdc451dc, 0xdab54ef, 0xd92577b, 0xd795982,
+  0xd605b03,
+  0xd475c00, 0xd2e5c7b, 0xd155c73, 0xcfc5bea, 0xce35ae1, 0xcca5959, 0xcb15752,
+  0xc9854cf,
+  0xc7f51cf, 0xc664e53, 0xc4d4a5d, 0xc3445ee, 0xc1b4107, 0xc023ba7, 0xbe935d2,
+  0xbd02f87,
+  0xbb728c7, 0xb9e2193, 0xb8519ed, 0xb6c11d5, 0xb53094d, 0xb3a0055, 0xb20f6ee,
+  0xb07ed19,
+  0xaeee2d7, 0xad5d829, 0xabccd11, 0xaa3c18e, 0xa8ab5a2, 0xa71a94f, 0xa589c94,
+  0xa3f8f73,
+  0xa2681ed, 0xa0d7403, 0x9f465b5, 0x9db5706, 0x9c247f5, 0x9a93884, 0x99028b3,
+  0x9771884,
+  0x95e07f8, 0x944f70f, 0x92be5ca, 0x912d42c, 0x8f9c233, 0x8e0afe2, 0x8c79d3a,
+  0x8ae8a3a,
+  0x89576e5, 0x87c633c, 0x8634f3e, 0x84a3aee, 0x831264c, 0x8181159, 0x7fefc16,
+  0x7e5e685,
+  0x7ccd0a5, 0x7b3ba78, 0x79aa400, 0x7818d3c, 0x768762e, 0x74f5ed7, 0x7364738,
+  0x71d2f52,
+  0x7041726, 0x6eafeb4, 0x6d1e5fe, 0x6b8cd05, 0x69fb3c9, 0x6869a4c, 0x66d808f,
+  0x6546692,
+  0x63b4c57, 0x62231de, 0x6091729, 0x5effc38, 0x5d6e10c, 0x5bdc5a7, 0x5a4aa09,
+  0x58b8e34,
+  0x5727228, 0x55955e6, 0x540396f, 0x5271cc4, 0x50dffe7, 0x4f4e2d8, 0x4dbc597,
+  0x4c2a827,
+  0x4a98a88, 0x4906cbb, 0x4774ec1, 0x45e309a, 0x4451249, 0x42bf3cd, 0x412d528,
+  0x3f9b65b,
+  0x3e09767, 0x3c7784d, 0x3ae590d, 0x39539a9, 0x37c1a22, 0x362fa78, 0x349daac,
+  0x330bac1,
+  0x3179ab5, 0x2fe7a8c, 0x2e55a44, 0x2cc39e1, 0x2b31961, 0x299f8c7, 0x280d813,
+  0x267b747,
+  0x24e9662, 0x2357567, 0x21c5457, 0x2033331, 0x1ea11f7, 0x1d0f0ab, 0x1b7cf4d,
+  0x19eaddd,
+  0x1858c5e, 0x16c6ad0, 0x1534934, 0x13a278a, 0x12105d5, 0x107e414, 0xeec249,
+  0xd5a075,
+  0xbc7e99, 0xa35cb5, 0x8a3acb, 0x7118dc, 0x57f6e9, 0x3ed4f2, 0x25b2f8,
+  0xc90fe,
+
+};
+
+/**   
+ * @brief  Initialization function for the Q31 DCT4/IDCT4.  
+ * @param[in,out] *S         points to an instance of Q31 DCT4/IDCT4 structure.  
+ * @param[in]     *S_RFFT    points to an instance of Q31 RFFT/RIFFT structure  
+ * @param[in]     *S_CFFT    points to an instance of Q31 CFFT/CIFFT structure  
+ * @param[in]     N          length of the DCT4.  
+ * @param[in]     Nby2       half of the length of the DCT4.  
+ * @param[in]     normalize  normalizing factor.  
+ * @return		  arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length.  
+ * \par Normalizing factor:   
+ * The normalizing factor is sqrt(2/N), which depends on the size of transform N.   
+ * Normalizing factors in 1.31 format are mentioned in the table below for different DCT sizes:   
+ * \image html dct4NormalizingQ31Table.gif   
+ */
+
+arm_status arm_dct4_init_q31(
+  arm_dct4_instance_q31 * S,
+  arm_rfft_instance_q31 * S_RFFT,
+  arm_cfft_radix4_instance_q31 * S_CFFT,
+  uint16_t N,
+  uint16_t Nby2,
+  q31_t normalize)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /* Initializing the pointer array with the weight table base addresses of different lengths */
+  q31_t *twiddlePtr[3] = { (q31_t *) WeightsQ31_128, (q31_t *) WeightsQ31_512,
+    (q31_t *) WeightsQ31_2048
+  };
+
+  /* Initializing the pointer array with the cos factor table base addresses of different lengths */
+  q31_t *pCosFactor[3] =
+    { (q31_t *) cos_factorsQ31_128, (q31_t *) cos_factorsQ31_512,
+    (q31_t *) cos_factorsQ31_2048
+  };
+
+  /* Initialize the DCT4 length */
+  S->N = N;
+
+  /* Initialize the half of DCT4 length */
+  S->Nby2 = Nby2;
+
+  /* Initialize the DCT4 Normalizing factor */
+  S->normalize = normalize;
+
+  /* Initialize Real FFT Instance */
+  S->pRfft = S_RFFT;
+
+  /* Initialize Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  switch (N)
+  {
+    /* Initialize the table modifier values */
+  case 2048u:
+    S->pTwiddle = twiddlePtr[2];
+    S->pCosFactor = pCosFactor[2];
+    break;
+  case 512u:
+    S->pTwiddle = twiddlePtr[1];
+    S->pCosFactor = pCosFactor[1];
+    break;
+  case 128u:
+    S->pTwiddle = twiddlePtr[0];
+    S->pCosFactor = pCosFactor[0];
+    break;
+  default:
+    status = ARM_MATH_ARGUMENT_ERROR;
+  }
+
+  /* Initialize the RFFT/RIFFT Function */
+  arm_rfft_init_q31(S->pRfft, S->pCfft, S->N, 0, 1);
+
+  /* return the status of DCT4 Init function */
+  return (status);
+}
+
+/**   
+   * @} end of DCT4_IDCT4 group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
new file mode 100644
index 000000000..77bce95e6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q15.c
@@ -0,0 +1,383 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_dct4_q15.c   
+*   
+* Description:	Processing function of DCT4 & IDCT4 Q15.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @addtogroup DCT4_IDCT4   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q15 DCT4/IDCT4.  
+ * @param[in]       *S             points to an instance of the Q15 DCT4 structure.  
+ * @param[in]       *pState        points to state buffer.  
+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.  
+ * @return none.  
+ *    
+ * \par Input an output formats:   
+ * Internally inputs are downscaled in the RFFT process function to avoid overflows.   
+ * Number of bits downscaled, depends on the size of the transform.   
+ * The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:    
+ *   
+ * \image html dct4FormatsQ15Table.gif   
+ */
+
+void arm_dct4_q15(
+  const arm_dct4_instance_q15 * S,
+  q15_t * pState,
+  q15_t * pInlineBuffer)
+{
+  uint32_t i;                                    /* Loop counter */
+  q15_t *weights = S->pTwiddle;                  /* Pointer to the Weights table */
+  q15_t *cosFact = S->pCosFactor;                /* Pointer to the cos factors table */
+  q15_t *pS1, *pS2, *pbuff;                      /* Temporary pointers for input buffer and pState buffer */
+  q15_t in;                                      /* Temporary variable */
+
+
+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)   
+   * along with some pre-processing and post-processing.   
+   * Computational procedure is explained as follows:   
+   * (a) Pre-processing involves multiplying input with cos factor,   
+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))   
+   *              where,   
+   *                 r(n) -- output of preprocessing   
+   *                 u(n) -- input to preprocessing(actual Source buffer)   
+   * (b) Calculation of DCT2 using FFT is divided into three steps:   
+   *                  Step1: Re-ordering of even and odd elements of input.   
+   *                  Step2: Calculating FFT of the re-ordered input.   
+   *                  Step3: Taking the real part of the product of FFT output and weights.   
+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:   
+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *                        where,   
+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output   
+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).   
+   */
+
+        /*-------- Pre-processing ------------*/
+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
+  arm_mult_q15(pInlineBuffer, cosFact, pInlineBuffer, S->N);
+  arm_shift_q15(pInlineBuffer, 1, pInlineBuffer, S->N);
+
+  /* ----------------------------------------------------------------   
+   * Step1: Re-ordering of even and odd elements as   
+   *             pState[i] =  pInlineBuffer[2*i] and   
+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2   
+   ---------------------------------------------------------------------*/
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
+  pS2 = pState + (S->N - 1u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
+  i = (uint32_t) S->Nby2 >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = (uint32_t) S->N >> 2u;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.   
+   * Compute 4 outputs at a time */
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------   
+   *     Step2: Calculate RFFT for N-point input   
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_q15(S->pRfft, pInlineBuffer, pState);
+
+ /*----------------------------------------------------------------------   
+  *  Step3: Multiply the FFT output with the weights.   
+  *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_q15(pState, weights, pState, S->N);
+
+  /* The output of complex multiplication is in 3.13 format.   
+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.15 format by shifting left by 2 bits. */
+  arm_shift_q15(pState, 2, pState, S->N * 2);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,   
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
+  i = ((uint32_t) S->N - 1u) >> 2u;
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ >> 1u;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  i = ((uint32_t) S->N - 1u) % 0x4u;
+
+  while(i > 0u)
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+   /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = (uint32_t) S->N >> 2u;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initializing the loop counter to N/2 */
+  i = (uint32_t) S->Nby2;
+
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter */
+  i = (uint32_t) S->N;
+
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------   
+   *     Step2: Calculate RFFT for N-point input   
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_q15(S->pRfft, pInlineBuffer, pState);
+
+ /*----------------------------------------------------------------------   
+  *  Step3: Multiply the FFT output with the weights.   
+  *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_q15(pState, weights, pState, S->N);
+
+  /* The output of complex multiplication is in 3.13 format.   
+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.15 format by shifting left by 2 bits. */
+  arm_shift_q15(pState, 2, pState, S->N * 2);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,   
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* Initializing the loop counter */
+  i = ((uint32_t) S->N - 1u);
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ >> 1u;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+   /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter */
+  i = (uint32_t) S->N;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = ((q15_t) (((q31_t) in * S->normalize) >> 15));
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+   * @} end of DCT4_IDCT4 group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
new file mode 100644
index 000000000..f949d5ff4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_dct4_q31.c
@@ -0,0 +1,384 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_dct4_q31.c   
+*   
+* Description:	Processing function of DCT4 & IDCT4 Q31.   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @addtogroup DCT4_IDCT4   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q31 DCT4/IDCT4.  
+ * @param[in]       *S             points to an instance of the Q31 DCT4 structure.  
+ * @param[in]       *pState        points to state buffer.  
+ * @param[in,out]   *pInlineBuffer points to the in-place input and output buffer.  
+ * @return none.  
+ * \par Input an output formats:   
+ * Input samples need to be downscaled by 1 bit to avoid saturations in the Q31 DCT process,   
+ * as the conversion from DCT2 to DCT4 involves one subtraction.   
+ * Internally inputs are downscaled in the RFFT process function to avoid overflows.   
+ * Number of bits downscaled, depends on the size of the transform.   
+ * The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:    
+ *   
+ * \image html dct4FormatsQ31Table.gif   
+ */
+
+void arm_dct4_q31(
+  const arm_dct4_instance_q31 * S,
+  q31_t * pState,
+  q31_t * pInlineBuffer)
+{
+  uint16_t i;                                    /* Loop counter */
+  q31_t *weights = S->pTwiddle;                  /* Pointer to the Weights table */
+  q31_t *cosFact = S->pCosFactor;                /* Pointer to the cos factors table */
+  q31_t *pS1, *pS2, *pbuff;                      /* Temporary pointers for input buffer and pState buffer */
+  q31_t in;                                      /* Temporary variable */
+
+
+  /* DCT4 computation involves DCT2 (which is calculated using RFFT)   
+   * along with some pre-processing and post-processing.   
+   * Computational procedure is explained as follows:   
+   * (a) Pre-processing involves multiplying input with cos factor,   
+   *     r(n) = 2 * u(n) * cos(pi*(2*n+1)/(4*n))   
+   *              where,   
+   *                 r(n) -- output of preprocessing   
+   *                 u(n) -- input to preprocessing(actual Source buffer)   
+   * (b) Calculation of DCT2 using FFT is divided into three steps:   
+   *                  Step1: Re-ordering of even and odd elements of input.   
+   *                  Step2: Calculating FFT of the re-ordered input.   
+   *                  Step3: Taking the real part of the product of FFT output and weights.   
+   * (c) Post-processing - DCT4 can be obtained from DCT2 output using the following equation:   
+   *                   Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *                        where,   
+   *                           Y4 -- DCT4 output,   Y2 -- DCT2 output   
+   * (d) Multiplying the output with the normalizing factor sqrt(2/N).   
+   */
+
+        /*-------- Pre-processing ------------*/
+  /* Multiplying input with cos factor i.e. r(n) = 2 * x(n) * cos(pi*(2*n+1)/(4*n)) */
+  arm_mult_q31(pInlineBuffer, cosFact, pInlineBuffer, S->N);
+  arm_shift_q31(pInlineBuffer, 1, pInlineBuffer, S->N);
+
+  /* ----------------------------------------------------------------   
+   * Step1: Re-ordering of even and odd elements as   
+   *             pState[i] =  pInlineBuffer[2*i] and   
+   *             pState[N-i-1] = pInlineBuffer[2*i+1] where i = 0 to N/2   
+   ---------------------------------------------------------------------*/
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* pS2 initialized to pState+N-1, so that it points to the end of the state buffer */
+  pS2 = pState + (S->N - 1u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Initializing the loop counter to N/2 >> 2 for loop unrolling by 4 */
+  i = S->Nby2 >> 2u;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    *pS1++ = *pbuff++;
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = S->N >> 2u;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.   
+   * Compute 4 outputs at a time */
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------   
+   *     Step2: Calculate RFFT for N-point input   
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_q31(S->pRfft, pInlineBuffer, pState);
+
+  /*----------------------------------------------------------------------   
+   *  Step3: Multiply the FFT output with the weights.   
+   *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_q31(pState, weights, pState, S->N);
+
+  /* The output of complex multiplication is in 3.29 format.   
+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.31 format by shifting left by 2 bits. */
+  arm_shift_q31(pState, 2, pState, S->N * 2);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,   
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* Initializing the loop counter to N >> 2 for loop unrolling by 4 */
+  i = (S->N - 1u) >> 2u;
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ >> 1u;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.   
+   ** a second loop below computes the remaining 1 to 3 samples. */
+  do
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* If the blockSize is not a multiple of 4, compute any remaining output samples here.   
+   ** No loop unrolling is used. */
+  i = (S->N - 1u) % 0x4u;
+
+  while(i > 0u)
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter to N/4 instead of N for loop unrolling */
+  i = S->N >> 2u;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  /* Processing with loop unrolling 4 times as N is always multiple of 4.  Compute 4 outputs at a time */
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  /* Initializing the loop counter to N/2 */
+  i = S->Nby2;
+
+  do
+  {
+    /* Re-ordering of even and odd elements */
+    /* pState[i] =  pInlineBuffer[2*i] */
+    *pS1++ = *pbuff++;
+    /* pState[N-i-1] = pInlineBuffer[2*i+1] */
+    *pS2-- = *pbuff++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+  /* pbuff initialized to input buffer */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Initializing the loop counter */
+  i = S->N;
+
+  do
+  {
+    /* Writing the re-ordered output back to inplace input buffer */
+    *pbuff++ = *pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+
+  /* ---------------------------------------------------------   
+   *     Step2: Calculate RFFT for N-point input   
+   * ---------------------------------------------------------- */
+  /* pInlineBuffer is real input of length N , pState is the complex output of length 2N */
+  arm_rfft_q31(S->pRfft, pInlineBuffer, pState);
+
+  /*----------------------------------------------------------------------   
+   *  Step3: Multiply the FFT output with the weights.   
+   *----------------------------------------------------------------------*/
+  arm_cmplx_mult_cmplx_q31(pState, weights, pState, S->N);
+
+  /* The output of complex multiplication is in 3.29 format.   
+   * Hence changing the format of N (i.e. 2*N elements) complex numbers to 1.31 format by shifting left by 2 bits. */
+  arm_shift_q31(pState, 2, pState, S->N * 2);
+
+  /* ----------- Post-processing ---------- */
+  /* DCT-IV can be obtained from DCT-II by the equation,   
+   *       Y4(k) = Y2(k) - Y4(k-1) and Y4(-1) = Y4(0)   
+   *       Hence, Y4(0) = Y2(0)/2  */
+  /* Getting only real part from the output and Converting to DCT-IV */
+
+  /* pbuff initialized to input buffer. */
+  pbuff = pInlineBuffer;
+
+  /* pS1 initialized to pState */
+  pS1 = pState;
+
+  /* Calculating Y4(0) from Y2(0) using Y4(0) = Y2(0)/2 */
+  in = *pS1++ >> 1u;
+  /* input buffer acts as inplace, so output values are stored in the input itself. */
+  *pbuff++ = in;
+
+  /* pState pointer is incremented twice as the real values are located alternatively in the array */
+  pS1++;
+
+  /* Initializing the loop counter */
+  i = (S->N - 1u);
+
+  while(i > 0u)
+  {
+    /* Calculating Y4(1) to Y4(N-1) from Y2 using equation Y4(k) = Y2(k) - Y4(k-1) */
+    /* pState pointer (pS1) is incremented twice as the real values are located alternatively in the array */
+    in = *pS1++ - in;
+    *pbuff++ = in;
+    /* points to the next real value */
+    pS1++;
+
+    /* Decrement the loop counter */
+    i--;
+  }
+
+
+        /*------------ Normalizing the output by multiplying with the normalizing factor ----------*/
+
+  /* Initializing the loop counter */
+  i = S->N;
+
+  /* pbuff initialized to the pInlineBuffer(now contains the output values) */
+  pbuff = pInlineBuffer;
+
+  do
+  {
+    /* Multiplying pInlineBuffer with the normalizing factor sqrt(2/N) */
+    in = *pbuff;
+    *pbuff++ = ((q31_t) (((q63_t) in * S->normalize) >> 31));
+
+    /* Decrement the loop counter */
+    i--;
+  } while(i > 0u);
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**   
+   * @} end of DCT4_IDCT4 group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
new file mode 100644
index 000000000..dd91aacc3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_f32.c
@@ -0,0 +1,383 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_rfft_f32.c   
+*   
+* Description:	RFFT & RIFFT Floating point process function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @defgroup RFFT_RIFFT Real FFT Functions   
+ *   
+ * \par   
+ * Complex FFT/IFFT typically assumes complex input and output. However many applications use real valued data in time domain.    
+ * Real FFT/IFFT efficiently process real valued sequences with the advantage of requirement of low memory and with less complexity.   
+ *   
+ * \par   
+ * This set of functions implements Real Fast Fourier Transforms(RFFT) and Real Inverse Fast Fourier Transform(RIFFT)   
+ * for Q15, Q31, and floating-point data types.     
+ *   
+ *   
+ * \par Algorithm:   
+ *   
+ * Real Fast Fourier Transform:   
+ * \par   
+ * Real FFT of N-point is calculated using CFFT of N/2-point and Split RFFT process as shown below figure.   
+ * \par   
+ * \image html RFFT.gif "Real Fast Fourier Transform"   
+ * \par   
+ * The RFFT functions operate on blocks of input and output data and each call to the function processes   
+ * fftLenR samples through the transform.  pSrc  points to input array containing fftLenR values.   
+ * pDst  points to output array containing 2*fftLenR values. \n  
+ * Input for real FFT is in the order of    
+ * 
    {real[0], real[1], real[2], real[3], ..}
       
+ * Output for real FFT is complex and are in the order of   
+ * 
    {real(0), imag(0), real(1), imag(1), ...}
        
+ *   
+ * Real Inverse Fast Fourier Transform:   
+ * \par   
+ * Real IFFT of N-point is calculated using Split RIFFT process and CFFT of N/2-point as shown below figure.   
+ * \par   
+ * \image html RIFFT.gif "Real Inverse Fast Fourier Transform"   
+ * \par   
+ * The RIFFT functions operate on blocks of input and output data and each call to the function processes   
+ * 2*fftLenR samples through the transform.  pSrc  points to input array containing 2*fftLenR values.   
+ * pDst  points to output array containing fftLenR values. \n   
+ * Input for real IFFT is complex and are in the order of  
+ * 
    {real(0), imag(0), real(1), imag(1), ...}
      
+ *  Output for real IFFT is real and in the order of    
+ * 
    {real[0], real[1], real[2], real[3], ..}
      
+ *   
+ * \par Lengths supported by the transform:  
+ * \par   
+ * Real FFT/IFFT supports the lengths [128, 512, 2048], as it internally uses CFFT/CIFFT.   
+ *   
+ * \par Instance Structure   
+ * A separate instance structure must be defined for each Instance but the twiddle factors can be reused.   
+ * There are separate instance structure declarations for each of the 3 supported data types.   
+ *   
+ * \par Initialization Functions   
+ * There is also an associated initialization function for each data type.   
+ * The initialization function performs the following operations:   
+ * - Sets the values of the internal structure fields.   
+ * - Initializes twiddle factor tables.  
+ * - Initializes CFFT data structure fields.    
+ * \par   
+ * Use of the initialization function is optional.   
+ * However, if the initialization function is used, then the instance structure cannot be placed into a const data section.   
+ * To place an instance structure into a const data section, the instance structure must be manually initialized.   
+ * Manually initialize the instance structure as follows:   
+ * 
       
+ *arm_rfft_instance_f32 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};   
+ *arm_rfft_instance_q31 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};   
+ *arm_rfft_instance_q15 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};   
+ * 
       
+ * where fftLenReal length of RFFT/RIFFT; fftLenBy2 length of CFFT/CIFFT.    
+ * ifftFlagR Flag for selection of RFFT or RIFFT(Set ifftFlagR to calculate RIFFT otherwise calculates RFFT);   
+ * bitReverseFlagR Flag for selection of output order(Set bitReverseFlagR to output in normal order otherwise output in bit reversed order);    
+ * twidCoefRModifier modifier for twiddle factor table which supports 128, 512, 2048 RFFT lengths with same table;   
+ * pTwiddleARealpoints to A array of twiddle coefficients; pTwiddleBRealpoints to B array of twiddle coefficients;   
+ * pCfft points to the CFFT Instance structure. The CFFT structure also needs to be initialized, refer to arm_cfft_radix4_f32() for details regarding   
+ * static initialization of cfft structure.   
+ *   
+ * \par Fixed-Point Behavior   
+ * Care must be taken when using the fixed-point versions of the RFFT/RIFFT function.   
+ * Refer to the function specific documentation below for usage guidelines.   
+ */
+
+/*--------------------------------------------------------------------   
+ *		Internal functions prototypes   
+ *--------------------------------------------------------------------*/
+
+void arm_split_rfft_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pATable,
+  float32_t * pBTable,
+  float32_t * pDst,
+  uint32_t modifier);
+void arm_split_rifft_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pATable,
+  float32_t * pBTable,
+  float32_t * pDst,
+  uint32_t modifier);
+
+/**   
+ * @addtogroup RFFT_RIFFT   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the floating-point RFFT/RIFFT.  
+ * @param[in]  *S    points to an instance of the floating-point RFFT/RIFFT structure.  
+ * @param[in]  *pSrc points to the input buffer.  
+ * @param[out] *pDst points to the output buffer.  
+ * @return none.  
+ */
+
+void arm_rfft_f32(
+  const arm_rfft_instance_f32 * S,
+  float32_t * pSrc,
+  float32_t * pDst)
+{
+  const arm_cfft_radix4_instance_f32 *S_CFFT = S->pCfft;
+
+
+  /* Calculation of Real IFFT of input */
+  if(S->ifftFlagR == 1u)
+  {
+    /*  Real IFFT core process */
+    arm_split_rifft_f32(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+
+
+    /* Complex radix-4 IFFT process */
+    arm_radix4_butterfly_inverse_f32(pDst, S_CFFT->fftLen,
+                                     S_CFFT->pTwiddle,
+                                     S_CFFT->twidCoefModifier,
+                                     S_CFFT->onebyfftLen);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_f32(pDst, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+  }
+  else
+  {
+
+    /* Calculation of RFFT of input */
+
+    /* Complex radix-4 FFT process */
+    arm_radix4_butterfly_f32(pSrc, S_CFFT->fftLen,
+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_f32(pSrc, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+
+
+    /*  Real FFT core process */
+    arm_split_rfft_f32(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+  }
+
+}
+
+/**   
+   * @} end of RFFT_RIFFT group   
+   */
+
+/**   
+ * @brief  Core Real FFT process   
+ * @param[in]   *pSrc 				points to the input buffer.   
+ * @param[in]   fftLen  			length of FFT.   
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.   
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.   
+ * @param[out]  *pDst 				points to the output buffer.   
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.   
+ */
+
+void arm_split_rfft_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pATable,
+  float32_t * pBTable,
+  float32_t * pDst,
+  uint32_t modifier)
+{
+  uint32_t i;                                    /* Loop Counter */
+  float32_t outR, outI;                          /* Temporary variables for output */
+  float32_t *pCoefA, *pCoefB;                    /* Temporary pointers for twiddle factors */
+  float32_t CoefA1, CoefA2, CoefB1;              /* Temporary variables for twiddle coefficients */
+  float32_t *pDst1 = &pDst[2], *pDst2 = &pDst[(4u * fftLen) - 1u];      /* temp pointers for output buffer */
+  float32_t *pSrc1 = &pSrc[2], *pSrc2 = &pSrc[(2u * fftLen) - 1u];      /* temp pointers for input buffer */
+
+
+  pSrc[2u * fftLen] = pSrc[0];
+  pSrc[(2u * fftLen) + 1u] = pSrc[1];
+
+  /* Init coefficient pointers */
+  pCoefA = &pATable[modifier * 2u];
+  pCoefB = &pBTable[modifier * 2u];
+
+  i = fftLen - 1u;
+
+  while(i > 0u)
+  {
+    /*   
+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]   
+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +   
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);   
+     */
+
+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
+
+    /* read pATable[2 * i] */
+    CoefA1 = *pCoefA++;
+    /* pATable[2 * i + 1] */
+    CoefA2 = *pCoefA;
+
+    /* pSrc[2 * i] * pATable[2 * i] */
+    outR = *pSrc1 * CoefA1;
+    /* pSrc[2 * i] * CoefA2 */
+    outI = *pSrc1++ * CoefA2;
+
+    /* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */
+    outR -= (*pSrc1 + *pSrc2) * CoefA2;
+    /* pSrc[2 * i + 1] * CoefA1 */
+    outI += *pSrc1++ * CoefA1;
+
+    CoefB1 = *pCoefB;
+
+    /* pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */
+    outI -= *pSrc2-- * CoefB1;
+    /* pSrc[2 * fftLen - 2 * i] * CoefA2 */
+    outI -= *pSrc2 * CoefA2;
+
+    /* pSrc[2 * fftLen - 2 * i] * CoefB1 */
+    outR += *pSrc2-- * CoefB1;
+
+    /* write output */
+    *pDst1++ = outR;
+    *pDst1++ = outI;
+
+    /* write complex conjugate output */
+    *pDst2-- = -outI;
+    *pDst2-- = outR;
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (modifier * 2u);
+    pCoefA = pCoefA + ((modifier * 2u) - 1u);
+
+    i--;
+
+  }
+
+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
+  pDst[(2u * fftLen) + 1u] = 0.0f;
+
+  pDst[0] = pSrc[0] + pSrc[1];
+  pDst[1] = 0.0f;
+
+}
+
+
+/**   
+ * @brief  Core Real IFFT process   
+ * @param[in]   *pSrc 				points to the input buffer.   
+ * @param[in]   fftLen  			length of FFT.  
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.  
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.  
+ * @param[out]  *pDst 				points to the output buffer.  
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.   
+ * @return none.   
+ */
+
+void arm_split_rifft_f32(
+  float32_t * pSrc,
+  uint32_t fftLen,
+  float32_t * pATable,
+  float32_t * pBTable,
+  float32_t * pDst,
+  uint32_t modifier)
+{
+  float32_t outR, outI;                          /* Temporary variables for output */
+  float32_t *pCoefA, *pCoefB;                    /* Temporary pointers for twiddle factors */
+  float32_t CoefA1, CoefA2, CoefB1;              /* Temporary variables for twiddle coefficients */
+  float32_t *pSrc1 = &pSrc[0], *pSrc2 = &pSrc[(2u * fftLen) + 1u];
+
+  pCoefA = &pATable[0];
+  pCoefB = &pBTable[0];
+
+  while(fftLen > 0u)
+  {
+    /*   
+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);   
+
+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -   
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   
+
+     */
+
+    CoefA1 = *pCoefA++;
+    CoefA2 = *pCoefA;
+
+    /* outR = (pSrc[2 * i] * CoefA1 */
+    outR = *pSrc1 * CoefA1;
+
+    /* - pSrc[2 * i] * CoefA2 */
+    outI = -(*pSrc1++) * CoefA2;
+
+    /* (pSrc[2 * i + 1] + pSrc[2 * fftLen - 2 * i + 1]) * CoefA2 */
+    outR += (*pSrc1 + *pSrc2) * CoefA2;
+
+    /* pSrc[2 * i + 1] * CoefA1 */
+    outI += (*pSrc1++) * CoefA1;
+
+    CoefB1 = *pCoefB;
+
+    /* - pSrc[2 * fftLen - 2 * i + 1] * CoefB1 */
+    outI -= *pSrc2-- * CoefB1;
+
+    /* pSrc[2 * fftLen - 2 * i] * CoefB1 */
+    outR += *pSrc2 * CoefB1;
+
+    /* pSrc[2 * fftLen - 2 * i] * CoefA2 */
+    outI += *pSrc2-- * CoefA2;
+
+    /* write output */
+    *pDst++ = outR;
+    *pDst++ = outI;
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (modifier * 2u);
+    pCoefA = pCoefA + ((modifier * 2u) - 1u);
+
+    /* Decrement loop count */
+    fftLen--;
+  }
+
+}
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
new file mode 100644
index 000000000..c144cbea9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_f32.c
@@ -0,0 +1,1707 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_rfft_init_f32.c   
+*   
+* Description:	RFFT & RIFFT Floating point initialisation function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup RFFT_RIFFT   
+ * @{   
+ */
+
+/**   
+* \par   
+* Generation of realCoefA array:   
+* \par   
+* 	n = 1024   
+* 
    for (i = 0; i < n; i++)   
+*  {   
+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));   
+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+*  } 
       
+*/
+
+
+
+static const float32_t realCoefA[2048] = {
+  0.500000000000000000f, -0.500000000000000000f, 0.498466014862060550f,
+  -0.499997645616531370f, 0.496932059526443480f, -0.499990582466125490f,
+  0.495398133993148800f, -0.499978810548782350f,
+  0.493864238262176510f, -0.499962359666824340f, 0.492330402135849000f,
+  -0.499941170215606690f, 0.490796625614166260f, -0.499915301799774170f,
+  0.489262968301773070f, -0.499884694814682010f,
+  0.487729400396347050f, -0.499849408864974980f, 0.486195921897888180f,
+  -0.499809414148330690f, 0.484662592411041260f, -0.499764710664749150f,
+  0.483129411935806270f, -0.499715298414230350f,
+  0.481596380472183230f, -0.499661177396774290f, 0.480063527822494510f,
+  -0.499602377414703370f, 0.478530883789062500f, -0.499538868665695190f,
+  0.476998418569564820f, -0.499470651149749760f,
+  0.475466161966323850f, -0.499397724866867070f, 0.473934143781661990f,
+  -0.499320119619369510f, 0.472402364015579220f, -0.499237775802612300f,
+  0.470870882272720340f, -0.499150782823562620f,
+  0.469339638948440550f, -0.499059051275253300f, 0.467808693647384640f,
+  -0.498962640762329100f, 0.466278046369552610f, -0.498861521482467650f,
+  0.464747726917266850f, -0.498755723237991330f,
+  0.463217705488204960f, -0.498645216226577760f, 0.461688071489334110f,
+  -0.498530030250549320f, 0.460158795118331910f, -0.498410135507583620f,
+  0.458629876375198360f, -0.498285561800003050f,
+  0.457101345062255860f, -0.498156309127807620f, 0.455573230981826780f,
+  -0.498022347688674930f, 0.454045534133911130f, -0.497883707284927370f,
+  0.452518254518508910f, -0.497740387916564940f,
+  0.450991421937942500f, -0.497592359781265260f, 0.449465066194534300f,
+  -0.497439652681350710f, 0.447939187288284300f, -0.497282296419143680f,
+  0.446413785219192500f, -0.497120231389999390f,
+  0.444888889789581300f, -0.496953487396240230f, 0.443364530801773070f,
+  -0.496782064437866210f, 0.441840678453445430f, -0.496605962514877320f,
+  0.440317392349243160f, -0.496425211429595950f,
+  0.438794672489166260f, -0.496239781379699710f, 0.437272518873214720f,
+  -0.496049642562866210f, 0.435750931501388550f, -0.495854884386062620f,
+  0.434229999780654910f, -0.495655417442321780f,
+  0.432709634304046630f, -0.495451331138610840f, 0.431189924478530880f,
+  -0.495242536067962650f, 0.429670870304107670f, -0.495029091835021970f,
+  0.428152471780776980f, -0.494810998439788820f,
+  0.426634758710861210f, -0.494588255882263180f, 0.425117731094360350f,
+  -0.494360834360122680f, 0.423601418733596800f, -0.494128793478012080f,
+  0.422085791826248170f, -0.493892073631286620f,
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+  0.402454853057861330f, 0.490392625331878660f, 0.403959810733795170f,
+  0.490689605474472050f, 0.405465662479400630f, 0.490981936454772950f,
+  0.406972438097000120f, 0.491269648075103760f,
+  0.408480048179626460f, 0.491552740335464480f, 0.409988552331924440f,
+  0.491831213235855100f, 0.411497890949249270f, 0.492105036973953250f,
+  0.413008064031600950f, 0.492374241352081300f,
+  0.414519041776657100f, 0.492638826370239260f, 0.416030853986740110f,
+  0.492898762226104740f, 0.417543441057205200f, 0.493154048919677730f,
+  0.419056802988052370f, 0.493404686450958250f,
+  0.420570939779281620f, 0.493650704622268680f, 0.422085791826248170f,
+  0.493892073631286620f, 0.423601418733596800f, 0.494128793478012080f,
+  0.425117731094360350f, 0.494360834360122680f,
+  0.426634758710861210f, 0.494588255882263180f, 0.428152471780776980f,
+  0.494810998439788820f, 0.429670870304107670f, 0.495029091835021970f,
+  0.431189924478530880f, 0.495242536067962650f,
+  0.432709634304046630f, 0.495451331138610840f, 0.434229999780654910f,
+  0.495655417442321780f, 0.435750931501388550f, 0.495854884386062620f,
+  0.437272518873214720f, 0.496049642562866210f,
+  0.438794672489166260f, 0.496239781379699710f, 0.440317392349243160f,
+  0.496425211429595950f, 0.441840678453445430f, 0.496605962514877320f,
+  0.443364530801773070f, 0.496782064437866210f,
+  0.444888889789581300f, 0.496953487396240230f, 0.446413785219192500f,
+  0.497120231389999390f, 0.447939187288284300f, 0.497282296419143680f,
+  0.449465066194534300f, 0.497439652681350710f,
+  0.450991421937942500f, 0.497592359781265260f, 0.452518254518508910f,
+  0.497740387916564940f, 0.454045534133911130f, 0.497883707284927370f,
+  0.455573230981826780f, 0.498022347688674930f,
+  0.457101345062255860f, 0.498156309127807620f, 0.458629876375198360f,
+  0.498285561800003050f, 0.460158795118331910f, 0.498410135507583620f,
+  0.461688071489334110f, 0.498530030250549320f,
+  0.463217705488204960f, 0.498645216226577760f, 0.464747726917266850f,
+  0.498755723237991330f, 0.466278046369552610f, 0.498861521482467650f,
+  0.467808693647384640f, 0.498962640762329100f,
+  0.469339638948440550f, 0.499059051275253300f, 0.470870882272720340f,
+  0.499150782823562620f, 0.472402364015579220f, 0.499237775802612300f,
+  0.473934143781661990f, 0.499320119619369510f,
+  0.475466161966323850f, 0.499397724866867070f, 0.476998418569564820f,
+  0.499470651149749760f, 0.478530883789062500f, 0.499538868665695190f,
+  0.480063527822494510f, 0.499602377414703370f,
+  0.481596380472183230f, 0.499661177396774290f, 0.483129411935806270f,
+  0.499715298414230350f, 0.484662592411041260f, 0.499764710664749150f,
+  0.486195921897888180f, 0.499809414148330690f,
+  0.487729400396347050f, 0.499849408864974980f, 0.489262968301773070f,
+  0.499884694814682010f, 0.490796625614166260f, 0.499915301799774170f,
+  0.492330402135849000f, 0.499941170215606690f,
+  0.493864238262176510f, 0.499962359666824340f, 0.495398133993148800f,
+  0.499978810548782350f, 0.496932059526443480f, 0.499990582466125490f,
+  0.498466014862060550f, 0.499997645616531370f
+};
+
+
+/**   
+* \par  
+* Generation of realCoefB array:   
+* \par  
+* n = 1024   
+* 
    for (i = 0; i < n; i++)   
+* {   
+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));   
+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+*  } 
       
+*   
+*/
+static const float32_t realCoefB[2048] = {
+  0.500000000000000000f, 0.500000000000000000f, 0.501533985137939450f,
+  0.499997645616531370f, 0.503067970275878910f, 0.499990582466125490f,
+  0.504601895809173580f, 0.499978810548782350f,
+  0.506135761737823490f, 0.499962359666824340f, 0.507669627666473390f,
+  0.499941170215606690f, 0.509203374385833740f, 0.499915301799774170f,
+  0.510737061500549320f, 0.499884694814682010f,
+  0.512270629405975340f, 0.499849408864974980f, 0.513804078102111820f,
+  0.499809414148330690f, 0.515337407588958740f, 0.499764710664749150f,
+  0.516870558261871340f, 0.499715298414230350f,
+  0.518403589725494380f, 0.499661177396774290f, 0.519936442375183110f,
+  0.499602377414703370f, 0.521469116210937500f, 0.499538868665695190f,
+  0.523001611232757570f, 0.499470651149749760f,
+  0.524533808231353760f, 0.499397724866867070f, 0.526065826416015630f,
+  0.499320119619369510f, 0.527597606182098390f, 0.499237775802612300f,
+  0.529129147529602050f, 0.499150782823562620f,
+  0.530660390853881840f, 0.499059051275253300f, 0.532191336154937740f,
+  0.498962640762329100f, 0.533721983432769780f, 0.498861521482467650f,
+  0.535252273082733150f, 0.498755723237991330f,
+  0.536782264709472660f, 0.498645216226577760f, 0.538311958312988280f,
+  0.498530030250549320f, 0.539841234683990480f, 0.498410135507583620f,
+  0.541370153427124020f, 0.498285561800003050f,
+  0.542898654937744140f, 0.498156309127807620f, 0.544426798820495610f,
+  0.498022347688674930f, 0.545954465866088870f, 0.497883707284927370f,
+  0.547481775283813480f, 0.497740387916564940f,
+  0.549008548259735110f, 0.497592359781265260f, 0.550534904003143310f,
+  0.497439652681350710f, 0.552060842514038090f, 0.497282296419143680f,
+  0.553586184978485110f, 0.497120231389999390f,
+  0.555111110210418700f, 0.496953487396240230f, 0.556635499000549320f,
+  0.496782064437866210f, 0.558159291744232180f, 0.496605962514877320f,
+  0.559682607650756840f, 0.496425211429595950f,
+  0.561205327510833740f, 0.496239781379699710f, 0.562727510929107670f,
+  0.496049642562866210f, 0.564249038696289060f, 0.495854884386062620f,
+  0.565770030021667480f, 0.495655417442321780f,
+  0.567290365695953370f, 0.495451331138610840f, 0.568810045719146730f,
+  0.495242536067962650f, 0.570329129695892330f, 0.495029091835021970f,
+  0.571847498416900630f, 0.494810998439788820f,
+  0.573365211486816410f, 0.494588255882263180f, 0.574882268905639650f,
+  0.494360834360122680f, 0.576398611068725590f, 0.494128793478012080f,
+  0.577914178371429440f, 0.493892073631286620f,
+  0.579429090023040770f, 0.493650704622268680f, 0.580943167209625240f,
+  0.493404686450958250f, 0.582456588745117190f, 0.493154048919677730f,
+  0.583969175815582280f, 0.492898762226104740f,
+  0.585480928421020510f, 0.492638826370239260f, 0.586991965770721440f,
+  0.492374241352081300f, 0.588502109050750730f, 0.492105036973953250f,
+  0.590011477470397950f, 0.491831213235855100f,
+  0.591519951820373540f, 0.491552740335464480f, 0.593027591705322270f,
+  0.491269648075103760f, 0.594534337520599370f, 0.490981936454772950f,
+  0.596040189266204830f, 0.490689605474472050f,
+  0.597545146942138670f, 0.490392625331878660f, 0.599049210548400880f,
+  0.490091055631637570f, 0.600552320480346680f, 0.489784896373748780f,
+  0.602054476737976070f, 0.489474087953567500f,
+  0.603555679321289060f, 0.489158689975738530f, 0.605055928230285640f,
+  0.488838672637939450f, 0.606555163860321040f, 0.488514065742492680f,
+  0.608053386211395260f, 0.488184869289398190f,
+  0.609550595283508300f, 0.487851053476333620f, 0.611046791076660160f,
+  0.487512677907943730f, 0.612541973590850830f, 0.487169682979583740f,
+  0.614036023616790770f, 0.486822128295898440f,
+  0.615529060363769530f, 0.486469984054565430f, 0.617020964622497560f,
+  0.486113250255584720f, 0.618511795997619630f, 0.485751956701278690f,
+  0.620001494884490970f, 0.485386073589324950f,
+  0.621490061283111570f, 0.485015630722045900f, 0.622977554798126220f,
+  0.484640628099441530f, 0.624463796615600590f, 0.484261035919189450f,
+  0.625948905944824220f, 0.483876913785934450f,
+  0.627432823181152340f, 0.483488231897354130f, 0.628915548324584960f,
+  0.483094990253448490f, 0.630397081375122070f, 0.482697218656539920f,
+  0.631877362728118900f, 0.482294887304306030f,
+  0.633356392383575440f, 0.481888025999069210f, 0.634834170341491700f,
+  0.481476634740829470f, 0.636310696601867680f, 0.481060713529586790f,
+  0.637785911560058590f, 0.480640232563018800f,
+  0.639259815216064450f, 0.480215251445770260f, 0.640732467174530030f,
+  0.479785770177841190f, 0.642203748226165770f, 0.479351729154586790f,
+  0.643673717975616460f, 0.478913217782974240f,
+  0.645142316818237300f, 0.478470176458358760f, 0.646609604358673100f,
+  0.478022634983062740f, 0.648075461387634280f, 0.477570593357086180f,
+  0.649539887905120850f, 0.477114051580429080f,
+  0.651003003120422360f, 0.476653009653091430f, 0.652464628219604490f,
+  0.476187497377395630f, 0.653924822807312010f, 0.475717514753341670f,
+  0.655383586883544920f, 0.475243031978607180f,
+  0.656840860843658450f, 0.474764078855514530f, 0.658296704292297360f,
+  0.474280685186386110f, 0.659750998020172120f, 0.473792791366577150f,
+  0.661203861236572270f, 0.473300457000732420f,
+  0.662655174732208250f, 0.472803652286529540f, 0.664104938507080080f,
+  0.472302407026290890f, 0.665553152561187740f, 0.471796721220016480f,
+  0.666999816894531250f, 0.471286594867706300f,
+  0.668444931507110600f, 0.470772027969360350f, 0.669888436794281010f,
+  0.470253020524978640f, 0.671330332756042480f, 0.469729602336883540f,
+  0.672770678997039790f, 0.469201773405075070f,
+  0.674209356307983400f, 0.468669503927230830f, 0.675646364688873290f,
+  0.468132823705673220f, 0.677081763744354250f, 0.467591762542724610f,
+  0.678515493869781490f, 0.467046260833740230f,
+  0.679947495460510250f, 0.466496407985687260f, 0.681377887725830080f,
+  0.465942144393920900f, 0.682806491851806640f, 0.465383470058441160f,
+  0.684233427047729490f, 0.464820444583892820f,
+  0.685658574104309080f, 0.464253038167953490f, 0.687082052230834960f,
+  0.463681250810623170f, 0.688503682613372800f, 0.463105112314224240f,
+  0.689923584461212160f, 0.462524622678756710f,
+  0.691341698169708250f, 0.461939752101898190f, 0.692758023738861080f,
+  0.461350560188293460f, 0.694172501564025880f, 0.460757017135620120f,
+  0.695585191249847410f, 0.460159152746200560f,
+  0.696996033191680910f, 0.459556937217712400f, 0.698404967784881590f,
+  0.458950400352478030f, 0.699812114238739010f, 0.458339542150497440f,
+  0.701217353343963620f, 0.457724362611770630f,
+  0.702620685100555420f, 0.457104891538620000f, 0.704022109508514400f,
+  0.456481099128723140f, 0.705421566963195800f, 0.455853015184402470f,
+  0.706819176673889160f, 0.455220639705657960f,
+  0.708214759826660160f, 0.454584002494812010f, 0.709608435630798340f,
+  0.453943043947219850f, 0.711000144481658940f, 0.453297853469848630f,
+  0.712389826774597170f, 0.452648371458053590f,
+  0.713777542114257810f, 0.451994657516479490f, 0.715163230895996090f,
+  0.451336652040481570f, 0.716546893119812010f, 0.450674414634704590f,
+  0.717928528785705570f, 0.450007945299148560f,
+  0.719308137893676760f, 0.449337244033813480f, 0.720685660839080810f,
+  0.448662281036376950f, 0.722061097621917720f, 0.447983115911483760f,
+  0.723434448242187500f, 0.447299748659133910f,
+  0.724805653095245360f, 0.446612149477005000f, 0.726174771785736080f,
+  0.445920348167419430f, 0.727541804313659670f, 0.445224374532699580f,
+  0.728906631469726560f, 0.444524168968200680f,
+  0.730269372463226320f, 0.443819820880889890f, 0.731629908084869380f,
+  0.443111270666122440f, 0.732988238334655760f, 0.442398548126220700f,
+  0.734344422817230220f, 0.441681683063507080f,
+  0.735698342323303220f, 0.440960645675659180f, 0.737050116062164310f,
+  0.440235435962677000f, 0.738399624824523930f, 0.439506113529205320f,
+  0.739746868610382080f, 0.438772648572921750f,
+  0.741091907024383540f, 0.438035041093826290f, 0.742434620857238770f,
+  0.437293320894241330f, 0.743775069713592530f, 0.436547487974166870f,
+  0.745113253593444820f, 0.435797542333602910f,
+  0.746449112892150880f, 0.435043483972549440f, 0.747782647609710690f,
+  0.434285342693328860f, 0.749113857746124270f, 0.433523118495941160f,
+  0.750442683696746830f, 0.432756811380386350f,
+  0.751769185066223140f, 0.431986421346664430f, 0.753093302249908450f,
+  0.431211978197097780f, 0.754415094852447510f, 0.430433481931686400f,
+  0.755734443664550780f, 0.429650902748107910f,
+  0.757051348686218260f, 0.428864300251007080f, 0.758365929126739500f,
+  0.428073674440383910f, 0.759678006172180180f, 0.427278995513916020f,
+  0.760987639427185060f, 0.426480293273925780f,
+  0.762294828891754150f, 0.425677597522735600f, 0.763599574565887450f,
+  0.424870878458023070f, 0.764901816844940190f, 0.424060165882110600f,
+  0.766201555728912350f, 0.423245459794998170f,
+  0.767498791217803960f, 0.422426789999008180f, 0.768793523311614990f,
+  0.421604126691818240f, 0.770085752010345460f, 0.420777499675750730f,
+  0.771375417709350590f, 0.419946908950805660f,
+  0.772662520408630370f, 0.419112354516983030f, 0.773947000503540040f,
+  0.418273866176605220f, 0.775228977203369140f, 0.417431443929672240f,
+  0.776508331298828130f, 0.416585087776184080f,
+  0.777785122394561770f, 0.415734797716140750f, 0.779059290885925290f,
+  0.414880603551864620f, 0.780330777168273930f, 0.414022535085678100f,
+  0.781599700450897220f, 0.413160532712936400f,
+  0.782865881919860840f, 0.412294656038284300f, 0.784129500389099120f,
+  0.411424905061721800f, 0.785390377044677730f, 0.410551249980926510f,
+  0.786648571491241460f, 0.409673750400543210f,
+  0.787904083728790280f, 0.408792406320571900f, 0.789156913757324220f,
+  0.407907217741012570f, 0.790407001972198490f, 0.407018154859542850f,
+  0.791654348373413090f, 0.406125307083129880f,
+  0.792898952960968020f, 0.405228585004806520f, 0.794140756130218510f,
+  0.404328078031539920f, 0.795379877090454100f, 0.403423786163330080f,
+  0.796616137027740480f, 0.402515679597854610f,
+  0.797849655151367190f, 0.401603758335113530f, 0.799080371856689450f,
+  0.400688081979751590f, 0.800308227539062500f, 0.399768620729446410f,
+  0.801533281803131100f, 0.398845434188842770f,
+  0.802755534648895260f, 0.397918462753295900f, 0.803974866867065430f,
+  0.396987736225128170f, 0.805191397666931150f, 0.396053284406661990f,
+  0.806405067443847660f, 0.395115107297897340f,
+  0.807615816593170170f, 0.394173204898834230f, 0.808823645114898680f,
+  0.393227607011795040f, 0.810028612613677980f, 0.392278283834457400f,
+  0.811230659484863280f, 0.391325294971466060f,
+  0.812429726123809810f, 0.390368610620498660f, 0.813625931739807130f,
+  0.389408260583877560f, 0.814819097518920900f, 0.388444244861602780f,
+  0.816009342670440670f, 0.387476563453674320f,
+  0.817196667194366460f, 0.386505216360092160f, 0.818380951881408690f,
+  0.385530263185501100f, 0.819562196731567380f, 0.384551674127578740f,
+  0.820740520954132080f, 0.383569449186325070f,
+  0.821915745735168460f, 0.382583618164062500f, 0.823087990283966060f,
+  0.381594210863113400f, 0.824257194995880130f, 0.380601197481155400f,
+  0.825423359870910640f, 0.379604607820510860f,
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+  -0.416585087776184080f, 0.775228977203369140f, -0.417431443929672240f,
+  0.773947000503540040f, -0.418273866176605220f,
+  0.772662520408630370f, -0.419112354516983030f, 0.771375417709350590f,
+  -0.419946908950805660f, 0.770085752010345460f, -0.420777499675750730f,
+  0.768793523311614990f, -0.421604126691818240f,
+  0.767498791217803960f, -0.422426789999008180f, 0.766201555728912350f,
+  -0.423245459794998170f, 0.764901816844940190f, -0.424060165882110600f,
+  0.763599574565887450f, -0.424870878458023070f,
+  0.762294828891754150f, -0.425677597522735600f, 0.760987639427185060f,
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+  0.757051348686218260f, -0.428864300251007080f, 0.755734443664550780f,
+  -0.429650902748107910f, 0.754415094852447510f, -0.430433481931686400f,
+  0.753093302249908450f, -0.431211978197097780f,
+  0.751769185066223140f, -0.431986421346664430f, 0.750442683696746830f,
+  -0.432756811380386350f, 0.749113857746124270f, -0.433523118495941160f,
+  0.747782647609710690f, -0.434285342693328860f,
+  0.746449112892150880f, -0.435043483972549440f, 0.745113253593444820f,
+  -0.435797542333602910f, 0.743775069713592530f, -0.436547487974166870f,
+  0.742434620857238770f, -0.437293320894241330f,
+  0.741091907024383540f, -0.438035041093826290f, 0.739746868610382080f,
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+  0.735698342323303220f, -0.440960645675659180f, 0.734344422817230220f,
+  -0.441681683063507080f, 0.732988238334655760f, -0.442398548126220700f,
+  0.731629908084869380f, -0.443111270666122440f,
+  0.730269372463226320f, -0.443819820880889890f, 0.728906631469726560f,
+  -0.444524168968200680f, 0.727541804313659670f, -0.445224374532699580f,
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+  0.724805653095245360f, -0.446612149477005000f, 0.723434448242187500f,
+  -0.447299748659133910f, 0.722061097621917720f, -0.447983115911483760f,
+  0.720685660839080810f, -0.448662281036376950f,
+  0.719308137893676760f, -0.449337244033813480f, 0.717928528785705570f,
+  -0.450007945299148560f, 0.716546893119812010f, -0.450674414634704590f,
+  0.715163230895996090f, -0.451336652040481570f,
+  0.713777542114257810f, -0.451994657516479490f, 0.712389826774597170f,
+  -0.452648371458053590f, 0.711000144481658940f, -0.453297853469848630f,
+  0.709608435630798340f, -0.453943043947219850f,
+  0.708214759826660160f, -0.454584002494812010f, 0.706819176673889160f,
+  -0.455220639705657960f, 0.705421566963195800f, -0.455853015184402470f,
+  0.704022109508514400f, -0.456481099128723140f,
+  0.702620685100555420f, -0.457104891538620000f, 0.701217353343963620f,
+  -0.457724362611770630f, 0.699812114238739010f, -0.458339542150497440f,
+  0.698404967784881590f, -0.458950400352478030f,
+  0.696996033191680910f, -0.459556937217712400f, 0.695585191249847410f,
+  -0.460159152746200560f, 0.694172501564025880f, -0.460757017135620120f,
+  0.692758023738861080f, -0.461350560188293460f,
+  0.691341698169708250f, -0.461939752101898190f, 0.689923584461212160f,
+  -0.462524622678756710f, 0.688503682613372800f, -0.463105112314224240f,
+  0.687082052230834960f, -0.463681250810623170f,
+  0.685658574104309080f, -0.464253038167953490f, 0.684233427047729490f,
+  -0.464820444583892820f, 0.682806491851806640f, -0.465383470058441160f,
+  0.681377887725830080f, -0.465942144393920900f,
+  0.679947495460510250f, -0.466496407985687260f, 0.678515493869781490f,
+  -0.467046260833740230f, 0.677081763744354250f, -0.467591762542724610f,
+  0.675646364688873290f, -0.468132823705673220f,
+  0.674209356307983400f, -0.468669503927230830f, 0.672770678997039790f,
+  -0.469201773405075070f, 0.671330332756042480f, -0.469729602336883540f,
+  0.669888436794281010f, -0.470253020524978640f,
+  0.668444931507110600f, -0.470772027969360350f, 0.666999816894531250f,
+  -0.471286594867706300f, 0.665553152561187740f, -0.471796721220016480f,
+  0.664104938507080080f, -0.472302407026290890f,
+  0.662655174732208250f, -0.472803652286529540f, 0.661203861236572270f,
+  -0.473300457000732420f, 0.659750998020172120f, -0.473792791366577150f,
+  0.658296704292297360f, -0.474280685186386110f,
+  0.656840860843658450f, -0.474764078855514530f, 0.655383586883544920f,
+  -0.475243031978607180f, 0.653924822807312010f, -0.475717514753341670f,
+  0.652464628219604490f, -0.476187497377395630f,
+  0.651003003120422360f, -0.476653009653091430f, 0.649539887905120850f,
+  -0.477114051580429080f, 0.648075461387634280f, -0.477570593357086180f,
+  0.646609604358673100f, -0.478022634983062740f,
+  0.645142316818237300f, -0.478470176458358760f, 0.643673717975616460f,
+  -0.478913217782974240f, 0.642203748226165770f, -0.479351729154586790f,
+  0.640732467174530030f, -0.479785770177841190f,
+  0.639259815216064450f, -0.480215251445770260f, 0.637785911560058590f,
+  -0.480640232563018800f, 0.636310696601867680f, -0.481060713529586790f,
+  0.634834170341491700f, -0.481476634740829470f,
+  0.633356392383575440f, -0.481888025999069210f, 0.631877362728118900f,
+  -0.482294887304306030f, 0.630397081375122070f, -0.482697218656539920f,
+  0.628915548324584960f, -0.483094990253448490f,
+  0.627432823181152340f, -0.483488231897354130f, 0.625948905944824220f,
+  -0.483876913785934450f, 0.624463796615600590f, -0.484261035919189450f,
+  0.622977554798126220f, -0.484640628099441530f,
+  0.621490061283111570f, -0.485015630722045900f, 0.620001494884490970f,
+  -0.485386073589324950f, 0.618511795997619630f, -0.485751956701278690f,
+  0.617020964622497560f, -0.486113250255584720f,
+  0.615529060363769530f, -0.486469984054565430f, 0.614036023616790770f,
+  -0.486822128295898440f, 0.612541973590850830f, -0.487169682979583740f,
+  0.611046791076660160f, -0.487512677907943730f,
+  0.609550595283508300f, -0.487851053476333620f, 0.608053386211395260f,
+  -0.488184869289398190f, 0.606555163860321040f, -0.488514065742492680f,
+  0.605055928230285640f, -0.488838672637939450f,
+  0.603555679321289060f, -0.489158689975738530f, 0.602054476737976070f,
+  -0.489474087953567500f, 0.600552320480346680f, -0.489784896373748780f,
+  0.599049210548400880f, -0.490091055631637570f,
+  0.597545146942138670f, -0.490392625331878660f, 0.596040189266204830f,
+  -0.490689605474472050f, 0.594534337520599370f, -0.490981936454772950f,
+  0.593027591705322270f, -0.491269648075103760f,
+  0.591519951820373540f, -0.491552740335464480f, 0.590011477470397950f,
+  -0.491831213235855100f, 0.588502109050750730f, -0.492105036973953250f,
+  0.586991965770721440f, -0.492374241352081300f,
+  0.585480928421020510f, -0.492638826370239260f, 0.583969175815582280f,
+  -0.492898762226104740f, 0.582456588745117190f, -0.493154048919677730f,
+  0.580943167209625240f, -0.493404686450958250f,
+  0.579429090023040770f, -0.493650704622268680f, 0.577914178371429440f,
+  -0.493892073631286620f, 0.576398611068725590f, -0.494128793478012080f,
+  0.574882268905639650f, -0.494360834360122680f,
+  0.573365211486816410f, -0.494588255882263180f, 0.571847498416900630f,
+  -0.494810998439788820f, 0.570329129695892330f, -0.495029091835021970f,
+  0.568810045719146730f, -0.495242536067962650f,
+  0.567290365695953370f, -0.495451331138610840f, 0.565770030021667480f,
+  -0.495655417442321780f, 0.564249038696289060f, -0.495854884386062620f,
+  0.562727510929107670f, -0.496049642562866210f,
+  0.561205327510833740f, -0.496239781379699710f, 0.559682607650756840f,
+  -0.496425211429595950f, 0.558159291744232180f, -0.496605962514877320f,
+  0.556635499000549320f, -0.496782064437866210f,
+  0.555111110210418700f, -0.496953487396240230f, 0.553586184978485110f,
+  -0.497120231389999390f, 0.552060842514038090f, -0.497282296419143680f,
+  0.550534904003143310f, -0.497439652681350710f,
+  0.549008548259735110f, -0.497592359781265260f, 0.547481775283813480f,
+  -0.497740387916564940f, 0.545954465866088870f, -0.497883707284927370f,
+  0.544426798820495610f, -0.498022347688674930f,
+  0.542898654937744140f, -0.498156309127807620f, 0.541370153427124020f,
+  -0.498285561800003050f, 0.539841234683990480f, -0.498410135507583620f,
+  0.538311958312988280f, -0.498530030250549320f,
+  0.536782264709472660f, -0.498645216226577760f, 0.535252273082733150f,
+  -0.498755723237991330f, 0.533721983432769780f, -0.498861521482467650f,
+  0.532191336154937740f, -0.498962640762329100f,
+  0.530660390853881840f, -0.499059051275253300f, 0.529129147529602050f,
+  -0.499150782823562620f, 0.527597606182098390f, -0.499237775802612300f,
+  0.526065826416015630f, -0.499320119619369510f,
+  0.524533808231353760f, -0.499397724866867070f, 0.523001611232757570f,
+  -0.499470651149749760f, 0.521469116210937500f, -0.499538868665695190f,
+  0.519936442375183110f, -0.499602377414703370f,
+  0.518403589725494380f, -0.499661177396774290f, 0.516870558261871340f,
+  -0.499715298414230350f, 0.515337407588958740f, -0.499764710664749150f,
+  0.513804078102111820f, -0.499809414148330690f,
+  0.512270629405975340f, -0.499849408864974980f, 0.510737061500549320f,
+  -0.499884694814682010f, 0.509203374385833740f, -0.499915301799774170f,
+  0.507669627666473390f, -0.499941170215606690f,
+  0.506135761737823490f, -0.499962359666824340f, 0.504601895809173580f,
+  -0.499978810548782350f, 0.503067970275878910f, -0.499990582466125490f,
+  0.501533985137939450f, -0.499997645616531370f
+};
+
+
+
+/**   
+* @brief  Initialization function for the floating-point RFFT/RIFFT.  
+* @param[in,out] *S             points to an instance of the floating-point RFFT/RIFFT structure.  
+* @param[in,out] *S_CFFT        points to an instance of the floating-point CFFT/CIFFT structure.  
+* @param[in]     fftLenReal     length of the FFT.  
+* @param[in]     ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.  
+* @param[in]     bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.  
+*   
+* \par Description:  
+* \par  
+* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.   
+* \par   
+* The parameter ifftFlagR controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.   
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.  
+* \par   
+* This function also initializes Twiddle factor table.    
+*/
+
+arm_status arm_rfft_init_f32(
+  arm_rfft_instance_f32 * S,
+  arm_cfft_radix4_instance_f32 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag)
+{
+
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialize the Real FFT length */
+  S->fftLenReal = (uint16_t) fftLenReal;
+
+  /*  Initialize the Complex FFT length */
+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
+
+  /*  Initialize the Twiddle coefficientA pointer */
+  S->pTwiddleAReal = (float32_t *) realCoefA;
+
+  /*  Initialize the Twiddle coefficientB pointer */
+  S->pTwiddleBReal = (float32_t *) realCoefB;
+
+  /*  Initialize the Flag for selection of RFFT or RIFFT */
+  S->ifftFlagR = (uint8_t) ifftFlagR;
+
+  /*  Initialize the Flag for calculation Bit reversal or not */
+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
+
+  /*  Initializations of structure parameters depending on the FFT length */
+  switch (S->fftLenReal)
+  {
+    /* Init table modifier value */
+  case 2048u:
+    S->twidCoefRModifier = 1u;
+    break;
+  case 512u:
+    S->twidCoefRModifier = 4u;
+    break;
+  case 128u:
+    S->twidCoefRModifier = 16u;
+    break;
+  default:
+    /*  Reporting argument error if rfftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  /* Init Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  if(S->ifftFlagR)
+  {
+    /* Initializes the CIFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_f32(S->pCfft, S->fftLenBy2, 1u, 0u);
+  }
+  else
+  {
+    /* Initializes the CFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_f32(S->pCfft, S->fftLenBy2, 0u, 0u);
+  }
+
+  /* return the status of RFFT Init function */
+  return (status);
+
+}
+
+  /**   
+   * @} end of RFFT_RIFFT group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
new file mode 100644
index 000000000..61bcc556a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q15.c
@@ -0,0 +1,688 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_rfft_init_q15.c   
+*   
+* Description:	RFFT & RIFFT Q15 initialisation function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup RFFT_RIFFT   
+ * @{   
+ */
+
+
+
+/**   
+* \par   
+* Generation floating point real_CoefA array:   
+* \par   
+* n = 1024   
+* 
    for (i = 0; i < n; i++)   
+*  {   
+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));   
+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+*  } 
       
+* \par   
+* Convert to fixed point Q15 format   
+*       round(pATable[i] * pow(2, 15))   
+*/
+
+
+static const q15_t realCoefAQ15[2048] = {
+
+  0x4000, 0xc000, 0x3fce, 0xc000, 0x3f9b, 0xc000, 0x3f69, 0xc001,
+  0x3f37, 0xc001, 0x3f05, 0xc002, 0x3ed2, 0xc003, 0x3ea0, 0xc004,
+  0x3e6e, 0xc005, 0x3e3c, 0xc006, 0x3e09, 0xc008, 0x3dd7, 0xc009,
+  0x3da5, 0xc00b, 0x3d73, 0xc00d, 0x3d40, 0xc00f, 0x3d0e, 0xc011,
+  0x3cdc, 0xc014, 0x3caa, 0xc016, 0x3c78, 0xc019, 0x3c45, 0xc01c,
+  0x3c13, 0xc01f, 0x3be1, 0xc022, 0x3baf, 0xc025, 0x3b7d, 0xc029,
+  0x3b4b, 0xc02c, 0x3b19, 0xc030, 0x3ae6, 0xc034, 0x3ab4, 0xc038,
+  0x3a82, 0xc03c, 0x3a50, 0xc041, 0x3a1e, 0xc045, 0x39ec, 0xc04a,
+  0x39ba, 0xc04f, 0x3988, 0xc054, 0x3956, 0xc059, 0x3924, 0xc05e,
+  0x38f2, 0xc064, 0x38c0, 0xc069, 0x388e, 0xc06f, 0x385c, 0xc075,
+  0x382a, 0xc07b, 0x37f9, 0xc081, 0x37c7, 0xc088, 0x3795, 0xc08e,
+  0x3763, 0xc095, 0x3731, 0xc09c, 0x36ff, 0xc0a3, 0x36ce, 0xc0aa,
+  0x369c, 0xc0b1, 0x366a, 0xc0b9, 0x3639, 0xc0c0, 0x3607, 0xc0c8,
+  0x35d5, 0xc0d0, 0x35a4, 0xc0d8, 0x3572, 0xc0e0, 0x3540, 0xc0e9,
+  0x350f, 0xc0f1, 0x34dd, 0xc0fa, 0x34ac, 0xc103, 0x347b, 0xc10c,
+  0x3449, 0xc115, 0x3418, 0xc11e, 0x33e6, 0xc128, 0x33b5, 0xc131,
+  0x3384, 0xc13b, 0x3352, 0xc145, 0x3321, 0xc14f, 0x32f0, 0xc159,
+  0x32bf, 0xc163, 0x328e, 0xc16e, 0x325c, 0xc178, 0x322b, 0xc183,
+  0x31fa, 0xc18e, 0x31c9, 0xc199, 0x3198, 0xc1a4, 0x3167, 0xc1b0,
+  0x3136, 0xc1bb, 0x3105, 0xc1c7, 0x30d5, 0xc1d3, 0x30a4, 0xc1df,
+  0x3073, 0xc1eb, 0x3042, 0xc1f7, 0x3012, 0xc204, 0x2fe1, 0xc210,
+  0x2fb0, 0xc21d, 0x2f80, 0xc22a, 0x2f4f, 0xc237, 0x2f1f, 0xc244,
+  0x2eee, 0xc251, 0x2ebe, 0xc25f, 0x2e8d, 0xc26d, 0x2e5d, 0xc27a,
+  0x2e2d, 0xc288, 0x2dfc, 0xc296, 0x2dcc, 0xc2a5, 0x2d9c, 0xc2b3,
+  0x2d6c, 0xc2c1, 0x2d3c, 0xc2d0, 0x2d0c, 0xc2df, 0x2cdc, 0xc2ee,
+  0x2cac, 0xc2fd, 0x2c7c, 0xc30c, 0x2c4c, 0xc31c, 0x2c1c, 0xc32b,
+  0x2bed, 0xc33b, 0x2bbd, 0xc34b, 0x2b8d, 0xc35b, 0x2b5e, 0xc36b,
+  0x2b2e, 0xc37b, 0x2aff, 0xc38c, 0x2acf, 0xc39c, 0x2aa0, 0xc3ad,
+  0x2a70, 0xc3be, 0x2a41, 0xc3cf, 0x2a12, 0xc3e0, 0x29e3, 0xc3f1,
+  0x29b4, 0xc403, 0x2984, 0xc414, 0x2955, 0xc426, 0x2926, 0xc438,
+  0x28f7, 0xc44a, 0x28c9, 0xc45c, 0x289a, 0xc46e, 0x286b, 0xc481,
+  0x283c, 0xc493, 0x280e, 0xc4a6, 0x27df, 0xc4b9, 0x27b1, 0xc4cc,
+  0x2782, 0xc4df, 0x2754, 0xc4f2, 0x2725, 0xc506, 0x26f7, 0xc51a,
+  0x26c9, 0xc52d, 0x269b, 0xc541, 0x266d, 0xc555, 0x263f, 0xc569,
+  0x2611, 0xc57e, 0x25e3, 0xc592, 0x25b5, 0xc5a7, 0x2587, 0xc5bb,
+  0x2559, 0xc5d0, 0x252c, 0xc5e5, 0x24fe, 0xc5fa, 0x24d0, 0xc610,
+  0x24a3, 0xc625, 0x2476, 0xc63b, 0x2448, 0xc650, 0x241b, 0xc666,
+  0x23ee, 0xc67c, 0x23c1, 0xc692, 0x2394, 0xc6a8, 0x2367, 0xc6bf,
+  0x233a, 0xc6d5, 0x230d, 0xc6ec, 0x22e0, 0xc703, 0x22b3, 0xc71a,
+  0x2287, 0xc731, 0x225a, 0xc748, 0x222d, 0xc75f, 0x2201, 0xc777,
+  0x21d5, 0xc78f, 0x21a8, 0xc7a6, 0x217c, 0xc7be, 0x2150, 0xc7d6,
+  0x2124, 0xc7ee, 0x20f8, 0xc807, 0x20cc, 0xc81f, 0x20a0, 0xc838,
+  0x2074, 0xc850, 0x2049, 0xc869, 0x201d, 0xc882, 0x1ff1, 0xc89b,
+  0x1fc6, 0xc8b5, 0x1f9b, 0xc8ce, 0x1f6f, 0xc8e8, 0x1f44, 0xc901,
+  0x1f19, 0xc91b, 0x1eee, 0xc935, 0x1ec3, 0xc94f, 0x1e98, 0xc969,
+  0x1e6d, 0xc983, 0x1e42, 0xc99e, 0x1e18, 0xc9b8, 0x1ded, 0xc9d3,
+  0x1dc3, 0xc9ee, 0x1d98, 0xca09, 0x1d6e, 0xca24, 0x1d44, 0xca3f,
+  0x1d19, 0xca5b, 0x1cef, 0xca76, 0x1cc5, 0xca92, 0x1c9b, 0xcaad,
+  0x1c72, 0xcac9, 0x1c48, 0xcae5, 0x1c1e, 0xcb01, 0x1bf5, 0xcb1e,
+  0x1bcb, 0xcb3a, 0x1ba2, 0xcb56, 0x1b78, 0xcb73, 0x1b4f, 0xcb90,
+  0x1b26, 0xcbad, 0x1afd, 0xcbca, 0x1ad4, 0xcbe7, 0x1aab, 0xcc04,
+  0x1a82, 0xcc21, 0x1a5a, 0xcc3f, 0x1a31, 0xcc5d, 0x1a08, 0xcc7a,
+  0x19e0, 0xcc98, 0x19b8, 0xccb6, 0x198f, 0xccd4, 0x1967, 0xccf3,
+  0x193f, 0xcd11, 0x1917, 0xcd30, 0x18ef, 0xcd4e, 0x18c8, 0xcd6d,
+  0x18a0, 0xcd8c, 0x1878, 0xcdab, 0x1851, 0xcdca, 0x182a, 0xcde9,
+  0x1802, 0xce08, 0x17db, 0xce28, 0x17b4, 0xce47, 0x178d, 0xce67,
+  0x1766, 0xce87, 0x173f, 0xcea7, 0x1719, 0xcec7, 0x16f2, 0xcee7,
+  0x16cb, 0xcf07, 0x16a5, 0xcf28, 0x167f, 0xcf48, 0x1659, 0xcf69,
+  0x1632, 0xcf8a, 0x160c, 0xcfab, 0x15e6, 0xcfcc, 0x15c1, 0xcfed,
+  0x159b, 0xd00e, 0x1575, 0xd030, 0x1550, 0xd051, 0x152a, 0xd073,
+  0x1505, 0xd094, 0x14e0, 0xd0b6, 0x14bb, 0xd0d8, 0x1496, 0xd0fa,
+  0x1471, 0xd11c, 0x144c, 0xd13e, 0x1428, 0xd161, 0x1403, 0xd183,
+  0x13df, 0xd1a6, 0x13ba, 0xd1c9, 0x1396, 0xd1eb, 0x1372, 0xd20e,
+  0x134e, 0xd231, 0x132a, 0xd255, 0x1306, 0xd278, 0x12e2, 0xd29b,
+  0x12bf, 0xd2bf, 0x129b, 0xd2e2, 0x1278, 0xd306, 0x1255, 0xd32a,
+  0x1231, 0xd34e, 0x120e, 0xd372, 0x11eb, 0xd396, 0x11c9, 0xd3ba,
+  0x11a6, 0xd3df, 0x1183, 0xd403, 0x1161, 0xd428, 0x113e, 0xd44c,
+  0x111c, 0xd471, 0x10fa, 0xd496, 0x10d8, 0xd4bb, 0x10b6, 0xd4e0,
+  0x1094, 0xd505, 0x1073, 0xd52a, 0x1051, 0xd550, 0x1030, 0xd575,
+  0x100e, 0xd59b, 0xfed, 0xd5c1, 0xfcc, 0xd5e6, 0xfab, 0xd60c,
+  0xf8a, 0xd632, 0xf69, 0xd659, 0xf48, 0xd67f, 0xf28, 0xd6a5,
+  0xf07, 0xd6cb, 0xee7, 0xd6f2, 0xec7, 0xd719, 0xea7, 0xd73f,
+  0xe87, 0xd766, 0xe67, 0xd78d, 0xe47, 0xd7b4, 0xe28, 0xd7db,
+  0xe08, 0xd802, 0xde9, 0xd82a, 0xdca, 0xd851, 0xdab, 0xd878,
+  0xd8c, 0xd8a0, 0xd6d, 0xd8c8, 0xd4e, 0xd8ef, 0xd30, 0xd917,
+  0xd11, 0xd93f, 0xcf3, 0xd967, 0xcd4, 0xd98f, 0xcb6, 0xd9b8,
+  0xc98, 0xd9e0, 0xc7a, 0xda08, 0xc5d, 0xda31, 0xc3f, 0xda5a,
+  0xc21, 0xda82, 0xc04, 0xdaab, 0xbe7, 0xdad4, 0xbca, 0xdafd,
+  0xbad, 0xdb26, 0xb90, 0xdb4f, 0xb73, 0xdb78, 0xb56, 0xdba2,
+  0xb3a, 0xdbcb, 0xb1e, 0xdbf5, 0xb01, 0xdc1e, 0xae5, 0xdc48,
+  0xac9, 0xdc72, 0xaad, 0xdc9b, 0xa92, 0xdcc5, 0xa76, 0xdcef,
+  0xa5b, 0xdd19, 0xa3f, 0xdd44, 0xa24, 0xdd6e, 0xa09, 0xdd98,
+  0x9ee, 0xddc3, 0x9d3, 0xdded, 0x9b8, 0xde18, 0x99e, 0xde42,
+  0x983, 0xde6d, 0x969, 0xde98, 0x94f, 0xdec3, 0x935, 0xdeee,
+  0x91b, 0xdf19, 0x901, 0xdf44, 0x8e8, 0xdf6f, 0x8ce, 0xdf9b,
+  0x8b5, 0xdfc6, 0x89b, 0xdff1, 0x882, 0xe01d, 0x869, 0xe049,
+  0x850, 0xe074, 0x838, 0xe0a0, 0x81f, 0xe0cc, 0x807, 0xe0f8,
+  0x7ee, 0xe124, 0x7d6, 0xe150, 0x7be, 0xe17c, 0x7a6, 0xe1a8,
+  0x78f, 0xe1d5, 0x777, 0xe201, 0x75f, 0xe22d, 0x748, 0xe25a,
+  0x731, 0xe287, 0x71a, 0xe2b3, 0x703, 0xe2e0, 0x6ec, 0xe30d,
+  0x6d5, 0xe33a, 0x6bf, 0xe367, 0x6a8, 0xe394, 0x692, 0xe3c1,
+  0x67c, 0xe3ee, 0x666, 0xe41b, 0x650, 0xe448, 0x63b, 0xe476,
+  0x625, 0xe4a3, 0x610, 0xe4d0, 0x5fa, 0xe4fe, 0x5e5, 0xe52c,
+  0x5d0, 0xe559, 0x5bb, 0xe587, 0x5a7, 0xe5b5, 0x592, 0xe5e3,
+  0x57e, 0xe611, 0x569, 0xe63f, 0x555, 0xe66d, 0x541, 0xe69b,
+  0x52d, 0xe6c9, 0x51a, 0xe6f7, 0x506, 0xe725, 0x4f2, 0xe754,
+  0x4df, 0xe782, 0x4cc, 0xe7b1, 0x4b9, 0xe7df, 0x4a6, 0xe80e,
+  0x493, 0xe83c, 0x481, 0xe86b, 0x46e, 0xe89a, 0x45c, 0xe8c9,
+  0x44a, 0xe8f7, 0x438, 0xe926, 0x426, 0xe955, 0x414, 0xe984,
+  0x403, 0xe9b4, 0x3f1, 0xe9e3, 0x3e0, 0xea12, 0x3cf, 0xea41,
+  0x3be, 0xea70, 0x3ad, 0xeaa0, 0x39c, 0xeacf, 0x38c, 0xeaff,
+  0x37b, 0xeb2e, 0x36b, 0xeb5e, 0x35b, 0xeb8d, 0x34b, 0xebbd,
+  0x33b, 0xebed, 0x32b, 0xec1c, 0x31c, 0xec4c, 0x30c, 0xec7c,
+  0x2fd, 0xecac, 0x2ee, 0xecdc, 0x2df, 0xed0c, 0x2d0, 0xed3c,
+  0x2c1, 0xed6c, 0x2b3, 0xed9c, 0x2a5, 0xedcc, 0x296, 0xedfc,
+  0x288, 0xee2d, 0x27a, 0xee5d, 0x26d, 0xee8d, 0x25f, 0xeebe,
+  0x251, 0xeeee, 0x244, 0xef1f, 0x237, 0xef4f, 0x22a, 0xef80,
+  0x21d, 0xefb0, 0x210, 0xefe1, 0x204, 0xf012, 0x1f7, 0xf042,
+  0x1eb, 0xf073, 0x1df, 0xf0a4, 0x1d3, 0xf0d5, 0x1c7, 0xf105,
+  0x1bb, 0xf136, 0x1b0, 0xf167, 0x1a4, 0xf198, 0x199, 0xf1c9,
+  0x18e, 0xf1fa, 0x183, 0xf22b, 0x178, 0xf25c, 0x16e, 0xf28e,
+  0x163, 0xf2bf, 0x159, 0xf2f0, 0x14f, 0xf321, 0x145, 0xf352,
+  0x13b, 0xf384, 0x131, 0xf3b5, 0x128, 0xf3e6, 0x11e, 0xf418,
+  0x115, 0xf449, 0x10c, 0xf47b, 0x103, 0xf4ac, 0xfa, 0xf4dd,
+  0xf1, 0xf50f, 0xe9, 0xf540, 0xe0, 0xf572, 0xd8, 0xf5a4,
+  0xd0, 0xf5d5, 0xc8, 0xf607, 0xc0, 0xf639, 0xb9, 0xf66a,
+  0xb1, 0xf69c, 0xaa, 0xf6ce, 0xa3, 0xf6ff, 0x9c, 0xf731,
+  0x95, 0xf763, 0x8e, 0xf795, 0x88, 0xf7c7, 0x81, 0xf7f9,
+  0x7b, 0xf82a, 0x75, 0xf85c, 0x6f, 0xf88e, 0x69, 0xf8c0,
+  0x64, 0xf8f2, 0x5e, 0xf924, 0x59, 0xf956, 0x54, 0xf988,
+  0x4f, 0xf9ba, 0x4a, 0xf9ec, 0x45, 0xfa1e, 0x41, 0xfa50,
+  0x3c, 0xfa82, 0x38, 0xfab4, 0x34, 0xfae6, 0x30, 0xfb19,
+  0x2c, 0xfb4b, 0x29, 0xfb7d, 0x25, 0xfbaf, 0x22, 0xfbe1,
+  0x1f, 0xfc13, 0x1c, 0xfc45, 0x19, 0xfc78, 0x16, 0xfcaa,
+  0x14, 0xfcdc, 0x11, 0xfd0e, 0xf, 0xfd40, 0xd, 0xfd73,
+  0xb, 0xfda5, 0x9, 0xfdd7, 0x8, 0xfe09, 0x6, 0xfe3c,
+  0x5, 0xfe6e, 0x4, 0xfea0, 0x3, 0xfed2, 0x2, 0xff05,
+  0x1, 0xff37, 0x1, 0xff69, 0x0, 0xff9b, 0x0, 0xffce,
+  0x0, 0x0, 0x0, 0x32, 0x0, 0x65, 0x1, 0x97,
+  0x1, 0xc9, 0x2, 0xfb, 0x3, 0x12e, 0x4, 0x160,
+  0x5, 0x192, 0x6, 0x1c4, 0x8, 0x1f7, 0x9, 0x229,
+  0xb, 0x25b, 0xd, 0x28d, 0xf, 0x2c0, 0x11, 0x2f2,
+  0x14, 0x324, 0x16, 0x356, 0x19, 0x388, 0x1c, 0x3bb,
+  0x1f, 0x3ed, 0x22, 0x41f, 0x25, 0x451, 0x29, 0x483,
+  0x2c, 0x4b5, 0x30, 0x4e7, 0x34, 0x51a, 0x38, 0x54c,
+  0x3c, 0x57e, 0x41, 0x5b0, 0x45, 0x5e2, 0x4a, 0x614,
+  0x4f, 0x646, 0x54, 0x678, 0x59, 0x6aa, 0x5e, 0x6dc,
+  0x64, 0x70e, 0x69, 0x740, 0x6f, 0x772, 0x75, 0x7a4,
+  0x7b, 0x7d6, 0x81, 0x807, 0x88, 0x839, 0x8e, 0x86b,
+  0x95, 0x89d, 0x9c, 0x8cf, 0xa3, 0x901, 0xaa, 0x932,
+  0xb1, 0x964, 0xb9, 0x996, 0xc0, 0x9c7, 0xc8, 0x9f9,
+  0xd0, 0xa2b, 0xd8, 0xa5c, 0xe0, 0xa8e, 0xe9, 0xac0,
+  0xf1, 0xaf1, 0xfa, 0xb23, 0x103, 0xb54, 0x10c, 0xb85,
+  0x115, 0xbb7, 0x11e, 0xbe8, 0x128, 0xc1a, 0x131, 0xc4b,
+  0x13b, 0xc7c, 0x145, 0xcae, 0x14f, 0xcdf, 0x159, 0xd10,
+  0x163, 0xd41, 0x16e, 0xd72, 0x178, 0xda4, 0x183, 0xdd5,
+  0x18e, 0xe06, 0x199, 0xe37, 0x1a4, 0xe68, 0x1b0, 0xe99,
+  0x1bb, 0xeca, 0x1c7, 0xefb, 0x1d3, 0xf2b, 0x1df, 0xf5c,
+  0x1eb, 0xf8d, 0x1f7, 0xfbe, 0x204, 0xfee, 0x210, 0x101f,
+  0x21d, 0x1050, 0x22a, 0x1080, 0x237, 0x10b1, 0x244, 0x10e1,
+  0x251, 0x1112, 0x25f, 0x1142, 0x26d, 0x1173, 0x27a, 0x11a3,
+  0x288, 0x11d3, 0x296, 0x1204, 0x2a5, 0x1234, 0x2b3, 0x1264,
+  0x2c1, 0x1294, 0x2d0, 0x12c4, 0x2df, 0x12f4, 0x2ee, 0x1324,
+  0x2fd, 0x1354, 0x30c, 0x1384, 0x31c, 0x13b4, 0x32b, 0x13e4,
+  0x33b, 0x1413, 0x34b, 0x1443, 0x35b, 0x1473, 0x36b, 0x14a2,
+  0x37b, 0x14d2, 0x38c, 0x1501, 0x39c, 0x1531, 0x3ad, 0x1560,
+  0x3be, 0x1590, 0x3cf, 0x15bf, 0x3e0, 0x15ee, 0x3f1, 0x161d,
+  0x403, 0x164c, 0x414, 0x167c, 0x426, 0x16ab, 0x438, 0x16da,
+  0x44a, 0x1709, 0x45c, 0x1737, 0x46e, 0x1766, 0x481, 0x1795,
+  0x493, 0x17c4, 0x4a6, 0x17f2, 0x4b9, 0x1821, 0x4cc, 0x184f,
+  0x4df, 0x187e, 0x4f2, 0x18ac, 0x506, 0x18db, 0x51a, 0x1909,
+  0x52d, 0x1937, 0x541, 0x1965, 0x555, 0x1993, 0x569, 0x19c1,
+  0x57e, 0x19ef, 0x592, 0x1a1d, 0x5a7, 0x1a4b, 0x5bb, 0x1a79,
+  0x5d0, 0x1aa7, 0x5e5, 0x1ad4, 0x5fa, 0x1b02, 0x610, 0x1b30,
+  0x625, 0x1b5d, 0x63b, 0x1b8a, 0x650, 0x1bb8, 0x666, 0x1be5,
+  0x67c, 0x1c12, 0x692, 0x1c3f, 0x6a8, 0x1c6c, 0x6bf, 0x1c99,
+  0x6d5, 0x1cc6, 0x6ec, 0x1cf3, 0x703, 0x1d20, 0x71a, 0x1d4d,
+  0x731, 0x1d79, 0x748, 0x1da6, 0x75f, 0x1dd3, 0x777, 0x1dff,
+  0x78f, 0x1e2b, 0x7a6, 0x1e58, 0x7be, 0x1e84, 0x7d6, 0x1eb0,
+  0x7ee, 0x1edc, 0x807, 0x1f08, 0x81f, 0x1f34, 0x838, 0x1f60,
+  0x850, 0x1f8c, 0x869, 0x1fb7, 0x882, 0x1fe3, 0x89b, 0x200f,
+  0x8b5, 0x203a, 0x8ce, 0x2065, 0x8e8, 0x2091, 0x901, 0x20bc,
+  0x91b, 0x20e7, 0x935, 0x2112, 0x94f, 0x213d, 0x969, 0x2168,
+  0x983, 0x2193, 0x99e, 0x21be, 0x9b8, 0x21e8, 0x9d3, 0x2213,
+  0x9ee, 0x223d, 0xa09, 0x2268, 0xa24, 0x2292, 0xa3f, 0x22bc,
+  0xa5b, 0x22e7, 0xa76, 0x2311, 0xa92, 0x233b, 0xaad, 0x2365,
+  0xac9, 0x238e, 0xae5, 0x23b8, 0xb01, 0x23e2, 0xb1e, 0x240b,
+  0xb3a, 0x2435, 0xb56, 0x245e, 0xb73, 0x2488, 0xb90, 0x24b1,
+  0xbad, 0x24da, 0xbca, 0x2503, 0xbe7, 0x252c, 0xc04, 0x2555,
+  0xc21, 0x257e, 0xc3f, 0x25a6, 0xc5d, 0x25cf, 0xc7a, 0x25f8,
+  0xc98, 0x2620, 0xcb6, 0x2648, 0xcd4, 0x2671, 0xcf3, 0x2699,
+  0xd11, 0x26c1, 0xd30, 0x26e9, 0xd4e, 0x2711, 0xd6d, 0x2738,
+  0xd8c, 0x2760, 0xdab, 0x2788, 0xdca, 0x27af, 0xde9, 0x27d6,
+  0xe08, 0x27fe, 0xe28, 0x2825, 0xe47, 0x284c, 0xe67, 0x2873,
+  0xe87, 0x289a, 0xea7, 0x28c1, 0xec7, 0x28e7, 0xee7, 0x290e,
+  0xf07, 0x2935, 0xf28, 0x295b, 0xf48, 0x2981, 0xf69, 0x29a7,
+  0xf8a, 0x29ce, 0xfab, 0x29f4, 0xfcc, 0x2a1a, 0xfed, 0x2a3f,
+  0x100e, 0x2a65, 0x1030, 0x2a8b, 0x1051, 0x2ab0, 0x1073, 0x2ad6,
+  0x1094, 0x2afb, 0x10b6, 0x2b20, 0x10d8, 0x2b45, 0x10fa, 0x2b6a,
+  0x111c, 0x2b8f, 0x113e, 0x2bb4, 0x1161, 0x2bd8, 0x1183, 0x2bfd,
+  0x11a6, 0x2c21, 0x11c9, 0x2c46, 0x11eb, 0x2c6a, 0x120e, 0x2c8e,
+  0x1231, 0x2cb2, 0x1255, 0x2cd6, 0x1278, 0x2cfa, 0x129b, 0x2d1e,
+  0x12bf, 0x2d41, 0x12e2, 0x2d65, 0x1306, 0x2d88, 0x132a, 0x2dab,
+  0x134e, 0x2dcf, 0x1372, 0x2df2, 0x1396, 0x2e15, 0x13ba, 0x2e37,
+  0x13df, 0x2e5a, 0x1403, 0x2e7d, 0x1428, 0x2e9f, 0x144c, 0x2ec2,
+  0x1471, 0x2ee4, 0x1496, 0x2f06, 0x14bb, 0x2f28, 0x14e0, 0x2f4a,
+  0x1505, 0x2f6c, 0x152a, 0x2f8d, 0x1550, 0x2faf, 0x1575, 0x2fd0,
+  0x159b, 0x2ff2, 0x15c1, 0x3013, 0x15e6, 0x3034, 0x160c, 0x3055,
+  0x1632, 0x3076, 0x1659, 0x3097, 0x167f, 0x30b8, 0x16a5, 0x30d8,
+  0x16cb, 0x30f9, 0x16f2, 0x3119, 0x1719, 0x3139, 0x173f, 0x3159,
+  0x1766, 0x3179, 0x178d, 0x3199, 0x17b4, 0x31b9, 0x17db, 0x31d8,
+  0x1802, 0x31f8, 0x182a, 0x3217, 0x1851, 0x3236, 0x1878, 0x3255,
+  0x18a0, 0x3274, 0x18c8, 0x3293, 0x18ef, 0x32b2, 0x1917, 0x32d0,
+  0x193f, 0x32ef, 0x1967, 0x330d, 0x198f, 0x332c, 0x19b8, 0x334a,
+  0x19e0, 0x3368, 0x1a08, 0x3386, 0x1a31, 0x33a3, 0x1a5a, 0x33c1,
+  0x1a82, 0x33df, 0x1aab, 0x33fc, 0x1ad4, 0x3419, 0x1afd, 0x3436,
+  0x1b26, 0x3453, 0x1b4f, 0x3470, 0x1b78, 0x348d, 0x1ba2, 0x34aa,
+  0x1bcb, 0x34c6, 0x1bf5, 0x34e2, 0x1c1e, 0x34ff, 0x1c48, 0x351b,
+  0x1c72, 0x3537, 0x1c9b, 0x3553, 0x1cc5, 0x356e, 0x1cef, 0x358a,
+  0x1d19, 0x35a5, 0x1d44, 0x35c1, 0x1d6e, 0x35dc, 0x1d98, 0x35f7,
+  0x1dc3, 0x3612, 0x1ded, 0x362d, 0x1e18, 0x3648, 0x1e42, 0x3662,
+  0x1e6d, 0x367d, 0x1e98, 0x3697, 0x1ec3, 0x36b1, 0x1eee, 0x36cb,
+  0x1f19, 0x36e5, 0x1f44, 0x36ff, 0x1f6f, 0x3718, 0x1f9b, 0x3732,
+  0x1fc6, 0x374b, 0x1ff1, 0x3765, 0x201d, 0x377e, 0x2049, 0x3797,
+  0x2074, 0x37b0, 0x20a0, 0x37c8, 0x20cc, 0x37e1, 0x20f8, 0x37f9,
+  0x2124, 0x3812, 0x2150, 0x382a, 0x217c, 0x3842, 0x21a8, 0x385a,
+  0x21d5, 0x3871, 0x2201, 0x3889, 0x222d, 0x38a1, 0x225a, 0x38b8,
+  0x2287, 0x38cf, 0x22b3, 0x38e6, 0x22e0, 0x38fd, 0x230d, 0x3914,
+  0x233a, 0x392b, 0x2367, 0x3941, 0x2394, 0x3958, 0x23c1, 0x396e,
+  0x23ee, 0x3984, 0x241b, 0x399a, 0x2448, 0x39b0, 0x2476, 0x39c5,
+  0x24a3, 0x39db, 0x24d0, 0x39f0, 0x24fe, 0x3a06, 0x252c, 0x3a1b,
+  0x2559, 0x3a30, 0x2587, 0x3a45, 0x25b5, 0x3a59, 0x25e3, 0x3a6e,
+  0x2611, 0x3a82, 0x263f, 0x3a97, 0x266d, 0x3aab, 0x269b, 0x3abf,
+  0x26c9, 0x3ad3, 0x26f7, 0x3ae6, 0x2725, 0x3afa, 0x2754, 0x3b0e,
+  0x2782, 0x3b21, 0x27b1, 0x3b34, 0x27df, 0x3b47, 0x280e, 0x3b5a,
+  0x283c, 0x3b6d, 0x286b, 0x3b7f, 0x289a, 0x3b92, 0x28c9, 0x3ba4,
+  0x28f7, 0x3bb6, 0x2926, 0x3bc8, 0x2955, 0x3bda, 0x2984, 0x3bec,
+  0x29b4, 0x3bfd, 0x29e3, 0x3c0f, 0x2a12, 0x3c20, 0x2a41, 0x3c31,
+  0x2a70, 0x3c42, 0x2aa0, 0x3c53, 0x2acf, 0x3c64, 0x2aff, 0x3c74,
+  0x2b2e, 0x3c85, 0x2b5e, 0x3c95, 0x2b8d, 0x3ca5, 0x2bbd, 0x3cb5,
+  0x2bed, 0x3cc5, 0x2c1c, 0x3cd5, 0x2c4c, 0x3ce4, 0x2c7c, 0x3cf4,
+  0x2cac, 0x3d03, 0x2cdc, 0x3d12, 0x2d0c, 0x3d21, 0x2d3c, 0x3d30,
+  0x2d6c, 0x3d3f, 0x2d9c, 0x3d4d, 0x2dcc, 0x3d5b, 0x2dfc, 0x3d6a,
+  0x2e2d, 0x3d78, 0x2e5d, 0x3d86, 0x2e8d, 0x3d93, 0x2ebe, 0x3da1,
+  0x2eee, 0x3daf, 0x2f1f, 0x3dbc, 0x2f4f, 0x3dc9, 0x2f80, 0x3dd6,
+  0x2fb0, 0x3de3, 0x2fe1, 0x3df0, 0x3012, 0x3dfc, 0x3042, 0x3e09,
+  0x3073, 0x3e15, 0x30a4, 0x3e21, 0x30d5, 0x3e2d, 0x3105, 0x3e39,
+  0x3136, 0x3e45, 0x3167, 0x3e50, 0x3198, 0x3e5c, 0x31c9, 0x3e67,
+  0x31fa, 0x3e72, 0x322b, 0x3e7d, 0x325c, 0x3e88, 0x328e, 0x3e92,
+  0x32bf, 0x3e9d, 0x32f0, 0x3ea7, 0x3321, 0x3eb1, 0x3352, 0x3ebb,
+  0x3384, 0x3ec5, 0x33b5, 0x3ecf, 0x33e6, 0x3ed8, 0x3418, 0x3ee2,
+  0x3449, 0x3eeb, 0x347b, 0x3ef4, 0x34ac, 0x3efd, 0x34dd, 0x3f06,
+  0x350f, 0x3f0f, 0x3540, 0x3f17, 0x3572, 0x3f20, 0x35a4, 0x3f28,
+  0x35d5, 0x3f30, 0x3607, 0x3f38, 0x3639, 0x3f40, 0x366a, 0x3f47,
+  0x369c, 0x3f4f, 0x36ce, 0x3f56, 0x36ff, 0x3f5d, 0x3731, 0x3f64,
+  0x3763, 0x3f6b, 0x3795, 0x3f72, 0x37c7, 0x3f78, 0x37f9, 0x3f7f,
+  0x382a, 0x3f85, 0x385c, 0x3f8b, 0x388e, 0x3f91, 0x38c0, 0x3f97,
+  0x38f2, 0x3f9c, 0x3924, 0x3fa2, 0x3956, 0x3fa7, 0x3988, 0x3fac,
+  0x39ba, 0x3fb1, 0x39ec, 0x3fb6, 0x3a1e, 0x3fbb, 0x3a50, 0x3fbf,
+  0x3a82, 0x3fc4, 0x3ab4, 0x3fc8, 0x3ae6, 0x3fcc, 0x3b19, 0x3fd0,
+  0x3b4b, 0x3fd4, 0x3b7d, 0x3fd7, 0x3baf, 0x3fdb, 0x3be1, 0x3fde,
+  0x3c13, 0x3fe1, 0x3c45, 0x3fe4, 0x3c78, 0x3fe7, 0x3caa, 0x3fea,
+  0x3cdc, 0x3fec, 0x3d0e, 0x3fef, 0x3d40, 0x3ff1, 0x3d73, 0x3ff3,
+  0x3da5, 0x3ff5, 0x3dd7, 0x3ff7, 0x3e09, 0x3ff8, 0x3e3c, 0x3ffa,
+  0x3e6e, 0x3ffb, 0x3ea0, 0x3ffc, 0x3ed2, 0x3ffd, 0x3f05, 0x3ffe,
+  0x3f37, 0x3fff, 0x3f69, 0x3fff, 0x3f9b, 0x4000, 0x3fce, 0x4000
+};
+
+/**   
+* \par  
+* Generation of real_CoefB array:   
+* \par   
+* n = 1024   
+* 
    for (i = 0; i < n; i++)   
+*  {   
+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));   
+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+*  } 
      
+* \par   
+* Convert to fixed point Q15 format   
+*       round(pBTable[i] * pow(2, 15))   
+*   
+*/
+
+static const q15_t realCoefBQ15[2048] = {
+  0x4000, 0x4000, 0x4032, 0x4000, 0x4065, 0x4000, 0x4097, 0x3fff,
+  0x40c9, 0x3fff, 0x40fb, 0x3ffe, 0x412e, 0x3ffd, 0x4160, 0x3ffc,
+  0x4192, 0x3ffb, 0x41c4, 0x3ffa, 0x41f7, 0x3ff8, 0x4229, 0x3ff7,
+  0x425b, 0x3ff5, 0x428d, 0x3ff3, 0x42c0, 0x3ff1, 0x42f2, 0x3fef,
+  0x4324, 0x3fec, 0x4356, 0x3fea, 0x4388, 0x3fe7, 0x43bb, 0x3fe4,
+  0x43ed, 0x3fe1, 0x441f, 0x3fde, 0x4451, 0x3fdb, 0x4483, 0x3fd7,
+  0x44b5, 0x3fd4, 0x44e7, 0x3fd0, 0x451a, 0x3fcc, 0x454c, 0x3fc8,
+  0x457e, 0x3fc4, 0x45b0, 0x3fbf, 0x45e2, 0x3fbb, 0x4614, 0x3fb6,
+  0x4646, 0x3fb1, 0x4678, 0x3fac, 0x46aa, 0x3fa7, 0x46dc, 0x3fa2,
+  0x470e, 0x3f9c, 0x4740, 0x3f97, 0x4772, 0x3f91, 0x47a4, 0x3f8b,
+  0x47d6, 0x3f85, 0x4807, 0x3f7f, 0x4839, 0x3f78, 0x486b, 0x3f72,
+  0x489d, 0x3f6b, 0x48cf, 0x3f64, 0x4901, 0x3f5d, 0x4932, 0x3f56,
+  0x4964, 0x3f4f, 0x4996, 0x3f47, 0x49c7, 0x3f40, 0x49f9, 0x3f38,
+  0x4a2b, 0x3f30, 0x4a5c, 0x3f28, 0x4a8e, 0x3f20, 0x4ac0, 0x3f17,
+  0x4af1, 0x3f0f, 0x4b23, 0x3f06, 0x4b54, 0x3efd, 0x4b85, 0x3ef4,
+  0x4bb7, 0x3eeb, 0x4be8, 0x3ee2, 0x4c1a, 0x3ed8, 0x4c4b, 0x3ecf,
+  0x4c7c, 0x3ec5, 0x4cae, 0x3ebb, 0x4cdf, 0x3eb1, 0x4d10, 0x3ea7,
+  0x4d41, 0x3e9d, 0x4d72, 0x3e92, 0x4da4, 0x3e88, 0x4dd5, 0x3e7d,
+  0x4e06, 0x3e72, 0x4e37, 0x3e67, 0x4e68, 0x3e5c, 0x4e99, 0x3e50,
+  0x4eca, 0x3e45, 0x4efb, 0x3e39, 0x4f2b, 0x3e2d, 0x4f5c, 0x3e21,
+  0x4f8d, 0x3e15, 0x4fbe, 0x3e09, 0x4fee, 0x3dfc, 0x501f, 0x3df0,
+  0x5050, 0x3de3, 0x5080, 0x3dd6, 0x50b1, 0x3dc9, 0x50e1, 0x3dbc,
+  0x5112, 0x3daf, 0x5142, 0x3da1, 0x5173, 0x3d93, 0x51a3, 0x3d86,
+  0x51d3, 0x3d78, 0x5204, 0x3d6a, 0x5234, 0x3d5b, 0x5264, 0x3d4d,
+  0x5294, 0x3d3f, 0x52c4, 0x3d30, 0x52f4, 0x3d21, 0x5324, 0x3d12,
+  0x5354, 0x3d03, 0x5384, 0x3cf4, 0x53b4, 0x3ce4, 0x53e4, 0x3cd5,
+  0x5413, 0x3cc5, 0x5443, 0x3cb5, 0x5473, 0x3ca5, 0x54a2, 0x3c95,
+  0x54d2, 0x3c85, 0x5501, 0x3c74, 0x5531, 0x3c64, 0x5560, 0x3c53,
+  0x5590, 0x3c42, 0x55bf, 0x3c31, 0x55ee, 0x3c20, 0x561d, 0x3c0f,
+  0x564c, 0x3bfd, 0x567c, 0x3bec, 0x56ab, 0x3bda, 0x56da, 0x3bc8,
+  0x5709, 0x3bb6, 0x5737, 0x3ba4, 0x5766, 0x3b92, 0x5795, 0x3b7f,
+  0x57c4, 0x3b6d, 0x57f2, 0x3b5a, 0x5821, 0x3b47, 0x584f, 0x3b34,
+  0x587e, 0x3b21, 0x58ac, 0x3b0e, 0x58db, 0x3afa, 0x5909, 0x3ae6,
+  0x5937, 0x3ad3, 0x5965, 0x3abf, 0x5993, 0x3aab, 0x59c1, 0x3a97,
+  0x59ef, 0x3a82, 0x5a1d, 0x3a6e, 0x5a4b, 0x3a59, 0x5a79, 0x3a45,
+  0x5aa7, 0x3a30, 0x5ad4, 0x3a1b, 0x5b02, 0x3a06, 0x5b30, 0x39f0,
+  0x5b5d, 0x39db, 0x5b8a, 0x39c5, 0x5bb8, 0x39b0, 0x5be5, 0x399a,
+  0x5c12, 0x3984, 0x5c3f, 0x396e, 0x5c6c, 0x3958, 0x5c99, 0x3941,
+  0x5cc6, 0x392b, 0x5cf3, 0x3914, 0x5d20, 0x38fd, 0x5d4d, 0x38e6,
+  0x5d79, 0x38cf, 0x5da6, 0x38b8, 0x5dd3, 0x38a1, 0x5dff, 0x3889,
+  0x5e2b, 0x3871, 0x5e58, 0x385a, 0x5e84, 0x3842, 0x5eb0, 0x382a,
+  0x5edc, 0x3812, 0x5f08, 0x37f9, 0x5f34, 0x37e1, 0x5f60, 0x37c8,
+  0x5f8c, 0x37b0, 0x5fb7, 0x3797, 0x5fe3, 0x377e, 0x600f, 0x3765,
+  0x603a, 0x374b, 0x6065, 0x3732, 0x6091, 0x3718, 0x60bc, 0x36ff,
+  0x60e7, 0x36e5, 0x6112, 0x36cb, 0x613d, 0x36b1, 0x6168, 0x3697,
+  0x6193, 0x367d, 0x61be, 0x3662, 0x61e8, 0x3648, 0x6213, 0x362d,
+  0x623d, 0x3612, 0x6268, 0x35f7, 0x6292, 0x35dc, 0x62bc, 0x35c1,
+  0x62e7, 0x35a5, 0x6311, 0x358a, 0x633b, 0x356e, 0x6365, 0x3553,
+  0x638e, 0x3537, 0x63b8, 0x351b, 0x63e2, 0x34ff, 0x640b, 0x34e2,
+  0x6435, 0x34c6, 0x645e, 0x34aa, 0x6488, 0x348d, 0x64b1, 0x3470,
+  0x64da, 0x3453, 0x6503, 0x3436, 0x652c, 0x3419, 0x6555, 0x33fc,
+  0x657e, 0x33df, 0x65a6, 0x33c1, 0x65cf, 0x33a3, 0x65f8, 0x3386,
+  0x6620, 0x3368, 0x6648, 0x334a, 0x6671, 0x332c, 0x6699, 0x330d,
+  0x66c1, 0x32ef, 0x66e9, 0x32d0, 0x6711, 0x32b2, 0x6738, 0x3293,
+  0x6760, 0x3274, 0x6788, 0x3255, 0x67af, 0x3236, 0x67d6, 0x3217,
+  0x67fe, 0x31f8, 0x6825, 0x31d8, 0x684c, 0x31b9, 0x6873, 0x3199,
+  0x689a, 0x3179, 0x68c1, 0x3159, 0x68e7, 0x3139, 0x690e, 0x3119,
+  0x6935, 0x30f9, 0x695b, 0x30d8, 0x6981, 0x30b8, 0x69a7, 0x3097,
+  0x69ce, 0x3076, 0x69f4, 0x3055, 0x6a1a, 0x3034, 0x6a3f, 0x3013,
+  0x6a65, 0x2ff2, 0x6a8b, 0x2fd0, 0x6ab0, 0x2faf, 0x6ad6, 0x2f8d,
+  0x6afb, 0x2f6c, 0x6b20, 0x2f4a, 0x6b45, 0x2f28, 0x6b6a, 0x2f06,
+  0x6b8f, 0x2ee4, 0x6bb4, 0x2ec2, 0x6bd8, 0x2e9f, 0x6bfd, 0x2e7d,
+  0x6c21, 0x2e5a, 0x6c46, 0x2e37, 0x6c6a, 0x2e15, 0x6c8e, 0x2df2,
+  0x6cb2, 0x2dcf, 0x6cd6, 0x2dab, 0x6cfa, 0x2d88, 0x6d1e, 0x2d65,
+  0x6d41, 0x2d41, 0x6d65, 0x2d1e, 0x6d88, 0x2cfa, 0x6dab, 0x2cd6,
+  0x6dcf, 0x2cb2, 0x6df2, 0x2c8e, 0x6e15, 0x2c6a, 0x6e37, 0x2c46,
+  0x6e5a, 0x2c21, 0x6e7d, 0x2bfd, 0x6e9f, 0x2bd8, 0x6ec2, 0x2bb4,
+  0x6ee4, 0x2b8f, 0x6f06, 0x2b6a, 0x6f28, 0x2b45, 0x6f4a, 0x2b20,
+  0x6f6c, 0x2afb, 0x6f8d, 0x2ad6, 0x6faf, 0x2ab0, 0x6fd0, 0x2a8b,
+  0x6ff2, 0x2a65, 0x7013, 0x2a3f, 0x7034, 0x2a1a, 0x7055, 0x29f4,
+  0x7076, 0x29ce, 0x7097, 0x29a7, 0x70b8, 0x2981, 0x70d8, 0x295b,
+  0x70f9, 0x2935, 0x7119, 0x290e, 0x7139, 0x28e7, 0x7159, 0x28c1,
+  0x7179, 0x289a, 0x7199, 0x2873, 0x71b9, 0x284c, 0x71d8, 0x2825,
+  0x71f8, 0x27fe, 0x7217, 0x27d6, 0x7236, 0x27af, 0x7255, 0x2788,
+  0x7274, 0x2760, 0x7293, 0x2738, 0x72b2, 0x2711, 0x72d0, 0x26e9,
+  0x72ef, 0x26c1, 0x730d, 0x2699, 0x732c, 0x2671, 0x734a, 0x2648,
+  0x7368, 0x2620, 0x7386, 0x25f8, 0x73a3, 0x25cf, 0x73c1, 0x25a6,
+  0x73df, 0x257e, 0x73fc, 0x2555, 0x7419, 0x252c, 0x7436, 0x2503,
+  0x7453, 0x24da, 0x7470, 0x24b1, 0x748d, 0x2488, 0x74aa, 0x245e,
+  0x74c6, 0x2435, 0x74e2, 0x240b, 0x74ff, 0x23e2, 0x751b, 0x23b8,
+  0x7537, 0x238e, 0x7553, 0x2365, 0x756e, 0x233b, 0x758a, 0x2311,
+  0x75a5, 0x22e7, 0x75c1, 0x22bc, 0x75dc, 0x2292, 0x75f7, 0x2268,
+  0x7612, 0x223d, 0x762d, 0x2213, 0x7648, 0x21e8, 0x7662, 0x21be,
+  0x767d, 0x2193, 0x7697, 0x2168, 0x76b1, 0x213d, 0x76cb, 0x2112,
+  0x76e5, 0x20e7, 0x76ff, 0x20bc, 0x7718, 0x2091, 0x7732, 0x2065,
+  0x774b, 0x203a, 0x7765, 0x200f, 0x777e, 0x1fe3, 0x7797, 0x1fb7,
+  0x77b0, 0x1f8c, 0x77c8, 0x1f60, 0x77e1, 0x1f34, 0x77f9, 0x1f08,
+  0x7812, 0x1edc, 0x782a, 0x1eb0, 0x7842, 0x1e84, 0x785a, 0x1e58,
+  0x7871, 0x1e2b, 0x7889, 0x1dff, 0x78a1, 0x1dd3, 0x78b8, 0x1da6,
+  0x78cf, 0x1d79, 0x78e6, 0x1d4d, 0x78fd, 0x1d20, 0x7914, 0x1cf3,
+  0x792b, 0x1cc6, 0x7941, 0x1c99, 0x7958, 0x1c6c, 0x796e, 0x1c3f,
+  0x7984, 0x1c12, 0x799a, 0x1be5, 0x79b0, 0x1bb8, 0x79c5, 0x1b8a,
+  0x79db, 0x1b5d, 0x79f0, 0x1b30, 0x7a06, 0x1b02, 0x7a1b, 0x1ad4,
+  0x7a30, 0x1aa7, 0x7a45, 0x1a79, 0x7a59, 0x1a4b, 0x7a6e, 0x1a1d,
+  0x7a82, 0x19ef, 0x7a97, 0x19c1, 0x7aab, 0x1993, 0x7abf, 0x1965,
+  0x7ad3, 0x1937, 0x7ae6, 0x1909, 0x7afa, 0x18db, 0x7b0e, 0x18ac,
+  0x7b21, 0x187e, 0x7b34, 0x184f, 0x7b47, 0x1821, 0x7b5a, 0x17f2,
+  0x7b6d, 0x17c4, 0x7b7f, 0x1795, 0x7b92, 0x1766, 0x7ba4, 0x1737,
+  0x7bb6, 0x1709, 0x7bc8, 0x16da, 0x7bda, 0x16ab, 0x7bec, 0x167c,
+  0x7bfd, 0x164c, 0x7c0f, 0x161d, 0x7c20, 0x15ee, 0x7c31, 0x15bf,
+  0x7c42, 0x1590, 0x7c53, 0x1560, 0x7c64, 0x1531, 0x7c74, 0x1501,
+  0x7c85, 0x14d2, 0x7c95, 0x14a2, 0x7ca5, 0x1473, 0x7cb5, 0x1443,
+  0x7cc5, 0x1413, 0x7cd5, 0x13e4, 0x7ce4, 0x13b4, 0x7cf4, 0x1384,
+  0x7d03, 0x1354, 0x7d12, 0x1324, 0x7d21, 0x12f4, 0x7d30, 0x12c4,
+  0x7d3f, 0x1294, 0x7d4d, 0x1264, 0x7d5b, 0x1234, 0x7d6a, 0x1204,
+  0x7d78, 0x11d3, 0x7d86, 0x11a3, 0x7d93, 0x1173, 0x7da1, 0x1142,
+  0x7daf, 0x1112, 0x7dbc, 0x10e1, 0x7dc9, 0x10b1, 0x7dd6, 0x1080,
+  0x7de3, 0x1050, 0x7df0, 0x101f, 0x7dfc, 0xfee, 0x7e09, 0xfbe,
+  0x7e15, 0xf8d, 0x7e21, 0xf5c, 0x7e2d, 0xf2b, 0x7e39, 0xefb,
+  0x7e45, 0xeca, 0x7e50, 0xe99, 0x7e5c, 0xe68, 0x7e67, 0xe37,
+  0x7e72, 0xe06, 0x7e7d, 0xdd5, 0x7e88, 0xda4, 0x7e92, 0xd72,
+  0x7e9d, 0xd41, 0x7ea7, 0xd10, 0x7eb1, 0xcdf, 0x7ebb, 0xcae,
+  0x7ec5, 0xc7c, 0x7ecf, 0xc4b, 0x7ed8, 0xc1a, 0x7ee2, 0xbe8,
+  0x7eeb, 0xbb7, 0x7ef4, 0xb85, 0x7efd, 0xb54, 0x7f06, 0xb23,
+  0x7f0f, 0xaf1, 0x7f17, 0xac0, 0x7f20, 0xa8e, 0x7f28, 0xa5c,
+  0x7f30, 0xa2b, 0x7f38, 0x9f9, 0x7f40, 0x9c7, 0x7f47, 0x996,
+  0x7f4f, 0x964, 0x7f56, 0x932, 0x7f5d, 0x901, 0x7f64, 0x8cf,
+  0x7f6b, 0x89d, 0x7f72, 0x86b, 0x7f78, 0x839, 0x7f7f, 0x807,
+  0x7f85, 0x7d6, 0x7f8b, 0x7a4, 0x7f91, 0x772, 0x7f97, 0x740,
+  0x7f9c, 0x70e, 0x7fa2, 0x6dc, 0x7fa7, 0x6aa, 0x7fac, 0x678,
+  0x7fb1, 0x646, 0x7fb6, 0x614, 0x7fbb, 0x5e2, 0x7fbf, 0x5b0,
+  0x7fc4, 0x57e, 0x7fc8, 0x54c, 0x7fcc, 0x51a, 0x7fd0, 0x4e7,
+  0x7fd4, 0x4b5, 0x7fd7, 0x483, 0x7fdb, 0x451, 0x7fde, 0x41f,
+  0x7fe1, 0x3ed, 0x7fe4, 0x3bb, 0x7fe7, 0x388, 0x7fea, 0x356,
+  0x7fec, 0x324, 0x7fef, 0x2f2, 0x7ff1, 0x2c0, 0x7ff3, 0x28d,
+  0x7ff5, 0x25b, 0x7ff7, 0x229, 0x7ff8, 0x1f7, 0x7ffa, 0x1c4,
+  0x7ffb, 0x192, 0x7ffc, 0x160, 0x7ffd, 0x12e, 0x7ffe, 0xfb,
+  0x7fff, 0xc9, 0x7fff, 0x97, 0x7fff, 0x65, 0x7fff, 0x32,
+  0x7fff, 0x0, 0x7fff, 0xffce, 0x7fff, 0xff9b, 0x7fff, 0xff69,
+  0x7fff, 0xff37, 0x7ffe, 0xff05, 0x7ffd, 0xfed2, 0x7ffc, 0xfea0,
+  0x7ffb, 0xfe6e, 0x7ffa, 0xfe3c, 0x7ff8, 0xfe09, 0x7ff7, 0xfdd7,
+  0x7ff5, 0xfda5, 0x7ff3, 0xfd73, 0x7ff1, 0xfd40, 0x7fef, 0xfd0e,
+  0x7fec, 0xfcdc, 0x7fea, 0xfcaa, 0x7fe7, 0xfc78, 0x7fe4, 0xfc45,
+  0x7fe1, 0xfc13, 0x7fde, 0xfbe1, 0x7fdb, 0xfbaf, 0x7fd7, 0xfb7d,
+  0x7fd4, 0xfb4b, 0x7fd0, 0xfb19, 0x7fcc, 0xfae6, 0x7fc8, 0xfab4,
+  0x7fc4, 0xfa82, 0x7fbf, 0xfa50, 0x7fbb, 0xfa1e, 0x7fb6, 0xf9ec,
+  0x7fb1, 0xf9ba, 0x7fac, 0xf988, 0x7fa7, 0xf956, 0x7fa2, 0xf924,
+  0x7f9c, 0xf8f2, 0x7f97, 0xf8c0, 0x7f91, 0xf88e, 0x7f8b, 0xf85c,
+  0x7f85, 0xf82a, 0x7f7f, 0xf7f9, 0x7f78, 0xf7c7, 0x7f72, 0xf795,
+  0x7f6b, 0xf763, 0x7f64, 0xf731, 0x7f5d, 0xf6ff, 0x7f56, 0xf6ce,
+  0x7f4f, 0xf69c, 0x7f47, 0xf66a, 0x7f40, 0xf639, 0x7f38, 0xf607,
+  0x7f30, 0xf5d5, 0x7f28, 0xf5a4, 0x7f20, 0xf572, 0x7f17, 0xf540,
+  0x7f0f, 0xf50f, 0x7f06, 0xf4dd, 0x7efd, 0xf4ac, 0x7ef4, 0xf47b,
+  0x7eeb, 0xf449, 0x7ee2, 0xf418, 0x7ed8, 0xf3e6, 0x7ecf, 0xf3b5,
+  0x7ec5, 0xf384, 0x7ebb, 0xf352, 0x7eb1, 0xf321, 0x7ea7, 0xf2f0,
+  0x7e9d, 0xf2bf, 0x7e92, 0xf28e, 0x7e88, 0xf25c, 0x7e7d, 0xf22b,
+  0x7e72, 0xf1fa, 0x7e67, 0xf1c9, 0x7e5c, 0xf198, 0x7e50, 0xf167,
+  0x7e45, 0xf136, 0x7e39, 0xf105, 0x7e2d, 0xf0d5, 0x7e21, 0xf0a4,
+  0x7e15, 0xf073, 0x7e09, 0xf042, 0x7dfc, 0xf012, 0x7df0, 0xefe1,
+  0x7de3, 0xefb0, 0x7dd6, 0xef80, 0x7dc9, 0xef4f, 0x7dbc, 0xef1f,
+  0x7daf, 0xeeee, 0x7da1, 0xeebe, 0x7d93, 0xee8d, 0x7d86, 0xee5d,
+  0x7d78, 0xee2d, 0x7d6a, 0xedfc, 0x7d5b, 0xedcc, 0x7d4d, 0xed9c,
+  0x7d3f, 0xed6c, 0x7d30, 0xed3c, 0x7d21, 0xed0c, 0x7d12, 0xecdc,
+  0x7d03, 0xecac, 0x7cf4, 0xec7c, 0x7ce4, 0xec4c, 0x7cd5, 0xec1c,
+  0x7cc5, 0xebed, 0x7cb5, 0xebbd, 0x7ca5, 0xeb8d, 0x7c95, 0xeb5e,
+  0x7c85, 0xeb2e, 0x7c74, 0xeaff, 0x7c64, 0xeacf, 0x7c53, 0xeaa0,
+  0x7c42, 0xea70, 0x7c31, 0xea41, 0x7c20, 0xea12, 0x7c0f, 0xe9e3,
+  0x7bfd, 0xe9b4, 0x7bec, 0xe984, 0x7bda, 0xe955, 0x7bc8, 0xe926,
+  0x7bb6, 0xe8f7, 0x7ba4, 0xe8c9, 0x7b92, 0xe89a, 0x7b7f, 0xe86b,
+  0x7b6d, 0xe83c, 0x7b5a, 0xe80e, 0x7b47, 0xe7df, 0x7b34, 0xe7b1,
+  0x7b21, 0xe782, 0x7b0e, 0xe754, 0x7afa, 0xe725, 0x7ae6, 0xe6f7,
+  0x7ad3, 0xe6c9, 0x7abf, 0xe69b, 0x7aab, 0xe66d, 0x7a97, 0xe63f,
+  0x7a82, 0xe611, 0x7a6e, 0xe5e3, 0x7a59, 0xe5b5, 0x7a45, 0xe587,
+  0x7a30, 0xe559, 0x7a1b, 0xe52c, 0x7a06, 0xe4fe, 0x79f0, 0xe4d0,
+  0x79db, 0xe4a3, 0x79c5, 0xe476, 0x79b0, 0xe448, 0x799a, 0xe41b,
+  0x7984, 0xe3ee, 0x796e, 0xe3c1, 0x7958, 0xe394, 0x7941, 0xe367,
+  0x792b, 0xe33a, 0x7914, 0xe30d, 0x78fd, 0xe2e0, 0x78e6, 0xe2b3,
+  0x78cf, 0xe287, 0x78b8, 0xe25a, 0x78a1, 0xe22d, 0x7889, 0xe201,
+  0x7871, 0xe1d5, 0x785a, 0xe1a8, 0x7842, 0xe17c, 0x782a, 0xe150,
+  0x7812, 0xe124, 0x77f9, 0xe0f8, 0x77e1, 0xe0cc, 0x77c8, 0xe0a0,
+  0x77b0, 0xe074, 0x7797, 0xe049, 0x777e, 0xe01d, 0x7765, 0xdff1,
+  0x774b, 0xdfc6, 0x7732, 0xdf9b, 0x7718, 0xdf6f, 0x76ff, 0xdf44,
+  0x76e5, 0xdf19, 0x76cb, 0xdeee, 0x76b1, 0xdec3, 0x7697, 0xde98,
+  0x767d, 0xde6d, 0x7662, 0xde42, 0x7648, 0xde18, 0x762d, 0xdded,
+  0x7612, 0xddc3, 0x75f7, 0xdd98, 0x75dc, 0xdd6e, 0x75c1, 0xdd44,
+  0x75a5, 0xdd19, 0x758a, 0xdcef, 0x756e, 0xdcc5, 0x7553, 0xdc9b,
+  0x7537, 0xdc72, 0x751b, 0xdc48, 0x74ff, 0xdc1e, 0x74e2, 0xdbf5,
+  0x74c6, 0xdbcb, 0x74aa, 0xdba2, 0x748d, 0xdb78, 0x7470, 0xdb4f,
+  0x7453, 0xdb26, 0x7436, 0xdafd, 0x7419, 0xdad4, 0x73fc, 0xdaab,
+  0x73df, 0xda82, 0x73c1, 0xda5a, 0x73a3, 0xda31, 0x7386, 0xda08,
+  0x7368, 0xd9e0, 0x734a, 0xd9b8, 0x732c, 0xd98f, 0x730d, 0xd967,
+  0x72ef, 0xd93f, 0x72d0, 0xd917, 0x72b2, 0xd8ef, 0x7293, 0xd8c8,
+  0x7274, 0xd8a0, 0x7255, 0xd878, 0x7236, 0xd851, 0x7217, 0xd82a,
+  0x71f8, 0xd802, 0x71d8, 0xd7db, 0x71b9, 0xd7b4, 0x7199, 0xd78d,
+  0x7179, 0xd766, 0x7159, 0xd73f, 0x7139, 0xd719, 0x7119, 0xd6f2,
+  0x70f9, 0xd6cb, 0x70d8, 0xd6a5, 0x70b8, 0xd67f, 0x7097, 0xd659,
+  0x7076, 0xd632, 0x7055, 0xd60c, 0x7034, 0xd5e6, 0x7013, 0xd5c1,
+  0x6ff2, 0xd59b, 0x6fd0, 0xd575, 0x6faf, 0xd550, 0x6f8d, 0xd52a,
+  0x6f6c, 0xd505, 0x6f4a, 0xd4e0, 0x6f28, 0xd4bb, 0x6f06, 0xd496,
+  0x6ee4, 0xd471, 0x6ec2, 0xd44c, 0x6e9f, 0xd428, 0x6e7d, 0xd403,
+  0x6e5a, 0xd3df, 0x6e37, 0xd3ba, 0x6e15, 0xd396, 0x6df2, 0xd372,
+  0x6dcf, 0xd34e, 0x6dab, 0xd32a, 0x6d88, 0xd306, 0x6d65, 0xd2e2,
+  0x6d41, 0xd2bf, 0x6d1e, 0xd29b, 0x6cfa, 0xd278, 0x6cd6, 0xd255,
+  0x6cb2, 0xd231, 0x6c8e, 0xd20e, 0x6c6a, 0xd1eb, 0x6c46, 0xd1c9,
+  0x6c21, 0xd1a6, 0x6bfd, 0xd183, 0x6bd8, 0xd161, 0x6bb4, 0xd13e,
+  0x6b8f, 0xd11c, 0x6b6a, 0xd0fa, 0x6b45, 0xd0d8, 0x6b20, 0xd0b6,
+  0x6afb, 0xd094, 0x6ad6, 0xd073, 0x6ab0, 0xd051, 0x6a8b, 0xd030,
+  0x6a65, 0xd00e, 0x6a3f, 0xcfed, 0x6a1a, 0xcfcc, 0x69f4, 0xcfab,
+  0x69ce, 0xcf8a, 0x69a7, 0xcf69, 0x6981, 0xcf48, 0x695b, 0xcf28,
+  0x6935, 0xcf07, 0x690e, 0xcee7, 0x68e7, 0xcec7, 0x68c1, 0xcea7,
+  0x689a, 0xce87, 0x6873, 0xce67, 0x684c, 0xce47, 0x6825, 0xce28,
+  0x67fe, 0xce08, 0x67d6, 0xcde9, 0x67af, 0xcdca, 0x6788, 0xcdab,
+  0x6760, 0xcd8c, 0x6738, 0xcd6d, 0x6711, 0xcd4e, 0x66e9, 0xcd30,
+  0x66c1, 0xcd11, 0x6699, 0xccf3, 0x6671, 0xccd4, 0x6648, 0xccb6,
+  0x6620, 0xcc98, 0x65f8, 0xcc7a, 0x65cf, 0xcc5d, 0x65a6, 0xcc3f,
+  0x657e, 0xcc21, 0x6555, 0xcc04, 0x652c, 0xcbe7, 0x6503, 0xcbca,
+  0x64da, 0xcbad, 0x64b1, 0xcb90, 0x6488, 0xcb73, 0x645e, 0xcb56,
+  0x6435, 0xcb3a, 0x640b, 0xcb1e, 0x63e2, 0xcb01, 0x63b8, 0xcae5,
+  0x638e, 0xcac9, 0x6365, 0xcaad, 0x633b, 0xca92, 0x6311, 0xca76,
+  0x62e7, 0xca5b, 0x62bc, 0xca3f, 0x6292, 0xca24, 0x6268, 0xca09,
+  0x623d, 0xc9ee, 0x6213, 0xc9d3, 0x61e8, 0xc9b8, 0x61be, 0xc99e,
+  0x6193, 0xc983, 0x6168, 0xc969, 0x613d, 0xc94f, 0x6112, 0xc935,
+  0x60e7, 0xc91b, 0x60bc, 0xc901, 0x6091, 0xc8e8, 0x6065, 0xc8ce,
+  0x603a, 0xc8b5, 0x600f, 0xc89b, 0x5fe3, 0xc882, 0x5fb7, 0xc869,
+  0x5f8c, 0xc850, 0x5f60, 0xc838, 0x5f34, 0xc81f, 0x5f08, 0xc807,
+  0x5edc, 0xc7ee, 0x5eb0, 0xc7d6, 0x5e84, 0xc7be, 0x5e58, 0xc7a6,
+  0x5e2b, 0xc78f, 0x5dff, 0xc777, 0x5dd3, 0xc75f, 0x5da6, 0xc748,
+  0x5d79, 0xc731, 0x5d4d, 0xc71a, 0x5d20, 0xc703, 0x5cf3, 0xc6ec,
+  0x5cc6, 0xc6d5, 0x5c99, 0xc6bf, 0x5c6c, 0xc6a8, 0x5c3f, 0xc692,
+  0x5c12, 0xc67c, 0x5be5, 0xc666, 0x5bb8, 0xc650, 0x5b8a, 0xc63b,
+  0x5b5d, 0xc625, 0x5b30, 0xc610, 0x5b02, 0xc5fa, 0x5ad4, 0xc5e5,
+  0x5aa7, 0xc5d0, 0x5a79, 0xc5bb, 0x5a4b, 0xc5a7, 0x5a1d, 0xc592,
+  0x59ef, 0xc57e, 0x59c1, 0xc569, 0x5993, 0xc555, 0x5965, 0xc541,
+  0x5937, 0xc52d, 0x5909, 0xc51a, 0x58db, 0xc506, 0x58ac, 0xc4f2,
+  0x587e, 0xc4df, 0x584f, 0xc4cc, 0x5821, 0xc4b9, 0x57f2, 0xc4a6,
+  0x57c4, 0xc493, 0x5795, 0xc481, 0x5766, 0xc46e, 0x5737, 0xc45c,
+  0x5709, 0xc44a, 0x56da, 0xc438, 0x56ab, 0xc426, 0x567c, 0xc414,
+  0x564c, 0xc403, 0x561d, 0xc3f1, 0x55ee, 0xc3e0, 0x55bf, 0xc3cf,
+  0x5590, 0xc3be, 0x5560, 0xc3ad, 0x5531, 0xc39c, 0x5501, 0xc38c,
+  0x54d2, 0xc37b, 0x54a2, 0xc36b, 0x5473, 0xc35b, 0x5443, 0xc34b,
+  0x5413, 0xc33b, 0x53e4, 0xc32b, 0x53b4, 0xc31c, 0x5384, 0xc30c,
+  0x5354, 0xc2fd, 0x5324, 0xc2ee, 0x52f4, 0xc2df, 0x52c4, 0xc2d0,
+  0x5294, 0xc2c1, 0x5264, 0xc2b3, 0x5234, 0xc2a5, 0x5204, 0xc296,
+  0x51d3, 0xc288, 0x51a3, 0xc27a, 0x5173, 0xc26d, 0x5142, 0xc25f,
+  0x5112, 0xc251, 0x50e1, 0xc244, 0x50b1, 0xc237, 0x5080, 0xc22a,
+  0x5050, 0xc21d, 0x501f, 0xc210, 0x4fee, 0xc204, 0x4fbe, 0xc1f7,
+  0x4f8d, 0xc1eb, 0x4f5c, 0xc1df, 0x4f2b, 0xc1d3, 0x4efb, 0xc1c7,
+  0x4eca, 0xc1bb, 0x4e99, 0xc1b0, 0x4e68, 0xc1a4, 0x4e37, 0xc199,
+  0x4e06, 0xc18e, 0x4dd5, 0xc183, 0x4da4, 0xc178, 0x4d72, 0xc16e,
+  0x4d41, 0xc163, 0x4d10, 0xc159, 0x4cdf, 0xc14f, 0x4cae, 0xc145,
+  0x4c7c, 0xc13b, 0x4c4b, 0xc131, 0x4c1a, 0xc128, 0x4be8, 0xc11e,
+  0x4bb7, 0xc115, 0x4b85, 0xc10c, 0x4b54, 0xc103, 0x4b23, 0xc0fa,
+  0x4af1, 0xc0f1, 0x4ac0, 0xc0e9, 0x4a8e, 0xc0e0, 0x4a5c, 0xc0d8,
+  0x4a2b, 0xc0d0, 0x49f9, 0xc0c8, 0x49c7, 0xc0c0, 0x4996, 0xc0b9,
+  0x4964, 0xc0b1, 0x4932, 0xc0aa, 0x4901, 0xc0a3, 0x48cf, 0xc09c,
+  0x489d, 0xc095, 0x486b, 0xc08e, 0x4839, 0xc088, 0x4807, 0xc081,
+  0x47d6, 0xc07b, 0x47a4, 0xc075, 0x4772, 0xc06f, 0x4740, 0xc069,
+  0x470e, 0xc064, 0x46dc, 0xc05e, 0x46aa, 0xc059, 0x4678, 0xc054,
+  0x4646, 0xc04f, 0x4614, 0xc04a, 0x45e2, 0xc045, 0x45b0, 0xc041,
+  0x457e, 0xc03c, 0x454c, 0xc038, 0x451a, 0xc034, 0x44e7, 0xc030,
+  0x44b5, 0xc02c, 0x4483, 0xc029, 0x4451, 0xc025, 0x441f, 0xc022,
+  0x43ed, 0xc01f, 0x43bb, 0xc01c, 0x4388, 0xc019, 0x4356, 0xc016,
+  0x4324, 0xc014, 0x42f2, 0xc011, 0x42c0, 0xc00f, 0x428d, 0xc00d,
+  0x425b, 0xc00b, 0x4229, 0xc009, 0x41f7, 0xc008, 0x41c4, 0xc006,
+  0x4192, 0xc005, 0x4160, 0xc004, 0x412e, 0xc003, 0x40fb, 0xc002,
+  0x40c9, 0xc001, 0x4097, 0xc001, 0x4065, 0xc000, 0x4032, 0xc000
+};
+
+/**   
+* @brief  Initialization function for the Q15 RFFT/RIFFT.  
+* @param[in, out] *S             points to an instance of the Q15 RFFT/RIFFT structure.  
+* @param[in]      *S_CFFT        points to an instance of the Q15 CFFT/CIFFT structure.  
+* @param[in]      fftLenReal     length of the FFT.  
+* @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.  
+* @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.  
+*   
+* \par Description:  
+* \par  
+* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.   
+* \par   
+* The parameter ifftFlagR controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.   
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.  
+* \par   
+* This function also initializes Twiddle factor table.    
+*/
+
+arm_status arm_rfft_init_q15(
+  arm_rfft_instance_q15 * S,
+  arm_cfft_radix4_instance_q15 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag)
+{
+
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialize the Real FFT length */
+  S->fftLenReal = (uint16_t) fftLenReal;
+
+  /*  Initialize the Complex FFT length */
+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
+
+  /*  Initialize the Twiddle coefficientA pointer */
+  S->pTwiddleAReal = (q15_t *) realCoefAQ15;
+
+  /*  Initialize the Twiddle coefficientB pointer */
+  S->pTwiddleBReal = (q15_t *) realCoefBQ15;
+
+  /*  Initialize the Flag for selection of RFFT or RIFFT */
+  S->ifftFlagR = (uint8_t) ifftFlagR;
+
+  /*  Initialize the Flag for calculation Bit reversal or not */
+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
+
+  /*  Initialization of coef modifier depending on the FFT length */
+  switch (S->fftLenReal)
+  {
+  case 2048u:
+    S->twidCoefRModifier = 1u;
+    break;
+  case 512u:
+    S->twidCoefRModifier = 4u;
+    break;
+  case 128u:
+    S->twidCoefRModifier = 16u;
+    break;
+  default:
+    /*  Reporting argument error if rfftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  /* Init Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  if(S->ifftFlagR)
+  {
+    /* Initializes the CIFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_q15(S->pCfft, S->fftLenBy2, 1u, 1u);
+  }
+  else
+  {
+    /* Initializes the CFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_q15(S->pCfft, S->fftLenBy2, 0u, 1u);
+  }
+
+  /* return the status of RFFT Init function */
+  return (status);
+
+}
+
+  /**   
+   * @} end of RFFT_RIFFT group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
new file mode 100644
index 000000000..94d0c1d59
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_init_q31.c
@@ -0,0 +1,681 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_rfft_init_q31.c   
+*   
+* Description:	RFFT & RIFFT Q31 initialisation function   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/**   
+ * @ingroup groupTransforms   
+ */
+
+/**   
+ * @addtogroup RFFT_RIFFT   
+ * @{   
+ */
+
+/**   
+* \par   
+* Generation floating point realCoefAQ31 array:   
+* \par   
+* n = 1024   
+* 
    for (i = 0; i < n; i++)   
+* {   
+*    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));   
+*    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+* }
       
+* \par   
+* Convert to fixed point Q31 format   
+*     round(pATable[i] * pow(2, 31))   
+*/
+
+
+const q31_t realCoefAQ31[1024] = {
+  0x40000000, 0xc0000000, 0x3f9b783c, 0xc0004ef5,
+  0x3f36f170, 0xc0013bd3, 0x3ed26c94, 0xc002c697,
+  0x3e6deaa1, 0xc004ef3f, 0x3e096c8d, 0xc007b5c4,
+  0x3da4f351, 0xc00b1a20, 0x3d407fe6, 0xc00f1c4a,
+  0x3cdc1342, 0xc013bc39, 0x3c77ae5e, 0xc018f9e1,
+  0x3c135231, 0xc01ed535, 0x3baeffb3, 0xc0254e27,
+  0x3b4ab7db, 0xc02c64a6, 0x3ae67ba2, 0xc03418a2,
+  0x3a824bfd, 0xc03c6a07, 0x3a1e29e5, 0xc04558c0,
+  0x39ba1651, 0xc04ee4b8, 0x39561237, 0xc0590dd8,
+  0x38f21e8e, 0xc063d405, 0x388e3c4d, 0xc06f3726,
+  0x382a6c6a, 0xc07b371e, 0x37c6afdc, 0xc087d3d0,
+  0x37630799, 0xc0950d1d, 0x36ff7496, 0xc0a2e2e3,
+  0x369bf7c9, 0xc0b15502, 0x36389228, 0xc0c06355,
+  0x35d544a7, 0xc0d00db6, 0x3572103d, 0xc0e05401,
+  0x350ef5de, 0xc0f1360b, 0x34abf67e, 0xc102b3ac,
+  0x34491311, 0xc114ccb9, 0x33e64c8c, 0xc1278104,
+  0x3383a3e2, 0xc13ad060, 0x33211a07, 0xc14eba9d,
+  0x32beafed, 0xc1633f8a, 0x325c6688, 0xc1785ef4,
+  0x31fa3ecb, 0xc18e18a7, 0x319839a6, 0xc1a46c6e,
+  0x3136580d, 0xc1bb5a11, 0x30d49af1, 0xc1d2e158,
+  0x30730342, 0xc1eb0209, 0x301191f3, 0xc203bbe8,
+  0x2fb047f2, 0xc21d0eb8, 0x2f4f2630, 0xc236fa3b,
+  0x2eee2d9d, 0xc2517e31, 0x2e8d5f29, 0xc26c9a58,
+  0x2e2cbbc1, 0xc2884e6e, 0x2dcc4454, 0xc2a49a2e,
+  0x2d6bf9d1, 0xc2c17d52, 0x2d0bdd25, 0xc2def794,
+  0x2cabef3d, 0xc2fd08a9, 0x2c4c3106, 0xc31bb049,
+  0x2beca36c, 0xc33aee27, 0x2b8d475b, 0xc35ac1f7,
+  0x2b2e1dbe, 0xc37b2b6a, 0x2acf277f, 0xc39c2a2f,
+  0x2a70658a, 0xc3bdbdf6, 0x2a11d8c8, 0xc3dfe66c,
+  0x29b38223, 0xc402a33c, 0x29556282, 0xc425f410,
+  0x28f77acf, 0xc449d892, 0x2899cbf1, 0xc46e5069,
+  0x283c56cf, 0xc4935b3c, 0x27df1c50, 0xc4b8f8ad,
+  0x27821d59, 0xc4df2862, 0x27255ad1, 0xc505e9fb,
+  0x26c8d59c, 0xc52d3d18, 0x266c8e9f, 0xc555215a,
+  0x261086bc, 0xc57d965d, 0x25b4bed8, 0xc5a69bbe,
+  0x255937d5, 0xc5d03118, 0x24fdf294, 0xc5fa5603,
+  0x24a2eff6, 0xc6250a18, 0x244830dd, 0xc6504ced,
+  0x23edb628, 0xc67c1e18, 0x239380b6, 0xc6a87d2d,
+  0x23399167, 0xc6d569be, 0x22dfe917, 0xc702e35c,
+  0x228688a4, 0xc730e997, 0x222d70eb, 0xc75f7bfe,
+  0x21d4a2c8, 0xc78e9a1d, 0x217c1f15, 0xc7be4381,
+  0x2123e6ad, 0xc7ee77b3, 0x20cbfa6a, 0xc81f363d,
+  0x20745b24, 0xc8507ea7, 0x201d09b4, 0xc8825077,
+  0x1fc606f1, 0xc8b4ab32, 0x1f6f53b3, 0xc8e78e5b,
+  0x1f18f0ce, 0xc91af976, 0x1ec2df18, 0xc94eec03,
+  0x1e6d1f65, 0xc9836582, 0x1e17b28a, 0xc9b86572,
+  0x1dc29958, 0xc9edeb50, 0x1d6dd4a2, 0xca23f698,
+  0x1d196538, 0xca5a86c4, 0x1cc54bec, 0xca919b4e,
+  0x1c71898d, 0xcac933ae, 0x1c1e1ee9, 0xcb014f5b,
+  0x1bcb0cce, 0xcb39edca, 0x1b785409, 0xcb730e70,
+  0x1b25f566, 0xcbacb0bf, 0x1ad3f1b1, 0xcbe6d42b,
+  0x1a8249b4, 0xcc217822, 0x1a30fe38, 0xcc5c9c14,
+  0x19e01006, 0xcc983f70, 0x198f7fe6, 0xccd461a2,
+  0x193f4e9e, 0xcd110216, 0x18ef7cf4, 0xcd4e2037,
+  0x18a00bae, 0xcd8bbb6d, 0x1850fb8e, 0xcdc9d320,
+  0x18024d59, 0xce0866b8, 0x17b401d1, 0xce47759a,
+  0x176619b6, 0xce86ff2a, 0x171895c9, 0xcec702cb,
+  0x16cb76c9, 0xcf077fe1, 0x167ebd74, 0xcf4875ca,
+  0x16326a88, 0xcf89e3e8, 0x15e67ec1, 0xcfcbc999,
+  0x159afadb, 0xd00e2639, 0x154fdf8f, 0xd050f926,
+  0x15052d97, 0xd09441bb, 0x14bae5ab, 0xd0d7ff51,
+  0x14710883, 0xd11c3142, 0x142796d5, 0xd160d6e5,
+  0x13de9156, 0xd1a5ef90, 0x1395f8ba, 0xd1eb7a9a,
+  0x134dcdb4, 0xd2317756, 0x130610f7, 0xd277e518,
+  0x12bec333, 0xd2bec333, 0x1277e518, 0xd30610f7,
+  0x12317756, 0xd34dcdb4, 0x11eb7a9a, 0xd395f8ba,
+  0x11a5ef90, 0xd3de9156, 0x1160d6e5, 0xd42796d5,
+  0x111c3142, 0xd4710883, 0x10d7ff51, 0xd4bae5ab,
+  0x109441bb, 0xd5052d97, 0x1050f926, 0xd54fdf8f,
+  0x100e2639, 0xd59afadb, 0xfcbc999, 0xd5e67ec1,
+  0xf89e3e8, 0xd6326a88, 0xf4875ca, 0xd67ebd74,
+  0xf077fe1, 0xd6cb76c9, 0xec702cb, 0xd71895c9,
+  0xe86ff2a, 0xd76619b6, 0xe47759a, 0xd7b401d1,
+  0xe0866b8, 0xd8024d59, 0xdc9d320, 0xd850fb8e,
+  0xd8bbb6d, 0xd8a00bae, 0xd4e2037, 0xd8ef7cf4,
+  0xd110216, 0xd93f4e9e, 0xcd461a2, 0xd98f7fe6,
+  0xc983f70, 0xd9e01006, 0xc5c9c14, 0xda30fe38,
+  0xc217822, 0xda8249b4, 0xbe6d42b, 0xdad3f1b1,
+  0xbacb0bf, 0xdb25f566, 0xb730e70, 0xdb785409,
+  0xb39edca, 0xdbcb0cce, 0xb014f5b, 0xdc1e1ee9,
+  0xac933ae, 0xdc71898d, 0xa919b4e, 0xdcc54bec,
+  0xa5a86c4, 0xdd196538, 0xa23f698, 0xdd6dd4a2,
+  0x9edeb50, 0xddc29958, 0x9b86572, 0xde17b28a,
+  0x9836582, 0xde6d1f65, 0x94eec03, 0xdec2df18,
+  0x91af976, 0xdf18f0ce, 0x8e78e5b, 0xdf6f53b3,
+  0x8b4ab32, 0xdfc606f1, 0x8825077, 0xe01d09b4,
+  0x8507ea7, 0xe0745b24, 0x81f363d, 0xe0cbfa6a,
+  0x7ee77b3, 0xe123e6ad, 0x7be4381, 0xe17c1f15,
+  0x78e9a1d, 0xe1d4a2c8, 0x75f7bfe, 0xe22d70eb,
+  0x730e997, 0xe28688a4, 0x702e35c, 0xe2dfe917,
+  0x6d569be, 0xe3399167, 0x6a87d2d, 0xe39380b6,
+  0x67c1e18, 0xe3edb628, 0x6504ced, 0xe44830dd,
+  0x6250a18, 0xe4a2eff6, 0x5fa5603, 0xe4fdf294,
+  0x5d03118, 0xe55937d5, 0x5a69bbe, 0xe5b4bed8,
+  0x57d965d, 0xe61086bc, 0x555215a, 0xe66c8e9f,
+  0x52d3d18, 0xe6c8d59c, 0x505e9fb, 0xe7255ad1,
+  0x4df2862, 0xe7821d59, 0x4b8f8ad, 0xe7df1c50,
+  0x4935b3c, 0xe83c56cf, 0x46e5069, 0xe899cbf1,
+  0x449d892, 0xe8f77acf, 0x425f410, 0xe9556282,
+  0x402a33c, 0xe9b38223, 0x3dfe66c, 0xea11d8c8,
+  0x3bdbdf6, 0xea70658a, 0x39c2a2f, 0xeacf277f,
+  0x37b2b6a, 0xeb2e1dbe, 0x35ac1f7, 0xeb8d475b,
+  0x33aee27, 0xebeca36c, 0x31bb049, 0xec4c3106,
+  0x2fd08a9, 0xecabef3d, 0x2def794, 0xed0bdd25,
+  0x2c17d52, 0xed6bf9d1, 0x2a49a2e, 0xedcc4454,
+  0x2884e6e, 0xee2cbbc1, 0x26c9a58, 0xee8d5f29,
+  0x2517e31, 0xeeee2d9d, 0x236fa3b, 0xef4f2630,
+  0x21d0eb8, 0xefb047f2, 0x203bbe8, 0xf01191f3,
+  0x1eb0209, 0xf0730342, 0x1d2e158, 0xf0d49af1,
+  0x1bb5a11, 0xf136580d, 0x1a46c6e, 0xf19839a6,
+  0x18e18a7, 0xf1fa3ecb, 0x1785ef4, 0xf25c6688,
+  0x1633f8a, 0xf2beafed, 0x14eba9d, 0xf3211a07,
+  0x13ad060, 0xf383a3e2, 0x1278104, 0xf3e64c8c,
+  0x114ccb9, 0xf4491311, 0x102b3ac, 0xf4abf67e,
+  0xf1360b, 0xf50ef5de, 0xe05401, 0xf572103d,
+  0xd00db6, 0xf5d544a7, 0xc06355, 0xf6389228,
+  0xb15502, 0xf69bf7c9, 0xa2e2e3, 0xf6ff7496,
+  0x950d1d, 0xf7630799, 0x87d3d0, 0xf7c6afdc,
+  0x7b371e, 0xf82a6c6a, 0x6f3726, 0xf88e3c4d,
+  0x63d405, 0xf8f21e8e, 0x590dd8, 0xf9561237,
+  0x4ee4b8, 0xf9ba1651, 0x4558c0, 0xfa1e29e5,
+  0x3c6a07, 0xfa824bfd, 0x3418a2, 0xfae67ba2,
+  0x2c64a6, 0xfb4ab7db, 0x254e27, 0xfbaeffb3,
+  0x1ed535, 0xfc135231, 0x18f9e1, 0xfc77ae5e,
+  0x13bc39, 0xfcdc1342, 0xf1c4a, 0xfd407fe6,
+  0xb1a20, 0xfda4f351, 0x7b5c4, 0xfe096c8d,
+  0x4ef3f, 0xfe6deaa1, 0x2c697, 0xfed26c94,
+  0x13bd3, 0xff36f170, 0x4ef5, 0xff9b783c,
+  0x0, 0x0, 0x4ef5, 0x6487c4,
+  0x13bd3, 0xc90e90, 0x2c697, 0x12d936c,
+  0x4ef3f, 0x192155f, 0x7b5c4, 0x1f69373,
+  0xb1a20, 0x25b0caf, 0xf1c4a, 0x2bf801a,
+  0x13bc39, 0x323ecbe, 0x18f9e1, 0x38851a2,
+  0x1ed535, 0x3ecadcf, 0x254e27, 0x451004d,
+  0x2c64a6, 0x4b54825, 0x3418a2, 0x519845e,
+  0x3c6a07, 0x57db403, 0x4558c0, 0x5e1d61b,
+  0x4ee4b8, 0x645e9af, 0x590dd8, 0x6a9edc9,
+  0x63d405, 0x70de172, 0x6f3726, 0x771c3b3,
+  0x7b371e, 0x7d59396, 0x87d3d0, 0x8395024,
+  0x950d1d, 0x89cf867, 0xa2e2e3, 0x9008b6a,
+  0xb15502, 0x9640837, 0xc06355, 0x9c76dd8,
+  0xd00db6, 0xa2abb59, 0xe05401, 0xa8defc3,
+  0xf1360b, 0xaf10a22, 0x102b3ac, 0xb540982,
+  0x114ccb9, 0xbb6ecef, 0x1278104, 0xc19b374,
+  0x13ad060, 0xc7c5c1e, 0x14eba9d, 0xcdee5f9,
+  0x1633f8a, 0xd415013, 0x1785ef4, 0xda39978,
+  0x18e18a7, 0xe05c135, 0x1a46c6e, 0xe67c65a,
+  0x1bb5a11, 0xec9a7f3, 0x1d2e158, 0xf2b650f,
+  0x1eb0209, 0xf8cfcbe, 0x203bbe8, 0xfee6e0d,
+  0x21d0eb8, 0x104fb80e, 0x236fa3b, 0x10b0d9d0,
+  0x2517e31, 0x1111d263, 0x26c9a58, 0x1172a0d7,
+  0x2884e6e, 0x11d3443f, 0x2a49a2e, 0x1233bbac,
+  0x2c17d52, 0x1294062f, 0x2def794, 0x12f422db,
+  0x2fd08a9, 0x135410c3, 0x31bb049, 0x13b3cefa,
+  0x33aee27, 0x14135c94, 0x35ac1f7, 0x1472b8a5,
+  0x37b2b6a, 0x14d1e242, 0x39c2a2f, 0x1530d881,
+  0x3bdbdf6, 0x158f9a76, 0x3dfe66c, 0x15ee2738,
+  0x402a33c, 0x164c7ddd, 0x425f410, 0x16aa9d7e,
+  0x449d892, 0x17088531, 0x46e5069, 0x1766340f,
+  0x4935b3c, 0x17c3a931, 0x4b8f8ad, 0x1820e3b0,
+  0x4df2862, 0x187de2a7, 0x505e9fb, 0x18daa52f,
+  0x52d3d18, 0x19372a64, 0x555215a, 0x19937161,
+  0x57d965d, 0x19ef7944, 0x5a69bbe, 0x1a4b4128,
+  0x5d03118, 0x1aa6c82b, 0x5fa5603, 0x1b020d6c,
+  0x6250a18, 0x1b5d100a, 0x6504ced, 0x1bb7cf23,
+  0x67c1e18, 0x1c1249d8, 0x6a87d2d, 0x1c6c7f4a,
+  0x6d569be, 0x1cc66e99, 0x702e35c, 0x1d2016e9,
+  0x730e997, 0x1d79775c, 0x75f7bfe, 0x1dd28f15,
+  0x78e9a1d, 0x1e2b5d38, 0x7be4381, 0x1e83e0eb,
+  0x7ee77b3, 0x1edc1953, 0x81f363d, 0x1f340596,
+  0x8507ea7, 0x1f8ba4dc, 0x8825077, 0x1fe2f64c,
+  0x8b4ab32, 0x2039f90f, 0x8e78e5b, 0x2090ac4d,
+  0x91af976, 0x20e70f32, 0x94eec03, 0x213d20e8,
+  0x9836582, 0x2192e09b, 0x9b86572, 0x21e84d76,
+  0x9edeb50, 0x223d66a8, 0xa23f698, 0x22922b5e,
+  0xa5a86c4, 0x22e69ac8, 0xa919b4e, 0x233ab414,
+  0xac933ae, 0x238e7673, 0xb014f5b, 0x23e1e117,
+  0xb39edca, 0x2434f332, 0xb730e70, 0x2487abf7,
+  0xbacb0bf, 0x24da0a9a, 0xbe6d42b, 0x252c0e4f,
+  0xc217822, 0x257db64c, 0xc5c9c14, 0x25cf01c8,
+  0xc983f70, 0x261feffa, 0xcd461a2, 0x2670801a,
+  0xd110216, 0x26c0b162, 0xd4e2037, 0x2710830c,
+  0xd8bbb6d, 0x275ff452, 0xdc9d320, 0x27af0472,
+  0xe0866b8, 0x27fdb2a7, 0xe47759a, 0x284bfe2f,
+  0xe86ff2a, 0x2899e64a, 0xec702cb, 0x28e76a37,
+  0xf077fe1, 0x29348937, 0xf4875ca, 0x2981428c,
+  0xf89e3e8, 0x29cd9578, 0xfcbc999, 0x2a19813f,
+  0x100e2639, 0x2a650525, 0x1050f926, 0x2ab02071,
+  0x109441bb, 0x2afad269, 0x10d7ff51, 0x2b451a55,
+  0x111c3142, 0x2b8ef77d, 0x1160d6e5, 0x2bd8692b,
+  0x11a5ef90, 0x2c216eaa, 0x11eb7a9a, 0x2c6a0746,
+  0x12317756, 0x2cb2324c, 0x1277e518, 0x2cf9ef09,
+  0x12bec333, 0x2d413ccd, 0x130610f7, 0x2d881ae8,
+  0x134dcdb4, 0x2dce88aa, 0x1395f8ba, 0x2e148566,
+  0x13de9156, 0x2e5a1070, 0x142796d5, 0x2e9f291b,
+  0x14710883, 0x2ee3cebe, 0x14bae5ab, 0x2f2800af,
+  0x15052d97, 0x2f6bbe45, 0x154fdf8f, 0x2faf06da,
+  0x159afadb, 0x2ff1d9c7, 0x15e67ec1, 0x30343667,
+  0x16326a88, 0x30761c18, 0x167ebd74, 0x30b78a36,
+  0x16cb76c9, 0x30f8801f, 0x171895c9, 0x3138fd35,
+  0x176619b6, 0x317900d6, 0x17b401d1, 0x31b88a66,
+  0x18024d59, 0x31f79948, 0x1850fb8e, 0x32362ce0,
+  0x18a00bae, 0x32744493, 0x18ef7cf4, 0x32b1dfc9,
+  0x193f4e9e, 0x32eefdea, 0x198f7fe6, 0x332b9e5e,
+  0x19e01006, 0x3367c090, 0x1a30fe38, 0x33a363ec,
+  0x1a8249b4, 0x33de87de, 0x1ad3f1b1, 0x34192bd5,
+  0x1b25f566, 0x34534f41, 0x1b785409, 0x348cf190,
+  0x1bcb0cce, 0x34c61236, 0x1c1e1ee9, 0x34feb0a5,
+  0x1c71898d, 0x3536cc52, 0x1cc54bec, 0x356e64b2,
+  0x1d196538, 0x35a5793c, 0x1d6dd4a2, 0x35dc0968,
+  0x1dc29958, 0x361214b0, 0x1e17b28a, 0x36479a8e,
+  0x1e6d1f65, 0x367c9a7e, 0x1ec2df18, 0x36b113fd,
+  0x1f18f0ce, 0x36e5068a, 0x1f6f53b3, 0x371871a5,
+  0x1fc606f1, 0x374b54ce, 0x201d09b4, 0x377daf89,
+  0x20745b24, 0x37af8159, 0x20cbfa6a, 0x37e0c9c3,
+  0x2123e6ad, 0x3811884d, 0x217c1f15, 0x3841bc7f,
+  0x21d4a2c8, 0x387165e3, 0x222d70eb, 0x38a08402,
+  0x228688a4, 0x38cf1669, 0x22dfe917, 0x38fd1ca4,
+  0x23399167, 0x392a9642, 0x239380b6, 0x395782d3,
+  0x23edb628, 0x3983e1e8, 0x244830dd, 0x39afb313,
+  0x24a2eff6, 0x39daf5e8, 0x24fdf294, 0x3a05a9fd,
+  0x255937d5, 0x3a2fcee8, 0x25b4bed8, 0x3a596442,
+  0x261086bc, 0x3a8269a3, 0x266c8e9f, 0x3aaadea6,
+  0x26c8d59c, 0x3ad2c2e8, 0x27255ad1, 0x3afa1605,
+  0x27821d59, 0x3b20d79e, 0x27df1c50, 0x3b470753,
+  0x283c56cf, 0x3b6ca4c4, 0x2899cbf1, 0x3b91af97,
+  0x28f77acf, 0x3bb6276e, 0x29556282, 0x3bda0bf0,
+  0x29b38223, 0x3bfd5cc4, 0x2a11d8c8, 0x3c201994,
+  0x2a70658a, 0x3c42420a, 0x2acf277f, 0x3c63d5d1,
+  0x2b2e1dbe, 0x3c84d496, 0x2b8d475b, 0x3ca53e09,
+  0x2beca36c, 0x3cc511d9, 0x2c4c3106, 0x3ce44fb7,
+  0x2cabef3d, 0x3d02f757, 0x2d0bdd25, 0x3d21086c,
+  0x2d6bf9d1, 0x3d3e82ae, 0x2dcc4454, 0x3d5b65d2,
+  0x2e2cbbc1, 0x3d77b192, 0x2e8d5f29, 0x3d9365a8,
+  0x2eee2d9d, 0x3dae81cf, 0x2f4f2630, 0x3dc905c5,
+  0x2fb047f2, 0x3de2f148, 0x301191f3, 0x3dfc4418,
+  0x30730342, 0x3e14fdf7, 0x30d49af1, 0x3e2d1ea8,
+  0x3136580d, 0x3e44a5ef, 0x319839a6, 0x3e5b9392,
+  0x31fa3ecb, 0x3e71e759, 0x325c6688, 0x3e87a10c,
+  0x32beafed, 0x3e9cc076, 0x33211a07, 0x3eb14563,
+  0x3383a3e2, 0x3ec52fa0, 0x33e64c8c, 0x3ed87efc,
+  0x34491311, 0x3eeb3347, 0x34abf67e, 0x3efd4c54,
+  0x350ef5de, 0x3f0ec9f5, 0x3572103d, 0x3f1fabff,
+  0x35d544a7, 0x3f2ff24a, 0x36389228, 0x3f3f9cab,
+  0x369bf7c9, 0x3f4eaafe, 0x36ff7496, 0x3f5d1d1d,
+  0x37630799, 0x3f6af2e3, 0x37c6afdc, 0x3f782c30,
+  0x382a6c6a, 0x3f84c8e2, 0x388e3c4d, 0x3f90c8da,
+  0x38f21e8e, 0x3f9c2bfb, 0x39561237, 0x3fa6f228,
+  0x39ba1651, 0x3fb11b48, 0x3a1e29e5, 0x3fbaa740,
+  0x3a824bfd, 0x3fc395f9, 0x3ae67ba2, 0x3fcbe75e,
+  0x3b4ab7db, 0x3fd39b5a, 0x3baeffb3, 0x3fdab1d9,
+  0x3c135231, 0x3fe12acb, 0x3c77ae5e, 0x3fe7061f,
+  0x3cdc1342, 0x3fec43c7, 0x3d407fe6, 0x3ff0e3b6,
+  0x3da4f351, 0x3ff4e5e0, 0x3e096c8d, 0x3ff84a3c,
+  0x3e6deaa1, 0x3ffb10c1, 0x3ed26c94, 0x3ffd3969,
+  0x3f36f170, 0x3ffec42d, 0x3f9b783c, 0x3fffb10b
+};
+
+
+/**   
+* \par  
+* Generation of realCoefBQ31 array:   
+* \par   
+*  n = 512   
+* 
    for (i = 0; i < n; i++)   
+* {   
+*    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));   
+*    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+* } 
       
+* \par   
+* Convert to fixed point Q31 format   
+*     round(pBTable[i] * pow(2, 31))   
+*   
+*/
+
+const q31_t realCoefBQ31[1024] = {
+  0x40000000, 0x40000000, 0x406487c4, 0x3fffb10b,
+  0x40c90e90, 0x3ffec42d, 0x412d936c, 0x3ffd3969,
+  0x4192155f, 0x3ffb10c1, 0x41f69373, 0x3ff84a3c,
+  0x425b0caf, 0x3ff4e5e0, 0x42bf801a, 0x3ff0e3b6,
+  0x4323ecbe, 0x3fec43c7, 0x438851a2, 0x3fe7061f,
+  0x43ecadcf, 0x3fe12acb, 0x4451004d, 0x3fdab1d9,
+  0x44b54825, 0x3fd39b5a, 0x4519845e, 0x3fcbe75e,
+  0x457db403, 0x3fc395f9, 0x45e1d61b, 0x3fbaa740,
+  0x4645e9af, 0x3fb11b48, 0x46a9edc9, 0x3fa6f228,
+  0x470de172, 0x3f9c2bfb, 0x4771c3b3, 0x3f90c8da,
+  0x47d59396, 0x3f84c8e2, 0x48395024, 0x3f782c30,
+  0x489cf867, 0x3f6af2e3, 0x49008b6a, 0x3f5d1d1d,
+  0x49640837, 0x3f4eaafe, 0x49c76dd8, 0x3f3f9cab,
+  0x4a2abb59, 0x3f2ff24a, 0x4a8defc3, 0x3f1fabff,
+  0x4af10a22, 0x3f0ec9f5, 0x4b540982, 0x3efd4c54,
+  0x4bb6ecef, 0x3eeb3347, 0x4c19b374, 0x3ed87efc,
+  0x4c7c5c1e, 0x3ec52fa0, 0x4cdee5f9, 0x3eb14563,
+  0x4d415013, 0x3e9cc076, 0x4da39978, 0x3e87a10c,
+  0x4e05c135, 0x3e71e759, 0x4e67c65a, 0x3e5b9392,
+  0x4ec9a7f3, 0x3e44a5ef, 0x4f2b650f, 0x3e2d1ea8,
+  0x4f8cfcbe, 0x3e14fdf7, 0x4fee6e0d, 0x3dfc4418,
+  0x504fb80e, 0x3de2f148, 0x50b0d9d0, 0x3dc905c5,
+  0x5111d263, 0x3dae81cf, 0x5172a0d7, 0x3d9365a8,
+  0x51d3443f, 0x3d77b192, 0x5233bbac, 0x3d5b65d2,
+  0x5294062f, 0x3d3e82ae, 0x52f422db, 0x3d21086c,
+  0x535410c3, 0x3d02f757, 0x53b3cefa, 0x3ce44fb7,
+  0x54135c94, 0x3cc511d9, 0x5472b8a5, 0x3ca53e09,
+  0x54d1e242, 0x3c84d496, 0x5530d881, 0x3c63d5d1,
+  0x558f9a76, 0x3c42420a, 0x55ee2738, 0x3c201994,
+  0x564c7ddd, 0x3bfd5cc4, 0x56aa9d7e, 0x3bda0bf0,
+  0x57088531, 0x3bb6276e, 0x5766340f, 0x3b91af97,
+  0x57c3a931, 0x3b6ca4c4, 0x5820e3b0, 0x3b470753,
+  0x587de2a7, 0x3b20d79e, 0x58daa52f, 0x3afa1605,
+  0x59372a64, 0x3ad2c2e8, 0x59937161, 0x3aaadea6,
+  0x59ef7944, 0x3a8269a3, 0x5a4b4128, 0x3a596442,
+  0x5aa6c82b, 0x3a2fcee8, 0x5b020d6c, 0x3a05a9fd,
+  0x5b5d100a, 0x39daf5e8, 0x5bb7cf23, 0x39afb313,
+  0x5c1249d8, 0x3983e1e8, 0x5c6c7f4a, 0x395782d3,
+  0x5cc66e99, 0x392a9642, 0x5d2016e9, 0x38fd1ca4,
+  0x5d79775c, 0x38cf1669, 0x5dd28f15, 0x38a08402,
+  0x5e2b5d38, 0x387165e3, 0x5e83e0eb, 0x3841bc7f,
+  0x5edc1953, 0x3811884d, 0x5f340596, 0x37e0c9c3,
+  0x5f8ba4dc, 0x37af8159, 0x5fe2f64c, 0x377daf89,
+  0x6039f90f, 0x374b54ce, 0x6090ac4d, 0x371871a5,
+  0x60e70f32, 0x36e5068a, 0x613d20e8, 0x36b113fd,
+  0x6192e09b, 0x367c9a7e, 0x61e84d76, 0x36479a8e,
+  0x623d66a8, 0x361214b0, 0x62922b5e, 0x35dc0968,
+  0x62e69ac8, 0x35a5793c, 0x633ab414, 0x356e64b2,
+  0x638e7673, 0x3536cc52, 0x63e1e117, 0x34feb0a5,
+  0x6434f332, 0x34c61236, 0x6487abf7, 0x348cf190,
+  0x64da0a9a, 0x34534f41, 0x652c0e4f, 0x34192bd5,
+  0x657db64c, 0x33de87de, 0x65cf01c8, 0x33a363ec,
+  0x661feffa, 0x3367c090, 0x6670801a, 0x332b9e5e,
+  0x66c0b162, 0x32eefdea, 0x6710830c, 0x32b1dfc9,
+  0x675ff452, 0x32744493, 0x67af0472, 0x32362ce0,
+  0x67fdb2a7, 0x31f79948, 0x684bfe2f, 0x31b88a66,
+  0x6899e64a, 0x317900d6, 0x68e76a37, 0x3138fd35,
+  0x69348937, 0x30f8801f, 0x6981428c, 0x30b78a36,
+  0x69cd9578, 0x30761c18, 0x6a19813f, 0x30343667,
+  0x6a650525, 0x2ff1d9c7, 0x6ab02071, 0x2faf06da,
+  0x6afad269, 0x2f6bbe45, 0x6b451a55, 0x2f2800af,
+  0x6b8ef77d, 0x2ee3cebe, 0x6bd8692b, 0x2e9f291b,
+  0x6c216eaa, 0x2e5a1070, 0x6c6a0746, 0x2e148566,
+  0x6cb2324c, 0x2dce88aa, 0x6cf9ef09, 0x2d881ae8,
+  0x6d413ccd, 0x2d413ccd, 0x6d881ae8, 0x2cf9ef09,
+  0x6dce88aa, 0x2cb2324c, 0x6e148566, 0x2c6a0746,
+  0x6e5a1070, 0x2c216eaa, 0x6e9f291b, 0x2bd8692b,
+  0x6ee3cebe, 0x2b8ef77d, 0x6f2800af, 0x2b451a55,
+  0x6f6bbe45, 0x2afad269, 0x6faf06da, 0x2ab02071,
+  0x6ff1d9c7, 0x2a650525, 0x70343667, 0x2a19813f,
+  0x70761c18, 0x29cd9578, 0x70b78a36, 0x2981428c,
+  0x70f8801f, 0x29348937, 0x7138fd35, 0x28e76a37,
+  0x717900d6, 0x2899e64a, 0x71b88a66, 0x284bfe2f,
+  0x71f79948, 0x27fdb2a7, 0x72362ce0, 0x27af0472,
+  0x72744493, 0x275ff452, 0x72b1dfc9, 0x2710830c,
+  0x72eefdea, 0x26c0b162, 0x732b9e5e, 0x2670801a,
+  0x7367c090, 0x261feffa, 0x73a363ec, 0x25cf01c8,
+  0x73de87de, 0x257db64c, 0x74192bd5, 0x252c0e4f,
+  0x74534f41, 0x24da0a9a, 0x748cf190, 0x2487abf7,
+  0x74c61236, 0x2434f332, 0x74feb0a5, 0x23e1e117,
+  0x7536cc52, 0x238e7673, 0x756e64b2, 0x233ab414,
+  0x75a5793c, 0x22e69ac8, 0x75dc0968, 0x22922b5e,
+  0x761214b0, 0x223d66a8, 0x76479a8e, 0x21e84d76,
+  0x767c9a7e, 0x2192e09b, 0x76b113fd, 0x213d20e8,
+  0x76e5068a, 0x20e70f32, 0x771871a5, 0x2090ac4d,
+  0x774b54ce, 0x2039f90f, 0x777daf89, 0x1fe2f64c,
+  0x77af8159, 0x1f8ba4dc, 0x77e0c9c3, 0x1f340596,
+  0x7811884d, 0x1edc1953, 0x7841bc7f, 0x1e83e0eb,
+  0x787165e3, 0x1e2b5d38, 0x78a08402, 0x1dd28f15,
+  0x78cf1669, 0x1d79775c, 0x78fd1ca4, 0x1d2016e9,
+  0x792a9642, 0x1cc66e99, 0x795782d3, 0x1c6c7f4a,
+  0x7983e1e8, 0x1c1249d8, 0x79afb313, 0x1bb7cf23,
+  0x79daf5e8, 0x1b5d100a, 0x7a05a9fd, 0x1b020d6c,
+  0x7a2fcee8, 0x1aa6c82b, 0x7a596442, 0x1a4b4128,
+  0x7a8269a3, 0x19ef7944, 0x7aaadea6, 0x19937161,
+  0x7ad2c2e8, 0x19372a64, 0x7afa1605, 0x18daa52f,
+  0x7b20d79e, 0x187de2a7, 0x7b470753, 0x1820e3b0,
+  0x7b6ca4c4, 0x17c3a931, 0x7b91af97, 0x1766340f,
+  0x7bb6276e, 0x17088531, 0x7bda0bf0, 0x16aa9d7e,
+  0x7bfd5cc4, 0x164c7ddd, 0x7c201994, 0x15ee2738,
+  0x7c42420a, 0x158f9a76, 0x7c63d5d1, 0x1530d881,
+  0x7c84d496, 0x14d1e242, 0x7ca53e09, 0x1472b8a5,
+  0x7cc511d9, 0x14135c94, 0x7ce44fb7, 0x13b3cefa,
+  0x7d02f757, 0x135410c3, 0x7d21086c, 0x12f422db,
+  0x7d3e82ae, 0x1294062f, 0x7d5b65d2, 0x1233bbac,
+  0x7d77b192, 0x11d3443f, 0x7d9365a8, 0x1172a0d7,
+  0x7dae81cf, 0x1111d263, 0x7dc905c5, 0x10b0d9d0,
+  0x7de2f148, 0x104fb80e, 0x7dfc4418, 0xfee6e0d,
+  0x7e14fdf7, 0xf8cfcbe, 0x7e2d1ea8, 0xf2b650f,
+  0x7e44a5ef, 0xec9a7f3, 0x7e5b9392, 0xe67c65a,
+  0x7e71e759, 0xe05c135, 0x7e87a10c, 0xda39978,
+  0x7e9cc076, 0xd415013, 0x7eb14563, 0xcdee5f9,
+  0x7ec52fa0, 0xc7c5c1e, 0x7ed87efc, 0xc19b374,
+  0x7eeb3347, 0xbb6ecef, 0x7efd4c54, 0xb540982,
+  0x7f0ec9f5, 0xaf10a22, 0x7f1fabff, 0xa8defc3,
+  0x7f2ff24a, 0xa2abb59, 0x7f3f9cab, 0x9c76dd8,
+  0x7f4eaafe, 0x9640837, 0x7f5d1d1d, 0x9008b6a,
+  0x7f6af2e3, 0x89cf867, 0x7f782c30, 0x8395024,
+  0x7f84c8e2, 0x7d59396, 0x7f90c8da, 0x771c3b3,
+  0x7f9c2bfb, 0x70de172, 0x7fa6f228, 0x6a9edc9,
+  0x7fb11b48, 0x645e9af, 0x7fbaa740, 0x5e1d61b,
+  0x7fc395f9, 0x57db403, 0x7fcbe75e, 0x519845e,
+  0x7fd39b5a, 0x4b54825, 0x7fdab1d9, 0x451004d,
+  0x7fe12acb, 0x3ecadcf, 0x7fe7061f, 0x38851a2,
+  0x7fec43c7, 0x323ecbe, 0x7ff0e3b6, 0x2bf801a,
+  0x7ff4e5e0, 0x25b0caf, 0x7ff84a3c, 0x1f69373,
+  0x7ffb10c1, 0x192155f, 0x7ffd3969, 0x12d936c,
+  0x7ffec42d, 0xc90e90, 0x7fffb10b, 0x6487c4,
+  0x7fffffff, 0x0, 0x7fffb10b, 0xff9b783c,
+  0x7ffec42d, 0xff36f170, 0x7ffd3969, 0xfed26c94,
+  0x7ffb10c1, 0xfe6deaa1, 0x7ff84a3c, 0xfe096c8d,
+  0x7ff4e5e0, 0xfda4f351, 0x7ff0e3b6, 0xfd407fe6,
+  0x7fec43c7, 0xfcdc1342, 0x7fe7061f, 0xfc77ae5e,
+  0x7fe12acb, 0xfc135231, 0x7fdab1d9, 0xfbaeffb3,
+  0x7fd39b5a, 0xfb4ab7db, 0x7fcbe75e, 0xfae67ba2,
+  0x7fc395f9, 0xfa824bfd, 0x7fbaa740, 0xfa1e29e5,
+  0x7fb11b48, 0xf9ba1651, 0x7fa6f228, 0xf9561237,
+  0x7f9c2bfb, 0xf8f21e8e, 0x7f90c8da, 0xf88e3c4d,
+  0x7f84c8e2, 0xf82a6c6a, 0x7f782c30, 0xf7c6afdc,
+  0x7f6af2e3, 0xf7630799, 0x7f5d1d1d, 0xf6ff7496,
+  0x7f4eaafe, 0xf69bf7c9, 0x7f3f9cab, 0xf6389228,
+  0x7f2ff24a, 0xf5d544a7, 0x7f1fabff, 0xf572103d,
+  0x7f0ec9f5, 0xf50ef5de, 0x7efd4c54, 0xf4abf67e,
+  0x7eeb3347, 0xf4491311, 0x7ed87efc, 0xf3e64c8c,
+  0x7ec52fa0, 0xf383a3e2, 0x7eb14563, 0xf3211a07,
+  0x7e9cc076, 0xf2beafed, 0x7e87a10c, 0xf25c6688,
+  0x7e71e759, 0xf1fa3ecb, 0x7e5b9392, 0xf19839a6,
+  0x7e44a5ef, 0xf136580d, 0x7e2d1ea8, 0xf0d49af1,
+  0x7e14fdf7, 0xf0730342, 0x7dfc4418, 0xf01191f3,
+  0x7de2f148, 0xefb047f2, 0x7dc905c5, 0xef4f2630,
+  0x7dae81cf, 0xeeee2d9d, 0x7d9365a8, 0xee8d5f29,
+  0x7d77b192, 0xee2cbbc1, 0x7d5b65d2, 0xedcc4454,
+  0x7d3e82ae, 0xed6bf9d1, 0x7d21086c, 0xed0bdd25,
+  0x7d02f757, 0xecabef3d, 0x7ce44fb7, 0xec4c3106,
+  0x7cc511d9, 0xebeca36c, 0x7ca53e09, 0xeb8d475b,
+  0x7c84d496, 0xeb2e1dbe, 0x7c63d5d1, 0xeacf277f,
+  0x7c42420a, 0xea70658a, 0x7c201994, 0xea11d8c8,
+  0x7bfd5cc4, 0xe9b38223, 0x7bda0bf0, 0xe9556282,
+  0x7bb6276e, 0xe8f77acf, 0x7b91af97, 0xe899cbf1,
+  0x7b6ca4c4, 0xe83c56cf, 0x7b470753, 0xe7df1c50,
+  0x7b20d79e, 0xe7821d59, 0x7afa1605, 0xe7255ad1,
+  0x7ad2c2e8, 0xe6c8d59c, 0x7aaadea6, 0xe66c8e9f,
+  0x7a8269a3, 0xe61086bc, 0x7a596442, 0xe5b4bed8,
+  0x7a2fcee8, 0xe55937d5, 0x7a05a9fd, 0xe4fdf294,
+  0x79daf5e8, 0xe4a2eff6, 0x79afb313, 0xe44830dd,
+  0x7983e1e8, 0xe3edb628, 0x795782d3, 0xe39380b6,
+  0x792a9642, 0xe3399167, 0x78fd1ca4, 0xe2dfe917,
+  0x78cf1669, 0xe28688a4, 0x78a08402, 0xe22d70eb,
+  0x787165e3, 0xe1d4a2c8, 0x7841bc7f, 0xe17c1f15,
+  0x7811884d, 0xe123e6ad, 0x77e0c9c3, 0xe0cbfa6a,
+  0x77af8159, 0xe0745b24, 0x777daf89, 0xe01d09b4,
+  0x774b54ce, 0xdfc606f1, 0x771871a5, 0xdf6f53b3,
+  0x76e5068a, 0xdf18f0ce, 0x76b113fd, 0xdec2df18,
+  0x767c9a7e, 0xde6d1f65, 0x76479a8e, 0xde17b28a,
+  0x761214b0, 0xddc29958, 0x75dc0968, 0xdd6dd4a2,
+  0x75a5793c, 0xdd196538, 0x756e64b2, 0xdcc54bec,
+  0x7536cc52, 0xdc71898d, 0x74feb0a5, 0xdc1e1ee9,
+  0x74c61236, 0xdbcb0cce, 0x748cf190, 0xdb785409,
+  0x74534f41, 0xdb25f566, 0x74192bd5, 0xdad3f1b1,
+  0x73de87de, 0xda8249b4, 0x73a363ec, 0xda30fe38,
+  0x7367c090, 0xd9e01006, 0x732b9e5e, 0xd98f7fe6,
+  0x72eefdea, 0xd93f4e9e, 0x72b1dfc9, 0xd8ef7cf4,
+  0x72744493, 0xd8a00bae, 0x72362ce0, 0xd850fb8e,
+  0x71f79948, 0xd8024d59, 0x71b88a66, 0xd7b401d1,
+  0x717900d6, 0xd76619b6, 0x7138fd35, 0xd71895c9,
+  0x70f8801f, 0xd6cb76c9, 0x70b78a36, 0xd67ebd74,
+  0x70761c18, 0xd6326a88, 0x70343667, 0xd5e67ec1,
+  0x6ff1d9c7, 0xd59afadb, 0x6faf06da, 0xd54fdf8f,
+  0x6f6bbe45, 0xd5052d97, 0x6f2800af, 0xd4bae5ab,
+  0x6ee3cebe, 0xd4710883, 0x6e9f291b, 0xd42796d5,
+  0x6e5a1070, 0xd3de9156, 0x6e148566, 0xd395f8ba,
+  0x6dce88aa, 0xd34dcdb4, 0x6d881ae8, 0xd30610f7,
+  0x6d413ccd, 0xd2bec333, 0x6cf9ef09, 0xd277e518,
+  0x6cb2324c, 0xd2317756, 0x6c6a0746, 0xd1eb7a9a,
+  0x6c216eaa, 0xd1a5ef90, 0x6bd8692b, 0xd160d6e5,
+  0x6b8ef77d, 0xd11c3142, 0x6b451a55, 0xd0d7ff51,
+  0x6afad269, 0xd09441bb, 0x6ab02071, 0xd050f926,
+  0x6a650525, 0xd00e2639, 0x6a19813f, 0xcfcbc999,
+  0x69cd9578, 0xcf89e3e8, 0x6981428c, 0xcf4875ca,
+  0x69348937, 0xcf077fe1, 0x68e76a37, 0xcec702cb,
+  0x6899e64a, 0xce86ff2a, 0x684bfe2f, 0xce47759a,
+  0x67fdb2a7, 0xce0866b8, 0x67af0472, 0xcdc9d320,
+  0x675ff452, 0xcd8bbb6d, 0x6710830c, 0xcd4e2037,
+  0x66c0b162, 0xcd110216, 0x6670801a, 0xccd461a2,
+  0x661feffa, 0xcc983f70, 0x65cf01c8, 0xcc5c9c14,
+  0x657db64c, 0xcc217822, 0x652c0e4f, 0xcbe6d42b,
+  0x64da0a9a, 0xcbacb0bf, 0x6487abf7, 0xcb730e70,
+  0x6434f332, 0xcb39edca, 0x63e1e117, 0xcb014f5b,
+  0x638e7673, 0xcac933ae, 0x633ab414, 0xca919b4e,
+  0x62e69ac8, 0xca5a86c4, 0x62922b5e, 0xca23f698,
+  0x623d66a8, 0xc9edeb50, 0x61e84d76, 0xc9b86572,
+  0x6192e09b, 0xc9836582, 0x613d20e8, 0xc94eec03,
+  0x60e70f32, 0xc91af976, 0x6090ac4d, 0xc8e78e5b,
+  0x6039f90f, 0xc8b4ab32, 0x5fe2f64c, 0xc8825077,
+  0x5f8ba4dc, 0xc8507ea7, 0x5f340596, 0xc81f363d,
+  0x5edc1953, 0xc7ee77b3, 0x5e83e0eb, 0xc7be4381,
+  0x5e2b5d38, 0xc78e9a1d, 0x5dd28f15, 0xc75f7bfe,
+  0x5d79775c, 0xc730e997, 0x5d2016e9, 0xc702e35c,
+  0x5cc66e99, 0xc6d569be, 0x5c6c7f4a, 0xc6a87d2d,
+  0x5c1249d8, 0xc67c1e18, 0x5bb7cf23, 0xc6504ced,
+  0x5b5d100a, 0xc6250a18, 0x5b020d6c, 0xc5fa5603,
+  0x5aa6c82b, 0xc5d03118, 0x5a4b4128, 0xc5a69bbe,
+  0x59ef7944, 0xc57d965d, 0x59937161, 0xc555215a,
+  0x59372a64, 0xc52d3d18, 0x58daa52f, 0xc505e9fb,
+  0x587de2a7, 0xc4df2862, 0x5820e3b0, 0xc4b8f8ad,
+  0x57c3a931, 0xc4935b3c, 0x5766340f, 0xc46e5069,
+  0x57088531, 0xc449d892, 0x56aa9d7e, 0xc425f410,
+  0x564c7ddd, 0xc402a33c, 0x55ee2738, 0xc3dfe66c,
+  0x558f9a76, 0xc3bdbdf6, 0x5530d881, 0xc39c2a2f,
+  0x54d1e242, 0xc37b2b6a, 0x5472b8a5, 0xc35ac1f7,
+  0x54135c94, 0xc33aee27, 0x53b3cefa, 0xc31bb049,
+  0x535410c3, 0xc2fd08a9, 0x52f422db, 0xc2def794,
+  0x5294062f, 0xc2c17d52, 0x5233bbac, 0xc2a49a2e,
+  0x51d3443f, 0xc2884e6e, 0x5172a0d7, 0xc26c9a58,
+  0x5111d263, 0xc2517e31, 0x50b0d9d0, 0xc236fa3b,
+  0x504fb80e, 0xc21d0eb8, 0x4fee6e0d, 0xc203bbe8,
+  0x4f8cfcbe, 0xc1eb0209, 0x4f2b650f, 0xc1d2e158,
+  0x4ec9a7f3, 0xc1bb5a11, 0x4e67c65a, 0xc1a46c6e,
+  0x4e05c135, 0xc18e18a7, 0x4da39978, 0xc1785ef4,
+  0x4d415013, 0xc1633f8a, 0x4cdee5f9, 0xc14eba9d,
+  0x4c7c5c1e, 0xc13ad060, 0x4c19b374, 0xc1278104,
+  0x4bb6ecef, 0xc114ccb9, 0x4b540982, 0xc102b3ac,
+  0x4af10a22, 0xc0f1360b, 0x4a8defc3, 0xc0e05401,
+  0x4a2abb59, 0xc0d00db6, 0x49c76dd8, 0xc0c06355,
+  0x49640837, 0xc0b15502, 0x49008b6a, 0xc0a2e2e3,
+  0x489cf867, 0xc0950d1d, 0x48395024, 0xc087d3d0,
+  0x47d59396, 0xc07b371e, 0x4771c3b3, 0xc06f3726,
+  0x470de172, 0xc063d405, 0x46a9edc9, 0xc0590dd8,
+  0x4645e9af, 0xc04ee4b8, 0x45e1d61b, 0xc04558c0,
+  0x457db403, 0xc03c6a07, 0x4519845e, 0xc03418a2,
+  0x44b54825, 0xc02c64a6, 0x4451004d, 0xc0254e27,
+  0x43ecadcf, 0xc01ed535, 0x438851a2, 0xc018f9e1,
+  0x4323ecbe, 0xc013bc39, 0x42bf801a, 0xc00f1c4a,
+  0x425b0caf, 0xc00b1a20, 0x41f69373, 0xc007b5c4,
+  0x4192155f, 0xc004ef3f, 0x412d936c, 0xc002c697,
+  0x40c90e90, 0xc0013bd3, 0x406487c4, 0xc0004ef5
+};
+
+/**   
+* @brief  Initialization function for the Q31 RFFT/RIFFT.  
+* @param[in, out] *S             points to an instance of the Q31 RFFT/RIFFT structure.  
+* @param[in, out] *S_CFFT        points to an instance of the Q31 CFFT/CIFFT structure.  
+* @param[in]      fftLenReal     length of the FFT.  
+* @param[in]      ifftFlagR      flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform.  
+* @param[in]      bitReverseFlag flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output.  
+* @return		The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.  
+*   
+* \par Description:  
+* \par  
+* The parameter fftLenReal	Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048.   
+* \par   
+* The parameter ifftFlagR controls whether a forward or inverse transform is computed.   
+* Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated.   
+* \par   
+* The parameter bitReverseFlag controls whether output is in normal order or bit reversed order.   
+* Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order.  
+* \par   
+* This function also initializes Twiddle factor table.   
+*/
+
+arm_status arm_rfft_init_q31(
+  arm_rfft_instance_q31 * S,
+  arm_cfft_radix4_instance_q31 * S_CFFT,
+  uint32_t fftLenReal,
+  uint32_t ifftFlagR,
+  uint32_t bitReverseFlag)
+{
+  /*  Initialise the default arm status */
+  arm_status status = ARM_MATH_SUCCESS;
+
+  /*  Initialize the Real FFT length */
+  S->fftLenReal = (uint16_t) fftLenReal;
+
+  /*  Initialize the Complex FFT length */
+  S->fftLenBy2 = (uint16_t) fftLenReal / 2u;
+
+  /*  Initialize the Twiddle coefficientA pointer */
+  S->pTwiddleAReal = (q31_t *) realCoefAQ31;
+
+  /*  Initialize the Twiddle coefficientB pointer */
+  S->pTwiddleBReal = (q31_t *) realCoefBQ31;
+
+  /*  Initialize the Flag for selection of RFFT or RIFFT */
+  S->ifftFlagR = (uint8_t) ifftFlagR;
+
+  /*  Initialize the Flag for calculation Bit reversal or not */
+  S->bitReverseFlagR = (uint8_t) bitReverseFlag;
+
+  /*  Initialization of coef modifier depending on the FFT length */
+  switch (S->fftLenReal)
+  {
+  case 512u:
+    S->twidCoefRModifier = 2u;
+    break;
+  case 128u:
+    S->twidCoefRModifier = 8u;
+    break;
+  default:
+    /*  Reporting argument error if rfftSize is not valid value */
+    status = ARM_MATH_ARGUMENT_ERROR;
+    break;
+  }
+
+  /* Init Complex FFT Instance */
+  S->pCfft = S_CFFT;
+
+  if(S->ifftFlagR)
+  {
+    /* Initializes the CIFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_q31(S->pCfft, (uint16_t) S->fftLenBy2, 1u, 1u);
+  }
+  else
+  {
+    /* Initializes the CFFT Module for fftLenreal/2 length */
+    arm_cfft_radix4_init_q31(S->pCfft, (uint16_t) S->fftLenBy2, 0u, 1u);
+  }
+
+  /* return the status of RFFT Init function */
+  return (status);
+
+}
+
+  /**   
+   * @} end of RFFT_RIFFT group   
+   */
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
new file mode 100644
index 000000000..cf8e09ea5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_q15.c
@@ -0,0 +1,457 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_rfft_q15.c   
+*   
+* Description:	RFFT & RIFFT Q15 process function   
+*   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+
+#include "arm_math.h"
+
+/*--------------------------------------------------------------------   
+*		Internal functions prototypes   
+--------------------------------------------------------------------*/
+
+void arm_split_rfft_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pATable,
+  q15_t * pBTable,
+  q15_t * pDst,
+  uint32_t modifier);
+
+void arm_split_rifft_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pATable,
+  q15_t * pBTable,
+  q15_t * pDst,
+  uint32_t modifier);
+
+/**   
+ * @addtogroup RFFT_RIFFT   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q15 RFFT/RIFFT.  
+ * @param[in]  *S    points to an instance of the Q15 RFFT/RIFFT structure.  
+ * @param[in]  *pSrc points to the input buffer.  
+ * @param[out] *pDst points to the output buffer.  
+ * @return none.  
+ *   
+ * \par Input an output formats:  
+ * \par   
+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.   
+ * Hence the output format is different for different RFFT sizes.   
+ * The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT:  
+ * \par   
+ * \image html RFFTQ15.gif "Input and Output Formats for Q15 RFFT"   
+ * \par   
+ * \image html RIFFTQ15.gif "Input and Output Formats for Q15 RIFFT"   
+ */
+
+void arm_rfft_q15(
+  const arm_rfft_instance_q15 * S,
+  q15_t * pSrc,
+  q15_t * pDst)
+{
+  const arm_cfft_radix4_instance_q15 *S_CFFT = S->pCfft;
+
+  /* Calculation of RIFFT of input */
+  if(S->ifftFlagR == 1u)
+  {
+    /*  Real IFFT core process */
+    arm_split_rifft_q15(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+
+    /* Complex readix-4 IFFT process */
+    arm_radix4_butterfly_inverse_q15(pDst, S_CFFT->fftLen,
+                                     S_CFFT->pTwiddle,
+                                     S_CFFT->twidCoefModifier);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_q15(pDst, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+  }
+  else
+  {
+    /* Calculation of RFFT of input */
+
+    /* Complex readix-4 FFT process */
+    arm_radix4_butterfly_q15(pSrc, S_CFFT->fftLen,
+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_q15(pSrc, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+
+    arm_split_rfft_q15(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+  }
+
+}
+
+  /**   
+   * @} end of RFFT_RIFFT group   
+   */
+
+/**   
+ * @brief  Core Real FFT process   
+ * @param  *pSrc 				points to the input buffer.  
+ * @param  fftLen  				length of FFT.  
+ * @param  *pATable 			points to the A twiddle Coef buffer.   
+ * @param  *pBTable 			points to the B twiddle Coef buffer.  
+ * @param  *pDst 				points to the output buffer.  
+ * @param  modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.   
+ * The function implements a Real FFT   
+ */
+
+void arm_split_rfft_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pATable,
+  q15_t * pBTable,
+  q15_t * pDst,
+  uint32_t modifier)
+{
+  uint32_t i;                                    /* Loop Counter */
+  q31_t outR, outI;                              /* Temporary variables for output */
+  q15_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
+  q15_t *pSrc1, *pSrc2;
+
+
+  pSrc[2u * fftLen] = pSrc[0];
+  pSrc[(2u * fftLen) + 1u] = pSrc[1];
+
+  pCoefA = &pATable[modifier * 2u];
+  pCoefB = &pBTable[modifier * 2u];
+
+  pSrc1 = &pSrc[2];
+  pSrc2 = &pSrc[(2u * fftLen) - 2u];
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  i = 1u;
+
+  while(i < fftLen)
+  {
+    /*   
+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]   
+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +   
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);   
+     */
+
+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1] */
+    outR = __SMUSD(*__SIMD32(pSrc1), *__SIMD32(pCoefA));
+
+#else
+
+    /* -(pSrc[2 * i + 1] * pATable[2 * i + 1] - pSrc[2 * i] * pATable[2 * i]) */
+    outR = -(__SMUSD(*__SIMD32(pSrc1), *__SIMD32(pCoefA)));
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* pSrc[2 * n - 2 * i] * pBTable[2 * i] +   
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */
+    outR = __SMLAD(*__SIMD32(pSrc2), *__SIMD32(pCoefB), outR) >> 15u;
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    outI = __SMUSDX(*__SIMD32(pSrc2)--, *__SIMD32(pCoefB));
+
+#else
+
+    outI = __SMUSDX(*__SIMD32(pCoefB), *__SIMD32(pSrc2)--);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] */
+    outI = __SMLADX(*__SIMD32(pSrc1)++, *__SIMD32(pCoefA), outI);
+
+    /* write output */
+    pDst[2u * i] = (q15_t) outR;
+    pDst[(2u * i) + 1u] = outI >> 15u;
+
+    /* write complex conjugate output */
+    pDst[(4u * fftLen) - (2u * i)] = (q15_t) outR;
+    pDst[((4u * fftLen) - (2u * i)) + 1u] = -(outI >> 15u);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (2u * modifier);
+    pCoefA = pCoefA + (2u * modifier);
+
+    i++;
+
+  }
+
+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
+  pDst[(2u * fftLen) + 1u] = 0;
+
+  pDst[0] = pSrc[0] + pSrc[1];
+  pDst[1] = 0;
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  i = 1u;
+
+  while(i < fftLen)
+  {
+    /*   
+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]   
+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +   
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);   
+     */
+
+    outR = *pSrc1 * *pCoefA;
+    outR = outR - (*(pSrc1 + 1) * *(pCoefA + 1));
+    outR = outR + (*pSrc2 * *pCoefB);
+    outR = (outR + (*(pSrc2 + 1) * *(pCoefB + 1))) >> 15;
+
+
+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);  
+     */
+
+    outI = *pSrc2 * *(pCoefB + 1);
+    outI = outI - (*(pSrc2 + 1) * *pCoefB);
+    outI = outI + (*(pSrc1 + 1) * *pCoefA);
+    outI = outI + (*pSrc1 * *(pCoefA + 1));
+
+    /* update input pointers */
+    pSrc1 += 2u;
+    pSrc2 -= 2u;
+
+    /* write output */
+    pDst[2u * i] = (q15_t) outR;
+    pDst[(2u * i) + 1u] = outI >> 15u;
+
+    /* write complex conjugate output */
+    pDst[(4u * fftLen) - (2u * i)] = (q15_t) outR;
+    pDst[((4u * fftLen) - (2u * i)) + 1u] = -(outI >> 15u);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (2u * modifier);
+    pCoefA = pCoefA + (2u * modifier);
+
+    i++;
+
+  }
+
+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
+  pDst[(2u * fftLen) + 1u] = 0;
+
+  pDst[0] = pSrc[0] + pSrc[1];
+  pDst[1] = 0;
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+
+/**   
+ * @brief  Core Real IFFT process   
+ * @param[in]   *pSrc 				points to the input buffer.   
+ * @param[in]   fftLen  		    length of FFT.  
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.  
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.   
+ * @param[out]  *pDst 				points to the output buffer.  
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.   
+ * The function implements a Real IFFT   
+ */
+void arm_split_rifft_q15(
+  q15_t * pSrc,
+  uint32_t fftLen,
+  q15_t * pATable,
+  q15_t * pBTable,
+  q15_t * pDst,
+  uint32_t modifier)
+{
+  uint32_t i;                                    /* Loop Counter */
+  q31_t outR, outI;                              /* Temporary variables for output */
+  q15_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
+  q15_t *pSrc1, *pSrc2;
+  q15_t *pDst1 = &pDst[0];
+
+  pCoefA = &pATable[0];
+  pCoefB = &pBTable[0];
+
+  pSrc1 = &pSrc[0];
+  pSrc2 = &pSrc[2u * fftLen];
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  i = fftLen;
+
+  while(i > 0u)
+  {
+
+    /*   
+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);   
+
+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -   
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   
+
+     */
+
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]) */
+    outR = __SMUSD(*__SIMD32(pSrc2), *__SIMD32(pCoefB));
+
+#else
+
+    /* -(-pIn[2 * n - 2 * i] * pBTable[2 * i] + 
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1])) */
+    outR = -(__SMUSD(*__SIMD32(pSrc2), *__SIMD32(pCoefB)));
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i] */
+    outR = __SMLAD(*__SIMD32(pSrc1), *__SIMD32(pCoefA), outR) >> 15u;
+
+    /*   
+       -pIn[2 * n - 2 * i] * pBTable[2 * i + 1] +   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
+    outI = __SMUADX(*__SIMD32(pSrc2)--, *__SIMD32(pCoefB));
+
+    /* pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    outI = __SMLSDX(*__SIMD32(pCoefA), *__SIMD32(pSrc1)++, -outI);
+
+#else
+
+    outI = __SMLSDX(*__SIMD32(pSrc1)++, *__SIMD32(pCoefA), -outI);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+    /* write output */
+
+#ifndef ARM_MATH_BIG_ENDIAN
+
+    *__SIMD32(pDst1)++ = __PKHBT(outR, (outI >> 15u), 16);
+
+#else
+
+    *__SIMD32(pDst1)++ = __PKHBT((outI >> 15u), outR, 16);
+
+#endif /*      #ifndef ARM_MATH_BIG_ENDIAN     */
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (2u * modifier);
+    pCoefA = pCoefA + (2u * modifier);
+
+    i--;
+
+  }
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  i = fftLen;
+
+  while(i > 0u)
+  {
+
+    /*   
+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);   
+     */
+
+    outR = *pSrc2 * *pCoefB;
+    outR = outR - (*(pSrc2 + 1) * *(pCoefB + 1));
+    outR = outR + (*pSrc1 * *pCoefA);
+    outR = (outR + (*(pSrc1 + 1) * *(pCoefA + 1))) >> 15;
+
+    /*  
+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -  
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -  
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);  
+     */
+
+    outI = *(pSrc1 + 1) * *pCoefA;
+    outI = outI - (*pSrc1 * *(pCoefA + 1));
+    outI = outI - (*pSrc2 * *(pCoefB + 1));
+    outI = outI - (*(pSrc2 + 1) * *(pCoefB));
+
+    /* update input pointers */
+    pSrc1 += 2u;
+    pSrc2 -= 2u;
+
+    /* write output */
+    *pDst1++ = (q15_t) outR;
+    *pDst1++ = (q15_t) (outI >> 15);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (2u * modifier);
+    pCoefA = pCoefA + (2u * modifier);
+
+    i--;
+
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
new file mode 100644
index 000000000..49b076883
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/DSP_Lib/Source/TransformFunctions/arm_rfft_q31.c
@@ -0,0 +1,326 @@
+/* ----------------------------------------------------------------------   
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*   
+* $Date:        15. July 2011  
+* $Revision: 	V1.0.10  
+*   
+* Project: 	    CMSIS DSP Library   
+* Title:	    arm_rfft_q31.c   
+*   
+* Description:	RFFT & RIFFT Q31 process function   
+*   
+*   
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.0.10 2011/7/15 
+*    Big Endian support added and Merged M0 and M3/M4 Source code.  
+*   
+* Version 1.0.3 2010/11/29  
+*    Re-organized the CMSIS folders and updated documentation.   
+*    
+* Version 1.0.2 2010/11/11   
+*    Documentation updated.    
+*   
+* Version 1.0.1 2010/10/05    
+*    Production release and review comments incorporated.   
+*   
+* Version 1.0.0 2010/09/20    
+*    Production release and review comments incorporated.   
+*   
+* Version 0.0.7  2010/06/10    
+*    Misra-C changes done   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+/*--------------------------------------------------------------------   
+*		Internal functions prototypes   
+--------------------------------------------------------------------*/
+
+void arm_split_rfft_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pATable,
+  q31_t * pBTable,
+  q31_t * pDst,
+  uint32_t modifier);
+
+void arm_split_rifft_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pATable,
+  q31_t * pBTable,
+  q31_t * pDst,
+  uint32_t modifier);
+
+/**   
+ * @addtogroup RFFT_RIFFT   
+ * @{   
+ */
+
+/**   
+ * @brief Processing function for the Q31 RFFT/RIFFT.  
+ * @param[in]  *S    points to an instance of the Q31 RFFT/RIFFT structure.  
+ * @param[in]  *pSrc points to the input buffer.  
+ * @param[out] *pDst points to the output buffer.  
+ * @return none.  
+ *   
+ * \par Input an output formats:  
+ * \par   
+ * Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process.  
+ * Hence the output format is different for different RFFT sizes.   
+ * The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT:  
+ * \par   
+ * \image html RFFTQ31.gif "Input and Output Formats for Q31 RFFT"   
+ *   
+ * \par   
+ * \image html RIFFTQ31.gif "Input and Output Formats for Q31 RIFFT"   
+ */
+
+void arm_rfft_q31(
+  const arm_rfft_instance_q31 * S,
+  q31_t * pSrc,
+  q31_t * pDst)
+{
+  const arm_cfft_radix4_instance_q31 *S_CFFT = S->pCfft;
+
+  /* Calculation of RIFFT of input */
+  if(S->ifftFlagR == 1u)
+  {
+    /*  Real IFFT core process */
+    arm_split_rifft_q31(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                        S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+
+    /* Complex readix-4 IFFT process */
+    arm_radix4_butterfly_inverse_q31(pDst, S_CFFT->fftLen,
+                                     S_CFFT->pTwiddle,
+                                     S_CFFT->twidCoefModifier);
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_q31(pDst, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+  }
+  else
+  {
+    /* Calculation of RFFT of input */
+
+    /* Complex readix-4 FFT process */
+    arm_radix4_butterfly_q31(pSrc, S_CFFT->fftLen,
+                             S_CFFT->pTwiddle, S_CFFT->twidCoefModifier);
+
+    /* Bit reversal process */
+    if(S->bitReverseFlagR == 1u)
+    {
+      arm_bitreversal_q31(pSrc, S_CFFT->fftLen,
+                          S_CFFT->bitRevFactor, S_CFFT->pBitRevTable);
+    }
+
+    /*  Real FFT core process */
+    arm_split_rfft_q31(pSrc, S->fftLenBy2, S->pTwiddleAReal,
+                       S->pTwiddleBReal, pDst, S->twidCoefRModifier);
+  }
+
+}
+
+
+  /**   
+   * @} end of RFFT_RIFFT group   
+   */
+
+/**   
+ * @brief  Core Real FFT process   
+ * @param[in]   *pSrc 				points to the input buffer.   
+ * @param[in]   fftLen  			length of FFT.  
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.   
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.   
+ * @param[out]  *pDst 				points to the output buffer.   
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.   
+ */
+
+void arm_split_rfft_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pATable,
+  q31_t * pBTable,
+  q31_t * pDst,
+  uint32_t modifier)
+{
+  uint32_t i;                                    /* Loop Counter */
+  q31_t outR, outI;                              /* Temporary variables for output */
+  q31_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
+  q31_t CoefA1, CoefA2, CoefB1;                  /* Temporary variables for twiddle coefficients */
+  q31_t *pOut1 = &pDst[2], *pOut2 = &pDst[(4u * fftLen) - 1u];
+  q31_t *pIn1 = &pSrc[2], *pIn2 = &pSrc[(2u * fftLen) - 1u];
+
+  pSrc[2u * fftLen] = pSrc[0];
+  pSrc[(2u * fftLen) + 1u] = pSrc[1];
+
+  /* Init coefficient pointers */
+  pCoefA = &pATable[modifier * 2u];
+  pCoefB = &pBTable[modifier * 2u];
+
+  i = fftLen - 1u;
+
+  while(i > 0u)
+  {
+    /*   
+       outR = (pSrc[2 * i] * pATable[2 * i] - pSrc[2 * i + 1] * pATable[2 * i + 1]   
+       + pSrc[2 * n - 2 * i] * pBTable[2 * i] +   
+       pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);   
+     */
+
+    /* outI = (pIn[2 * i + 1] * pATable[2 * i] + pIn[2 * i] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]); */
+
+    CoefA1 = *pCoefA++;
+    CoefA2 = *pCoefA;
+
+    /* outR = (pSrc[2 * i] * pATable[2 * i] */
+    outR = ((int32_t) (((q63_t) * pIn1 * CoefA1) >> 32));
+
+    /* outI = pIn[2 * i] * pATable[2 * i + 1] */
+    outI = ((int32_t) (((q63_t) * pIn1++ * CoefA2) >> 32));
+
+    /* - pSrc[2 * i + 1] * pATable[2 * i + 1] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn1 * (-CoefA2))) >> 32);
+
+    /* (pIn[2 * i + 1] * pATable[2 * i] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn1++ * (CoefA1))) >> 32);
+
+    /* pSrc[2 * n - 2 * i] * pBTable[2 * i]  */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (-CoefA2))) >> 32);
+    CoefB1 = *pCoefB;
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (-CoefB1))) >> 32);
+
+    /* pSrc[2 * n - 2 * i + 1] * pBTable[2 * i + 1] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefB1))) >> 32);
+
+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (-CoefA2))) >> 32);
+
+    /* write output */
+    *pOut1++ = (outR << 1u);
+    *pOut1++ = (outI << 1u);
+
+    /* write complex conjugate output */
+    *pOut2-- = -(outI << 1u);
+    *pOut2-- = (outR << 1u);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (modifier * 2u);
+    pCoefA = pCoefA + ((modifier * 2u) - 1u);
+
+    i--;
+
+  }
+
+  pDst[2u * fftLen] = pSrc[0] - pSrc[1];
+  pDst[(2u * fftLen) + 1u] = 0;
+
+  pDst[0] = pSrc[0] + pSrc[1];
+  pDst[1] = 0;
+
+}
+
+
+/**   
+ * @brief  Core Real IFFT process   
+ * @param[in]   *pSrc 				points to the input buffer.  
+ * @param[in]   fftLen  			length of FFT.   
+ * @param[in]   *pATable 			points to the twiddle Coef A buffer.  
+ * @param[in]   *pBTable 			points to the twiddle Coef B buffer.   
+ * @param[out]  *pDst 				points to the output buffer.  
+ * @param[in]   modifier 	        twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table.  
+ * @return none.   
+ */
+
+void arm_split_rifft_q31(
+  q31_t * pSrc,
+  uint32_t fftLen,
+  q31_t * pATable,
+  q31_t * pBTable,
+  q31_t * pDst,
+  uint32_t modifier)
+{
+  q31_t outR, outI;                              /* Temporary variables for output */
+  q31_t *pCoefA, *pCoefB;                        /* Temporary pointers for twiddle factors */
+  q31_t CoefA1, CoefA2, CoefB1;                  /* Temporary variables for twiddle coefficients */
+  q31_t *pIn1 = &pSrc[0], *pIn2 = &pSrc[(2u * fftLen) + 1u];
+
+  pCoefA = &pATable[0];
+  pCoefB = &pBTable[0];
+
+  while(fftLen > 0u)
+  {
+    /*   
+       outR = (pIn[2 * i] * pATable[2 * i] + pIn[2 * i + 1] * pATable[2 * i + 1] +   
+       pIn[2 * n - 2 * i] * pBTable[2 * i] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1]);   
+
+       outI = (pIn[2 * i + 1] * pATable[2 * i] - pIn[2 * i] * pATable[2 * i + 1] -   
+       pIn[2 * n - 2 * i] * pBTable[2 * i + 1] -   
+       pIn[2 * n - 2 * i + 1] * pBTable[2 * i]);   
+
+     */
+    CoefA1 = *pCoefA++;
+    CoefA2 = *pCoefA;
+
+    /* outR = (pIn[2 * i] * pATable[2 * i] */
+    outR = ((int32_t) (((q63_t) * pIn1 * CoefA1) >> 32));
+
+    /* - pIn[2 * i] * pATable[2 * i + 1] */
+    outI = -((int32_t) (((q63_t) * pIn1++ * CoefA2) >> 32));
+
+    /* pIn[2 * i + 1] * pATable[2 * i + 1] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn1 * (CoefA2))) >> 32);
+
+    /* pIn[2 * i + 1] * pATable[2 * i] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn1++ * (CoefA1))) >> 32);
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefA2))) >> 32);
+
+    CoefB1 = *pCoefB;
+
+    /* pIn[2 * n - 2 * i] * pBTable[2 * i + 1] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) - ((q63_t) * pIn2-- * (CoefB1))) >> 32);
+
+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i + 1] */
+    outR =
+      (q31_t) ((((q63_t) outR << 32) + ((q63_t) * pIn2 * (CoefB1))) >> 32);
+
+    /* pIn[2 * n - 2 * i + 1] * pBTable[2 * i] */
+    outI =
+      (q31_t) ((((q63_t) outI << 32) + ((q63_t) * pIn2-- * (CoefA2))) >> 32);
+
+    /* write output */
+    *pDst++ = (outR << 1u);
+    *pDst++ = (outI << 1u);
+
+    /* update coefficient pointer */
+    pCoefB = pCoefB + (modifier * 2u);
+    pCoefA = pCoefA + ((modifier * 2u) - 1u);
+
+    /* Decrement loop count */
+    fftLen--;
+
+  }
+
+
+}
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS-SVD_Schema_1_0.xsd b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS-SVD_Schema_1_0.xsd
new file mode 100644
index 000000000..17ace6a5e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS-SVD_Schema_1_0.xsd
@@ -0,0 +1,274 @@
+
+
+
+
+  
+  
+    
+      
+    
+  
+
+  
+    
+      
+    
+  
+
+  
+    
+      
+    
+  
+
+  
+    
+      
+    
+  
+
+  
+    
+      
+      
+      
+      
+      
+    
+  
+
+  
+    
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+      
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+    
+  
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+  
+    
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+
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+    
+      
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+      
+    
+  
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+    
+      
+    
+  
+
+  
+    
+      
+      
+      
+        
+          
+            
+            
+          
+        
+      
+    
+  
+
+  
+    
+      
+      
+      
+        
+          
+            
+            
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+          
+        
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+  
+
+  
+    
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+  
+
+  
+    
+      
+      
+    
+  
+
+  
+    
+      
+         
+     
+  
+
+  
+    
+      
+      
+      
+    
+  
+
+  
+    
+      
+        
+        
+        
+        
+        
+        
+        
+          
+            
+              
+                
+                  
+                    
+                    
+                    
+                    
+                    
+                    
+                    
+                    
+                    
+                    
+                    
+                    
+                      
+                        
+                          
+                            
+                              
+                                
+                                 
+                                
+                                
+                                
+                                
+                                
+                                
+                                
+                                
+                                
+                                  
+                                    
+                                      
+                                      
+                                        
+                                          
+                                          
+                                          
+                                            
+                                            
+                                            
+                                          
+                                          
+                                          
+                                          
+                                          
+                                          
+                                            
+                                              
+                                                
+                                                
+                                                
+                                                  
+                                                    
+                                                      
+                                                      
+                                                      
+                                                        
+                                                        
+                                                      
+                                                    
+                                                  
+                                                
+                                              
+                                              
+                                            
+                                          
+                                        
+                                        
+                                      
+                                    
+                                    
+                                  
+                                
+                              
+                              
+                            
+                          
+                        
+                      
+                    
+                  
+                  
+                
+              
+            
+          
+        
+        
+          
+            
+              
+              
+            
+          
+        
+      
+      
+    
+  
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_CM4_SIMD.htm b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_CM4_SIMD.htm
new file mode 100644
index 000000000..7275e0ef2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_CM4_SIMD.htm
@@ -0,0 +1,3809 @@
+
+
+  
+  CMSIS: Cortex-M4 SIMD Instructions
+  
+  
+
+
+
+
+
    CMSIS Support for Cortex-M4 SIMD Instructions
    
+
+
    This file describes the Cortex-M4 SIMD instructions supported by CMSIS.
    
+
    Version: 1.00 - 25. November 2010
    
+
+
    Information in this file, the accompany manuals, and software is
    
+                 Copyright  ARM Ltd.
    All rights reserved.
+
    
+
+
    
+
+
    Revision History
    
+
      
+	
    • Revision 0.01 - January 2010: Initial version
      • 
+	
    • Revision 0.02 - June 2010: added __QADD, __QSUB
      • 
+	
    • Revision 1.00 - November 2010: 
      • 
+
    
+
+
    
+
+
    Contents
    
+
+
      
+  
    1. About
      2. 
+  
    2. Cortex-M4 SIMD instruction support
      3. 
+  
    3. Examples
      4. 
+
    
+
+
+
+
     
    
+
    About
    
+
    
+  CMSIS provides for the Cortex-M4 a set of functions supporting Cortex-M4 SIMD instructions.
+
    
+
+
     
    
+
    Cortex-M4 SIMD instruction support
    
+
    CMSIS supports the following functions for Cortex-M4 instructions:
+
    
+
+
+  
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+
    NameMnemonicDescription
    __SADD8SADD8GE setting quad 8-bit signed addition
    __QADD8QADD8Q setting quad 8-bit saturating addition
    __SHADD8SHADD8Quad 8-bit signed addition with halved results
    __UADD8UADD8GE setting quad 8-bit unsigned addition
    __UQADD8UQADD8Quad 8-bit unsigned saturating addition
    __UHADD8UHADD8Quad 8-bit unsigned addition with halved results
    __SSUB8SSUB8GE setting quad 8-bit signed subtraction
    __QSUB8QSUB8Q setting quad 8-bit saturating subtract
    __SHSUB8SHSUB8Quad 8-bit signed subtraction with halved results
    __USUB8USUB8GE setting quad 8-bit unsigned subtract
    __UQSUB8UQSUB8Quad 8-bit unsigned saturating subtraction
    __UHSUB8UHSUB8Quad 8-bit unsigned subtraction with halved results
    __SADD16SADD16GE setting dual 16-bit signed addition
    __QADD16QADD16Q setting dual 16-bit saturating addition
    __SHADD16SHADD16Dual 16-bit signed addition with halved results
    __UADD16UADD16GE setting dual 16-bit unsigned addition
    __UQADD16UQADD16Dual 16-bit unsigned saturating addition
    __UHADD16UHADD16Dual 16-bit unsigned addition with halved results
    __SSUB16SSUB16GE setting dual 16-bit signed subtraction
    __QSUB16QSUB16Q setting dual 16-bit saturating subtract
    __SHSUB16SHSUB16Dual 16-bit signed subtraction with halved results
    __USUB16USUB16GE setting dual 16-bit unsigned subtract
    __UQSUB16UQSUB16Dual 16-bit unsigned saturating subtraction
    __UHSUB16UHSUB16Dual 16-bit unsigned subtraction with halved results
    __SASXSASXGE setting dual 16-bit addition and subtraction with exchange
    __QASXQASXQ setting dual 16-bit add and subtract with exchange
    __SHASXSHASXDual 16-bit signed addition and subtraction with halved results
    __UASXUASXGE setting dual 16-bit unsigned addition and subtraction with exchange
    __UQASXUQASXDual 16-bit unsigned saturating addition and subtraction with exchange
    __UHASXUHASXDual 16-bit unsigned addition and subtraction with halved results and exchange
    __SSAXSSAXGE setting dual 16-bit signed subtraction and addition with exchange
    __QSAXQSAXQ setting dual 16-bit subtract and add with exchange
    __SHSAXSHSAXDual 16-bit signed subtraction and addition with halved results
    __USAXUSAXGE setting dual 16-bit unsigned subtract and add with exchange
    __UQSAXUQSAXDual 16-bit unsigned saturating subtraction and addition with exchange
    __UHSAXUHSAXDual 16-bit unsigned subtraction and addition with halved results and exchange
    __USAD8USAD8Unsigned sum of quad 8-bit unsigned absolute difference
    __USADA8USADA8Unsigned sum of quad 8-bit unsigned absolute difference with 32-bit accumulate
    __SSAT16SSAT16Q setting dual 16-bit saturate
    __USAT16USAT16Q setting dual 16-bit unsigned saturate
    __UXTB16UXTB16Dual extract 8-bits and zero-extend to 16-bits
    __UXTAB16UXTAB16Extracted 16-bit to 32-bit unsigned addition
    __SXTB16SXTB16Dual extract 8-bits and sign extend each to 16-bits
    __SXTAB16SXTAB16Dual extracted 8-bit to 16-bit signed addition
    __SMUADSMUADQ setting sum of dual 16-bit signed multiply
    __SMUADXSMUADXQ setting sum of dual 16-bit signed multiply with exchange
    __SMLADSMLADQ setting dual 16-bit signed multiply with single 32-bit accumulator
    __SMLADXSMLADXQ setting pre-exchanged dual 16-bit signed multiply with single 32-bit accumulator
    __SMLALDSMLALDDual 16-bit signed multiply with single 64-bit accumulator
    __SMLALDXSMLALDXDual 16-bit signed multiply with exchange with single 64-bit accumulator
    __SMUSDSMUSDDual 16-bit signed multiply returning difference
    __SMUSDXSMUSDXDual 16-bit signed multiply with exchange returning difference
    __SMLSDSMLSDQ setting dual 16-bit signed multiply subtract with 32-bit accumulate
    __SMLSDXSMLSDXQ setting dual 16-bit signed multiply with exchange subtract with 32-bit accumulate
    __SMLSLDSMLSLDQ setting dual 16-bit signed multiply subtract with 64-bit accumulate
    __SMLSLDXSMLSLDXQ setting dual 16-bit signed multiply with exchange subtract with 64-bit accumulate
    __SELSELSelect bytes based on GE bits
    __QADDQADDQ setting saturating add
    __QSUBQSUB/td>
+      Q setting saturating subtract
    
+
+
+
+
+
    Function __SADD8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SADD8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four 8-bit signed integer additions.
    
+          The GE bits in the APSR are set according to the results of the additions.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit summands.
      • 
+          
    • val2: second four 8-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the first bytes from each operand, in the first byte of the return value.
      • 
+            
    • the addition of the second bytes of each operand, in the second byte of the return value.
      • 
+            
    • the addition of the third bytes of each operand, in the third byte of the return value.
      • 
+            
    • the addition of the fourth bytes of each operand, in the fourth byte of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[7:0] ≥ 0 then APSR.GE[0] = 1 else 0
      • 
+            
    • if res[15:8] ≥ 0 then APSR.GE[1] = 1 else 0
      • 
+            
    • if res[23:16] ≥ 0 then APSR.GE[2] = 1 else 0
      • 
+            
    • if res[31:24] ≥ 0 then APSR.GE[3] = 1 else 0
      • 
+         
          
+      
    Operation
+        
    +res[7:0]   = val1[7:0]   + val2[7:0]
+res[15:8]  = val1[15:8]  + val2[15:8]
+res[23:16] = val1[23:16] + val2[23:16]
+res[31:24] = val1[31:24] + val2[31:24]
    
+      
    
+
+
    Function __QADD8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __QADD8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four 8-bit integer additions, saturating the results to 
+          the 8-bit signed integer range -27 ≤ x ≤ 27 - 1.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit summands.
      • 
+          
    • val2: second four 8-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the saturated addition of the first byte of each operand in the first byte of the return value.
      • 
+            
    • the saturated addition of the second byte of each operand in the second byte of the return value.
      • 
+            
    • the saturated addition of the third byte of each operand in the third byte of the return value.
      • 
+            
    • the saturated addition of the fourth byte of each operand in the fourth byte of the return value.
      • 
+          
    
+          
    The returned results are saturated to the 16-bit signed integer range -27 ≤ x ≤ 27 - 1.
+          
    
+      
    Operation
+        
    +res[7:0]   = val1[7:0]   + val2[7:0]
+res[15:8]  = val1[15:8]  + val2[15:8]
+res[23:16] = val1[23:16] + val2[23:16]
+res[31:24] = val1[31:24] + val2[31:24]
    
+      
    
+
+
    Function __SHADD8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SHADD8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four signed 8-bit integer additions, halving the results.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit summands.
      • 
+          
    • val2: second four 8-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved addition of the first bytes from each operand, in the first byte of the return value.
      • 
+            
    • the halved addition of the second bytes from each operand, in the second byte of the return value.
      • 
+            
    • the halved addition fo the third bytes from each operand, in the third byte of the return value.
      • 
+            
    • the halved addition of the fourth bytes from each operand, in the fourth byte of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[7:0]   = (val1[7:0]   + val2[7:0])   >> 1
+res[15:8]  = (val1[15:8]  + val2[15:8])  >> 1
+res[23:16] = (val1[23:16] + val2[23:16]) >> 1
+res[31:24] = (val1[31:24] + val2[31:24]) >> 1
    
+      
    
+
+
    Function __UADD8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UADD8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four unsigned 8-bit integer additions.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit summands for each addition.
      • 
+          
    • val2: second four 8-bit summands for each addition.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the first bytes in each operand, in the first byte of the return value.
      • 
+            
    • the addition of the second bytes in each operand, in the second byte of the return value.
      • 
+            
    • the addition of the third bytes in each operand, in the third byte of the return value.
      • 
+            
    • the addition of the fourth bytes in each operand, in the fourth byte of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[7:0] ≥ 0x100 then APSR.GE[0] = 1 else 0
      • 
+            
    • if res[15:8] ≥ 0x100 then APSR.GE[1] = 1 else 0
      • 
+            
    • if res[23:16] ≥ 0x100 then APSR.GE[2] = 1 else 0
      • 
+            
    • if res[31:24] ≥ 0x100 then APSR.GE[3] = 1 else 0
      • 
+         
          
+      
    Operation
+        
    +res[7:0]   = val1[7:0]   + val2[7:0]
+res[15:8]  = val1[15:8]  + val2[15:8]
+res[23:16] = val1[23:16] + val2[23:16]
+res[31:24] = val1[31:24] + val2[31:24]
    
+      
    
+
+
    Function __UQADD8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UQADD8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four unsigned 8-bit integer additions, saturating the 
+          results to the 8-bit unsigned integer range 0 ≤ x ≤ 28 - 1.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit summands.
      • 
+          
    • val2: second four 8-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the first bytes in each operand, in the first byte of the return value.
      • 
+            
    • the addition of the second bytes in each operand, in the second byte of the return value.
      • 
+            
    • the addition of the third bytes in each operand, in the third byte of the return value.
      • 
+            
    • the addition of the fourth bytes in each operand, in the fourth byte of the return value.
      • 
+          
    
+          
    The results are saturated to the 8-bit unsigned integer range 0 ≤ x ≤ 28 - 1.
+          
    
+      
    Operation
+        
    +res[7:0]   = val1[7:0]   + val2[7:0]
+res[15:8]  = val1[15:8]  + val2[15:8]
+res[23:16] = val1[23:16] + val2[23:16]
+res[31:24] = val1[31:24] + val2[31:24]
    
+      
    
+
+
    Function __UHADD8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UHADD8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four unsigned 8-bit integer additions, halving the results.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit summands.
      • 
+          
    • val2: second four 8-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved addition of the first bytes in each operand, in the first byte of the return value.
      • 
+            
    • the halved addition of the second bytes in each operand, in the second byte of the return value.
      • 
+            
    • the halved addition of the third bytes in each operand, in the third byte of the return value.
      • 
+            
    • the halved addition of the fourth bytes in each operand, in the fourth byte of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[7:0]   = (val1[7:0]   + val2[7:0])   >> 1
+res[15:8]  = (val1[15:8]  + val2[15:8])  >> 1
+res[23:16] = (val1[23:16] + val2[23:16]) >> 1
+res[31:24] = (val1[31:24] + val2[31:24]) >> 1
    
+      
    
+
+
    Function __SSUB8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SSUB8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four 8-bit signed integer subtractions.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit operands of each subtraction.
      • 
+          
    • val2: second four 8-bit operands of each subtraction.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the first byte in the second operand from the first byte in the 
+                first operand, in the first bytes of the return value.
      • 
+            
    • the subtraction of the second byte in the second operand from the second byte in 
+                the first operand, in the second byte of the return value.
      • 
+            
    • the subtraction of the third byte in the second operand from the third byte in the 
+                first operand, in the third byte of the return value.
      • 
+            
    • the subtraction of the fourth byte in the second operand from the fourth byte in 
+                the first operand, in the fourth byte of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation. If res is the return value, then:
+          
    
+          
      
+            
    • if res[8:0] ≥ 0 then APSR.GE[0] = 1 else 0
      • 
+            
    • if res[15:8] ≥ 0 then APSR.GE[1] = 1 else 0
      • 
+            
    • if res[23:16] ≥ 0 then APSR.GE[2] = 1 else 0
      • 
+            
    • if res[31:24] ≥ 0 then APSR.GE[3] = 1 else 0
      • 
+         
          
+      
    Operation
+        
    +res[7:0]   = val1[7:0]   - val2[7:0]
+res[15:8]  = val1[15:8]  - val2[15:8]
+res[23:16] = val1[23:16] - val2[23:16]
+res[31:24] = val1[31:24] - val2[31:24]
    
+      
    
+
+
    Function __QSUB8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __QADD8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four 8-bit integer subtractions, saturating the results 
+          to the 8-bit signed integer range -27 ≤ x ≤ 27 - 1.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit operands.
      • 
+          
    • val2: second four 8-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the first byte in the second operand from the first byte in the 
+                first operand, in the first byte of the return value.
      • 
+            
    • the subtraction of the second byte in the second operand from the second byte in 
+                the first operand, in the second byte of the return value.
      • 
+            
    • the subtraction of the third byte in the second operand from the third byte in the 
+                first operand, in the third byte of the return value.
      • 
+            
    • the subtraction of the fourth byte in the second operand from the fourth byte in 
+                the first operand, in the fourth byte of the return value.
      • 
+          
    
+          
    The returned results are saturated to the 8-bit signed integer range -27 ≤ x ≤ 27 - 1.
+          
    
+      
    Operation
+        
    +res[7:0]   = val1[7:0]   - val2[7:0]
+res[15:8]  = val1[15:8]  - val2[15:8]
+res[23:16] = val1[23:16] - val2[23:16]
+res[31:24] = val1[31:24] - val2[31:24]
    
+      
    
+
+
    Function __SHSUB8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SHSUB8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four signed 8-bit integer subtractions, halving the 
+          results.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit operands.
      • 
+          
    • val2: second four 8-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved subtraction of the first byte in the second operand from the first byte 
+                in the first operand, in the first byte of the return value.
      • 
+            
    • the halved subtraction of the second byte in the second operand from the second 
+                byte in the first operand, in the second byte of the return value.
      • 
+            
    • the halved subtraction of the third byte in the second operand from the third byte 
+                in the first operand, in the third byte of the return value.
      • 
+            
    • the halved subtraction of the fourth byte in the second operand from the fourth 
+                byte in the first operand, in the fourth byte of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[7:0]   = (val1[7:0]   - val2[7:0])  >> 1
+res[15:8]  = (val1[15:8]  - val2[15:8]) >> 1
+res[23:16] = (val1[23:16] - val2[23:16] >> 1
+res[31:24] = (val1[31:24] - val2[31:24] >> 1
    
+      
    
+
+
    Function __USUB8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __USUB8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function It enables you to perform four 8-bit unsigned integer subtractions.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit operands.
      • 
+          
    • val2: second four 8-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the first byte in the second operand from the first byte in the 
+                first operand, in the first byte of the return value.
      • 
+            
    • the subtraction of the second byte in the second operand from the second byte in 
+                the first operand, in the second byte of the return value.
      • 
+            
    • the subtraction of the third byte in the second operand from the third byte in the 
+                first operand, in the third byte of the return value.
      • 
+            
    • the subtraction of the fourth byte in the second operand from the fourth byte in 
+                the first operand, in the fourth byte of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[7:0] ≥ 0 then APSR.GE[0] = 1 else 0
      • 
+            
    • if res[15:8] ≥ 0 then APSR.GE[1] = 1 else 0
      • 
+            
    • if res[23:16] ≥ 0 then APSR.GE[2] = 1 else 0
      • 
+            
    • if res[31:24] ≥ 0 then APSR.GE[3] = 1 else 0
      • 
+         
          
+      
    Operation
+        
    +res[7:0]   = val1[7:0]   - val2[7:0]
+res[15:8]  = val1[15:8]  - val2[15:8]
+res[23:16] = val1[23:16] - val2[23:16]
+res[31:24] = val1[31:24] - val2[31:24]
    
+      
    
+
+
    Function __UQSUB8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UQSUB8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four unsigned 8-bit integer subtractions, saturating 
+          the results to the 8-bit unsigned integer range 0 ≤ x ≤ 28 - 1.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit operands.
      • 
+          
    • val2: second four 8-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the first byte in the second operand from the first byte in the 
+                first operand, in the first byte of the return value.
      • 
+            
    • the subtraction of the second byte in the second operand from the second byte in 
+                the first operand, in the second byte of the return value.
      • 
+            
    • the subtraction of the third byte in the second operand from the third byte in the 
+                first operand, in the third byte of the return value.
      • 
+            
    • the subtraction of the fourth byte in the second operand from the fourth byte in 
+                the first operand, in the fourth byte of the return value.
      • 
+          
    
+          
    The results are saturated to the 8-bit unsigned integer range 0 ≤ x ≤ 28 - 1.
+          
    
+      
    Operation
+        
    +res[7:0]   = val1[7:0]   - val2[7:0]
+res[15:8]  = val1[15:8]  - val2[15:8]
+res[23:16] = val1[23:16] - val2[23:16]
+res[31:24] = val1[31:24] - val2[31:24]
    
+      
    
+
+
    Function __UHSUB8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UHSUB8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four unsigned 8-bit integer subtractions, halving the 
+          results.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit operands.
      • 
+          
    • val2: second four 8-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved subtraction of the first byte in the second operand from the first byte 
+                in the first operand, in the first byte of the return value.
      • 
+            
    • the halved subtraction of the second byte in the second operand from the second 
+                byte in the first operand, in the second byte of the return value.
      • 
+            
    • the halved subtraction of the third byte in the second operand from the third byte 
+                in the first operand, in the third byte of the return value.
      • 
+            
    • the halved subtraction of the fourth byte in the second operand from the fourth 
+                byte in the first operand, in the fourth byte of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[7:0]   = (val1[7:0]   - val2[7:0])   >> 1
+res[15:8]  = (val1[15:8]  - val2[15:8])  >> 1
+res[23:16] = (val1[23:16] - val2[23:16]) >> 1
+res[31:24] = (val1[31:24] - val2[31:24]) >> 1
    
+      
    
+
+
    Function __SADD16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SADD16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit signed integer additions.
    
+          The GE bits in the APSR are set according to the results of the additions.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit summands.
      • 
+          
    • val2: second two 16-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the low halfwords in the low halfword of the return value.
      • 
+            
    • the addition of the high halfwords in the high halfword of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[15:0] ≥ 0 then APSR.GE[1:0] = 11 else 00
      • 
+            
    • if res[31:16] ≥ 0 then APSR.GE[3:2] = 11 else 00
      • 
+         
          
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + val2[15:0]
+res[31:16] = val1[31:16] + val2[31:16]
    
+      
    
+
+
    Function __QADD16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __QADD16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit integer arithmetic additions in parallel, 
+          saturating the results to the 16-bit signed integer range -215 ≤ x ≤ 215 - 1.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit summands.
      • 
+          
    • val2: second two 16-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the saturated addition of the low halfwords in the low halfword of the return value.
      • 
+            
    • the saturated addition of the high halfwords in the high halfword of the return value.
      • 
+          
    
+          
    The returned results are saturated to the 16-bit signed integer 
+             range -215 ≤ x ≤ 215 - 1
+          
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + val2[15:0]
+res[16:31] = val1[31:16] + val2[31:16]
    
+      
    
+
+
    Function __SHADD16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SHADD16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two signed 16-bit integer additions, halving the 
+          results.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit summands.
      • 
+          
    • val2: second two 16-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved addition of the low halfwords from each operand, in the low halfword 
+                of the return value.
      • 
+            
    • the halved addition of the high halfwords from each operand, in the high halfword 
+                of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = (val1[15:0]  + val2[15:0])  >> 1
+res[31:16] = (val1[31:16] + val2[31:16]) >> 1
    
+      
    
+
+
    Function __UADD16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UADD16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit unsigned integer additions.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit summands for each addition.
      • 
+          
    • val2: second two 16-bit summands for each addition.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the low halfwords in each operand, in the low halfword of the 
+                return value.
      • 
+            
    • the addition of the high halfwords in each operand, in the high halfword of the 
+                return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[15:0] ≥ 0x10000 then APSR.GE[0] = 11 else 00
      • 
+            
    • if res[31:16] ≥ 0x10000 then APSR.GE[1] = 11 else 00
      • 
+         
          
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + val2[15:0]
+res[31:16] = val1[31:16] + val2[31:16]
    
+      
    
+
+
    Function __UQADD16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UQADD16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two unsigned 16-bit integer additions, saturating the 
+          results to the 16-bit unsigned integer range 0 ≤ x ≤ 216 - 1.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit summands.
      • 
+          
    • val2: second two 16-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the low halfword in the first operand and the low halfword in the 
+                second operand, in the low halfword of the return value.
      • 
+            
    • the addition of the high halfword in the first operand and the high halfword in the 
+                second operand, in the high halfword of the return value.
      • 
+          
    
+          
    The results are saturated to the 16-bit unsigned integer 
+             range 0 ≤ x ≤ 216 - 1.
+          
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + val2[15:0]
+res[31:16] = val1[31:16] + val2[31:16]
    
+      
    
+
+
    Function __UHADD16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UHADD16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two unsigned 16-bit integer additions, halving the 
+          results.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit summands.
      • 
+          
    • val2: second two 16-bit summands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved addition of the low halfwords in each operand, in the low halfword of 
+                the return value.
      • 
+            
    • the halved addition of the high halfwords in each operand, in the high halfword 
+                of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = (val1[15:0]  + val2[15:0])  >> 1
+res[31:16] = (val1[31:16] + val2[31:16]) >> 1
    
+      
    
+
+
    Function __SSUB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SSUB16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit signed integer subtractions.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit operands of each subtraction.
      • 
+          
    • val2: second two 16-bit operands of each subtraction.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the low halfword in the second operand from the low halfword 
+                in the first operand, in the low halfword of the return value.
      • 
+            
    • the subtraction of the high halfword in the second operand from the high halfword 
+                in the first operand, in the high halfword of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[15:0] ≥ 0 then APSR.GE[1:0] = 11 else 00
      • 
+            
    • if res[31:16] ≥ 0 then APSR.GE[3:2] = 11 else 00
      • 
+         
          
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  - val2[15:0]
+res[31:16] = val1[31:16] - val2[31:16]
    
+      
    
+
+
    Function __QSUB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __QSUB16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit integer subtractions, saturating the 
+          results to the 16-bit signed integer range -215 ≤ x ≤ 215 - 1.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit operands.
      • 
+          
    • val2: second two 16-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the saturated subtraction of the low halfword in the second operand from the low 
+                halfword in the first operand, in the low halfword of the returned result.
      • 
+            
    • the saturated subtraction of the high halfword in the second operand from the high 
+                halfword in the first operand, in the high halfword of the returned result.
      • 
+          
    
+          
    The returned results are saturated to the 16-bit signed integer 
+             range -215 ≤ x ≤ 215 - 1.
+          
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  - val2[15:0]
+res[31:16] = val1[31:16] - val2[31:16]
    
+      
    
+
+
    Function __SHSUB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SHSUB16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two signed 16-bit integer subtractions, halving the 
+          results.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit operands.
      • 
+          
    • val2: second two 16-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved subtraction of the low halfword in the second operand from the low 
+                halfword in the first operand, in the low halfword of the return value.
      • 
+            
    • the halved subtraction of the high halfword in the second operand from the high 
+                halfword in the first operand, in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = (val1[15:0]  - val2[15:0])  >> 1
+res[31:16] = (val1[31:16] - val2[31:16]) >> 1
    
+      
    
+
+
    Function __USUB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __USUB16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit unsigned integer subtractions.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit operands.
      • 
+          
    • val2: second two 16-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the low halfword in the second operand from the low halfword 
+                in the first operand, in the low halfword of the return value.
      • 
+            
    • the subtraction of the high halfword in the second operand from the high halfword 
+                in the first operand, in the high halfword of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[15:0] ≥ 0 then APSR.GE[1:0] = 11 else 00
      • 
+            
    • if res[31:16] ≥ 0 then APSR.GE[3:2] = 11 else 00
      • 
+         
          
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  - val2[15:0]
+res[31:16] = val1[31:16] - val2[31:16]
    
+      
    
+
+
    Function __UQSUB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UQSUB16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two unsigned 16-bit integer subtractions, saturating 
+          the results to the 16-bit unsigned integer range 0 ≤ x ≤ 216 - 1.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit operands for each subtraction.
      • 
+          
    • val2: second two 16-bit operands for each subtraction.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the low halfword in the second operand from the low halfword 
+                in the first operand, in the low halfword of the return value.
      • 
+            
    • the subtraction of the high halfword in the second operand from the high halfword 
+                in the first operand, in the high halfword of the return value.
      • 
+          
    
+          
    The results are saturated to the 16-bit unsigned integer range 0 ≤ x ≤ 216 - 1.
+          
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  - val2[15:0]
+res[31:16] = val1[31:16] - val2[31:16]
    
+      
    
+
+
    Function __UHSUB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UHSUB16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two unsigned 16-bit integer subtractions, halving 
+          the results.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit operands.
      • 
+          
    • val2: second two 16-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved subtraction of the low halfword in the second operand from the low 
+                halfword in the first operand, in the low halfword of the return value.
      • 
+            
    • the halved subtraction of the high halfword in the second operand from the high 
+                halfword in the first operand, in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = (val1[15:0]  - val2[15:0])  >> 1
+res[31:16] = (val1[31:16] - val2[31:16]) >> 1
    
+      
    
+
+
    Function __SASX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SASX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function inserts an SASX instruction into the instruction stream generated by the 
+          compiler. It enables you to exchange the halfwords of the second operand, add the high 
+          halfwords and subtract the low halfwords.
    
+          The GE bits in the APRS are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first operand for the subtraction in the low halfword, and the
+              first operand for the addition in the high halfword.
      • 
+          
    • val2: second operand for the subtraction in the high halfword, and the 
+              second operand for the addition in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the high halfword in the second operand from the low halfword 
+                in the first operand, in the low halfword of the return value.
      • 
+            
    • the addition of the high halfword in the first operand and the low halfword in the 
+                second operand, in the high halfword of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[15:0] ≥ 0 then APSR.GE[1:0] = 11 else 00
      • 
+            
    • if res[31:16] ≥ 0 then APSR.GE[3:2] = 11 else 00
      • 
+         
          
+      
    Operation
+        
    +res[15:0]  = val1[15:0] - val2[31:16]
+res[31:16] = val1[31:16] + val2[15:0]
    
+      
    
+
+
    Function __QASX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __QASX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the halfwords of the one operand, then add the high
+          halfwords and subtract the low halfwords, saturating the results to the 16-bit signed 
+          integer range -215 ≤ x ≤ 215 - 1.
+      
    Parameter
+        
      
+          
    • val1: first operand for the subtraction in the low halfword, and the 
+                       first operand for the addition in the high halfword.
      • 
+          
    • val2: second operand for the subtraction in the high halfword, and the
+                       second operand for the addition in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the saturated subtraction of the high halfword in the second operand from the low 
+                halfword in the first operand, in the low halfword of the return value.
      • 
+            
    • the saturated addition of the high halfword in the first operand and the low 
+                halfword in the second operand, in the high halfword of the return value.
      • 
+          
    
+          
    The returned results are saturated to the 16-bit signed integer 
+             range -215 ≤ x ≤ 215 - 1.
+          
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  - val2[31:16]
+res[31:16] = val1[31:16] + val2[15:0]
    
+      
    
+
+
    Function __SHASX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SHASX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the two halfwords of one operand, perform one 
+          signed 16-bit integer addition and one signed 16-bit subtraction, and halve the results.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands.
      • 
+          
    • val2: second 16-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved subtraction of the high halfword in the second operand from the low 
+                halfword in the first operand, in the low halfword of the return value.
      • 
+            
    • the halved subtraction of the low halfword in the second operand from the high 
+                halfword in the first operand, in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = (val1[15:0]  - val2[31:16]) >> 1
+res[31:16] = (val1[31:16] - val2[15:0])  >> 1
    
+      
    
+
+
    Function __UASX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UASX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the two halfwords of the second operand, add the 
+          high halfwords and subtract the low halfwords.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first operand for the subtraction in the low halfword, and the
+              first operand for the addition in the high halfword.
      • 
+          
    • val2: second operand for the subtraction in the high halfword and the
+              second operand for the addition in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the high halfword in the second operand from the low halfword 
+                in the first operand, in the low halfword of the return value.
      • 
+            
    • the addition of the high halfword in the first operand and the low halfword in the 
+                second operand, in the high halfword of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[15:0] ≥ 0 then APSR.GE[1:0] = 11 else 00
      • 
+            
    • if res[31:16] ≥ 0x10000 then APSR.GE[3:2] = 11 else 00
      • 
+         
          
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  - val2[31:16]
+res[31:16] = val1[31:16] + val2[15:0]
    
+      
    
+
+
    Function __UQASX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UQASX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the halfwords of the second operand and perform 
+          one unsigned 16-bit integer addition and one unsigned 16-bit subtraction, saturating the 
+          results to the 16-bit unsigned integer range 0 ≤ x ≤ 216 - 1.
+      
    Parameter
+        
      
+          
    • val1: first two 16-bit operands.
      • 
+          
    • val2: second two 16-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the subtraction of the high halfword in the second operand from the low halfword 
+                in the first operand, in the low halfword of the return value.
      • 
+            
    • the subtraction of the low halfword in the second operand from the high halfword 
+                in the first operand, in the high halfword of the return value.
      • 
+          
    
+          
    The results are saturated to the 16-bit unsigned integer  
+             range 0 ≤ x ≤ 216 - 1.
+          
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  - val2[31:16]
+res[31:16] = val1[31:16] + val2[15:0]
    
+      
    
+
+
    Function __UHASX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UHASX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the halfwords of the second operand, add the high 
+          halfwords and subtract the low halfwords, halving the results.
+      
    Parameter
+        
      
+          
    • val1: first operand for the subtraction in the low halfword, and the
+           first operand for the addition in the high halfword.
      • 
+          
    • val2: second operand for the subtraction in the high halfword, and the 
+           second operand for the addition in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved subtraction of the high halfword in the second operand from the low 
+                halfword in the first operand.
      • 
+            
    • the halved addition of the high halfword in the first operand and the low halfword 
+                in the second operand.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = (val1[15:0]  - val2[31:16]) >> 1
+res[31:16] = (val1[31:16] + val2[15:0])  >> 1
    
+      
    
+
+
    Function __SSAX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SSAX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the two halfwords of one operand and perform one 
+          16-bit integer subtraction and one 16-bit addition.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first operand for the addition in the low halfword, and the first 
+              operand for the subtraction in the high halfword.
      • 
+          
    • val2: second operand for the addition in the high halfword, and the
+              second operand for the subtraction in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the low halfword in the first operand and the high halfword in the 
+                second operand, in the low halfword of the return value.
      • 
+            
    • the subtraction of the low halfword in the second operand from the high halfword 
+                in the first operand, in the high halfword of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[15:0] ≥ 0 then APSR.GE[1:0] = 11 else 00
      • 
+            
    • if res[31:16] ≥ 0 then APSR.GE[3:2] = 11 else 00
      • 
+         
          
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + val2[31:16]
+res[31:16] = val1[31:16] - val2[15:0]
    
+      
    
+
+
    Function __QSAX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __QSAX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the halfwords of one operand, then subtract the 
+          high halfwords and add the low halfwords, saturating the results to the 16-bit signed 
+          integer range -215 ≤ x ≤ 215 - 1.
+      
    Parameter
+        
      
+          
    • val1: first operand for the addition in the low halfword, and the first
+           operand for the subtraction in the high halfword.
      • 
+          
    • val2: second operand for the addition in the high halfword, and the 
+           second operand for the subtraction in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the saturated addition of the low halfword of the first operand and the high 
+                halfword of the second operand, in the low halfword of the return value.
      • 
+            
    • the saturated subtraction of the low halfword of the second operand from the high 
+                halfword of the first operand, in the high halfword of the return value.
      • 
+          
    
+          
    The returned results are saturated to the 16-bit signed integer 
+             range -215 ≤ x ≤ 215 - 1.
+          
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + val2[31:16]
+res[31:16] = val1[31:16] - val2[15:0]
    
+      
    
+
+
    Function __SHSAX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SHSAX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the two halfwords of one operand, perform one 
+          signed 16-bit integer subtraction and one signed 16-bit addition, and halve the results.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands.
      • 
+          
    • val2: second 16-bit operands.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved addition of the low halfword in the first operand and the high halfword 
+                in the second operand, in the low halfword of the return value.
      • 
+            
    • the halved subtraction of the low halfword in the second operand from the high 
+                halfword in the first operand, in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = (val1[15:0]  + val2[31:16]) >> 1
+res[31:16] = (val1[31:16] - val2[15:0])  >> 1
    
+      
    
+
+
    Function __USAX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __USAX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the halfwords of the second operand, subtract the 
+          high halfwords and add the low halfwords.
    
+          The GE bits in the APSR are set according to the results.
+      
    Parameter
+        
      
+          
    • val1: first operand for the addition in the low halfword, and the first
+              operand for the subtraction in the high halfword.
      • 
+          
    • val2: second operand for the addition in the high halfword, and the
+              second operand for the subtraction in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the low halfword in the first operand and the high halfword in the 
+                second operand, in the low halfword of the return value.
      • 
+            
    • the subtraction of the low halfword in the second operand from the high halfword 
+                in the first operand, in the high halfword of the return value.
      • 
+          
    
+          
    Each bit in APSR.GE is set or cleared for each byte in the return value, depending on 
+             the results of the operation.
    
+             If res is the return value, then:
+          
    
+          
      
+            
    • if res[15:0] ≥ 0x10000 then APSR.GE[1:0] = 11 else 00
      • 
+            
    • if res[31:16] ≥ 0 then APSR.GE[3:2] = 11 else 00
      • 
+         
          
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + val2[31:16]
+res[31:16] = val1[31:16] - val2[15:0]
    
+      
    
+
+
    Function __UQSAX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UQSAX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the halfwords of the second operand and perform 
+          one unsigned 16-bit integer subtraction and one unsigned 16-bit addition, saturating the 
+          results to the 16-bit unsigned integer range 0 ≤ x ≤ 216 - 1.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operand for the addition in the low halfword, and the
+              first 16-bit operand for the subtraction in the high halfword.
      • 
+          
    • val2: second 16-bit halfword for the addition in the high halfword,
+              and the second 16-bit halfword for the subtraction in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the addition of the low halfword in the first operand and the high halfword in the 
+                second operand, in the low halfword of the return value.
      • 
+            
    • the subtraction of the low halfword in the second operand from the high halfword 
+                in the first operand, in the high halfword of the return value.
      • 
+          
    
+          
    The results are saturated to the 16-bit unsigned integer 
+             range 0 ≤ x ≤ 216 - 1.
+          
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + val2[31:16]
+res[31:16] = val1[31:16] - val2[15:0]
    
+      
    
+
+
    Function __UHSAX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UHSAX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to exchange the halfwords of the second operand, subtract the 
+          high halfwords and add the low halfwords, halving the results.
+      
    Parameter
+        
      
+          
    • val1: first operand for the addition in the low halfword, and the first
+              operand for the subtraction in the high halfword.
      • 
+          
    • val2: second operand for the addition in the high halfword, and the
+              second operand for the subtraction in the low halfword.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the halved addition of the high halfword in the second operand and the low 
+                halfword in the first operand, in the low halfword of the return value.
      • 
+            
    • the halved subtraction of the low halfword in the second operand from the high 
+                halfword in the first operand, in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = (val1[15:0]  + val2[31:16]) >> 1
+res[31:16] = (val1[31:16] - val2[15:0])  >> 1
    
+      
    
+
+
    Function __USAD8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __USAD8(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform four unsigned 8-bit subtractions, and add the 
+          absolute values of the differences together, returning the result as a single unsigned 
+          integer.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit operands for the subtractions.
      • 
+          
    • val2: second four 8-bit operands for the subtractions.
      • 
+        
    
+      
    Return Value
+         
    The function returns the sum of the absolute differences of:
    
+         
      
+            
    • the subtraction of the first byte in the second operand from the first byte in the 
+                first operand.
      • 
+            
    • the subtraction of the second byte in the second operand from the second byte in 
+                the first operand.
      • 
+            
    • the subtraction of the third byte in the second operand from the third byte in the 
+                first operand.
      • 
+            
    • the subtraction of the fourth byte in the second operand from the fourth byte in 
+                the first operand.
      • 
+          
    
+          
    The sum is returned as a single unsigned integer.
    
+      
    Operation
+        
    +absdiff1  = val1[7:0]   - val2[7:0]
+absdiff2  = val1[15:8]  - val2[15:8]
+absdiff3  = val1[23:16] - val2[23:16]
+absdiff4  = val1[31:24] - val2[31:24]
+res[31:0] = absdiff1 + absdiff2 + absdiff3 + absdiff4
    
+      
    
+
+
    Function __USADA8
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __USADA8(uint32_t val1, uint32_t val2, uint32_t val3);
    
+      
    DescriptionThis function enables you to perform four unsigned 8-bit subtractions, and add the 
+          absolute values of the differences to a 32-bit accumulate operand.
+      
    Parameter
+        
      
+          
    • val1: first four 8-bit operands for the subtractions.
      • 
+          
    • val2: second four 8-bit operands for the subtractions.
      • 
+          
    • val3: accumulation value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the sum of the absolute differences of the following 
+            bytes, added to the accumulation value:
    
+         
      
+            
    • the subtraction of the first byte in the second operand from the first byte in the 
+                first operand.
      • 
+            
    • the subtraction of the second byte in the second operand from the second byte in 
+                the first operand.
      • 
+            
    • the subtraction of the third byte in the second operand from the third byte in the 
+                first operand.
      • 
+            
    • the subtraction of the fourth byte in the second operand from the fourth byte in 
+                the first operand.
      • 
+          
    
+      
    Operation
+        
    +absdiff1  = val1[7:0]   - val2[7:0]
+absdiff2  = val1[15:8]  - val2[15:8]
+absdiff3  = val1[23:16] - val2[23:16]
+absdiff4  = val1[31:24] - val2[31:24]
+sum       = absdiff1 + absdiff2 + absdiff3 + absdiff4
+res[31:0] = sum[31:0] + val3[31:0]
    
+      
    
+
+
    Function __SSAT16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SSAT16(uint32_t val1, const uint32_t val2);
    
+      
    DescriptionThis function enables you to saturate two signed 16-bit values to a selected signed range.
    
+          The Q bit is set if either operation saturates.
+      
    Parameter
+        
      
+          
    • val1: two signed 16-bit values to be saturated.
      • 
+          
    • val2: bit position for saturation, an integral constant expression in the
+              range 1 to 16.
      • 
+        
    
+      
    Return Value
+         
    The function returns:
    
+         
      
+            
    • the signed saturation of the low halfword in val1, saturated to the bit position 
+                specified in val2 and returned in the low halfword of the return value.
      • 
+            
    • the signed saturation of the high halfword in val1, saturated to the bit position 
+                specified in val2 and returned in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +Saturate halfwords in val1 to the signed range specified by the bit position in val2
    
+      
    
+
+
    Function __USAT16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __USAT16(uint32_t val1, const uint32_t val2);
    
+      
    DescriptionThis function enables you to saturate two signed 16-bit values to a selected unsigned 
+         range.
    
+         The Q bit is set if either operation saturates.
+      
    Parameter
+        
      
+          
    • val1: two 16-bit values that are to be saturated.
      • 
+          
    • val2: bit position for saturation, and must be an integral constant 
+           expression in the range 0 to 15.
      • 
+        
    
+      
    Return Value
+         
    The function returns the saturation of the two signed 16-bit values, as non-negative values.
    
+         
      
+            
    • the saturation of the low halfword in val1, saturated to the bit position 
+                specified in val2 and returned in the low halfword of the return value.
      • 
+            
    • the saturation of the high halfword in val1, saturated to the bit position 
+                specified in val2 and returned in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +Saturate halfwords in val1 to the unsigned range specified by the bit position in val2
    
+      
    
+
+
    Function __UXTB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UXTB16(uint32_t val);
    
+      
    DescriptionThis function enables you to extract two 8-bit values from an operand and zero-extend 
+          them to 16 bits each.
+      
    Parameter
+        
      
+          
    • val1: two 8-bit values in val[7:0] and val[23:16] to be sign-extended.
      • 
+        
    
+      
    Return Value
+         
    The function returns the 8-bit values zero-extended to 16-bit values.
    
+         
      
+            
    • zero-extended value of val[7:0] in the low halfword of the return value.
      • 
+            
    • zero-extended value of val[23:16] in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = ZeroExtended(val[7:0]  )
+res[31:16] = ZeroExtended(val[23:16])
    
+      
    
+
+
    Function __UXTAB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __UXTAB16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to extract two 8-bit values from one operand, zero-extend them 
+          to 16 bits each, and add the results to two 16-bit values from another operand.
+      
    Parameter
+        
      
+          
    • val1: value added to the zero-extended to 16-bit values.
      • 
+          
    • val2: two 8-bit values to be extracted and zero-extended.
      • 
+        
    
+      
    Return Value
+         
    The function returns the 8-bit values in val2, zero-extended to 16-bit values 
+            and added to val1.
    
+      
    Operation
+        
    +res[15:0]  = ZeroExt(val2[7:0]   to 16 bits) + val1[15:0]
+res[31:16] = ZeroExt(val2[31:16] to 16 bits) + val1[31:16]
    
+      
    
+
+
    Function __SXTB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SXTB16(uint32_t val);
    
+      
    DescriptionThis function enables you to extract two 8-bit values from an operand and sign-extend 
+          them to 16 bits each.
+      
    Parameter
+        
      
+          
    • val1: two 8-bit values in val[7:0] and val[23:16] to be sign-extended.
      • 
+        
    
+      
    Return Value
+         
    The function returns the 8-bit values sign-extended to 16-bit values.
    
+         
      
+            
    • sign-extended value of val[7:0] in the low halfword of the return value.
      • 
+            
    • sign-extended value of val[23:16] in the high halfword of the return value.
      • 
+          
    
+      
    Operation
+        
    +res[15:0]  = SignExtended(val[7:0]
+res[31:16] = SignExtended(val[23:16]
    
+      
    
+
+
    Function __SXTAB16
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SXTAB16(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to extract two 8-bit values from the second operand (at bit 
+          positions [7:0] and [23:16]), sign-extend them to 16-bits each, and add the results to the 
+          first operand.
+      
    Parameter
+        
      
+          
    • val1: values added to the zero-extended to 16-bit values.
      • 
+          
    • val2: two 8-bit values to be extracted and zero-extended.
      • 
+        
    
+      
    Return Value
+         
    The function returns the addition of val1 and val2, where the 8-bit values in 
+            val2[7:0] and val2[23:16] have been extracted and sign-extended prior to the addition.
    
+      
    Operation
+        
    +res[15:0]  = val1[15:0]  + SignExtended(val2[7:0])
+res[31:16] = val1[31:16] + SignExtended(val2[23:16])
    
+      
    
+
+
    Function __SMUAD
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SMUAD(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function It enables you to perform two 16-bit signed multiplications, adding the 
+          products together.
    
+          The Q bit is set if the addition overflows.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+        
    
+      
    Return Value
+         
    The function returns the sum of the products of the two 16-bit signed multiplications.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[15:0]
+p2 = val1[31:16] * val2[31:16]
+res[31:0] = p1 + p2
    
+      
    
+
+
    Function __SMUADX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SMUADX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit signed multiplications with exchanged
+          halfwords of the second operand, adding the products together.
    
+          The Q bit is set if the addition overflows.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+        
    
+      
    Return Value
+         
    The function returns the sum of the products of the two 16-bit signed multiplications with exchanged
+            halfwords of the second operand.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[31:16]
+p2 = val1[31:16] * val2[15:0]
+res[31:0] = p1 + p2
    
+      
    
+
+
    Function __SMLAD
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SMLAD(uint32_t val1, uint32_t val2, uint32_t val3);
    
+      
    DescriptionThis function enables you to perform two signed 16-bit multiplications, adding both 
+          results to a 32-bit accumulate operand.
    
+          The Q bit is set if the addition overflows. Overflow cannot occur during the multiplications.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+          
    • val2: accumulate value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the product of each multiplication added to the accumulate 
+            value, as a 32-bit integer.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[15:0]
+p2 = val1[31:16] * val2[31:16]
+res[31:0] = p1 + p2 + val3[31:0]
    
+      
    
+
+
    Function __SMLADX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SMLADX(uint32_t val1, uint32_t val2, uint32_t val3);
    
+      
    DescriptionThis function enables you to perform two signed 16-bit multiplications with exchanged
+          halfwords of the second operand, adding both results to a 32-bit accumulate operand.
    
+          The Q bit is set if the addition overflows. Overflow cannot occur during the multiplications.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+          
    • val2: accumulate value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the product of each multiplication with exchanged
+            halfwords of the second operand added to the accumulate value, as a 32-bit integer.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[31:16]
+p2 = val1[31:16] * val2[15:0]
+res[31:0] = p1 + p2 + val3[31:0]
    
+      
    
+
+
    Function __SMLALD
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint64_t __SMLALD(uint32_t val1, uint32_t val2, uint64_t val3);
    
+      
    DescriptionThis function enables you to perform two signed 16-bit multiplications, adding both 
+          results to a 64-bit accumulate operand. Overflow is only possible as a result of the 64-bit 
+          addition. This overflow is not detected if it occurs. Instead, the result wraps around 
+          modulo264.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+          
    • val2: accumulate value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the product of each multiplication added to the accumulate value.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[15:0]
+p2 = val1[31:16] * val2[31:16]
+sum = p1 + p2 + val3[63:32][31:0]
+res[63:32] = sum[63:32]
+res[31:0]  = sum[31:0]
    
+      
    
+
+
    Function __SMLALDX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +unsigned long long __SMLALDX(uint32_t val1, uint32_t val2, unsigned long long val3);
    
+      
    DescriptionThis function enables you to exchange the halfwords of the second operand, and perform 
+          two signed 16-bit multiplications, adding both results to a 64-bit accumulate operand. 
+          Overflow is only possible as a result of the 64-bit addition. This overflow is not detected 
+          if it occurs. Instead, the result wraps around modulo264.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+          
    • val2: accumulate value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the product of each multiplication added to the accumulate value.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[31:16]
+p2 = val1[31:16] * val2[15:0]
+sum = p1 + p2 + val3[63:32][31:0]
+res[63:32] = sum[63:32]
+res[31:0] = sum[31:0]
    
+      
    
+
+
    Function __SMUSD
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SMUSD(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit signed multiplications, taking the 
+          difference of the products by subtracting the high halfword product from the low 
+          halfword product.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+        
    
+      
    Return Value
+         
    The function returns the difference of the products of the two 16-bit signed multiplications.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[15:0]
+p2 = val1[31:16] * val2[31:16]
+res[31:0] = p1 - p2
    
+      
    
+
+
    Function __SMUSDX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SMUSDX(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to perform two 16-bit signed multiplications, subtracting one 
+          of the products from the other. The halfwords of the second operand are exchanged 
+          before performing the arithmetic. This produces top * bottom and bottom * top 
+          multiplication.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+        
    
+      
    Return Value
+         
    The function returns the difference of the products of the two 16-bit signed multiplications.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[31:16]
+p2 = val1[31:16] * val2[15:0]
+res[31:0] = p1 - p2
    
+      
    
+
+
    Function __SMLSD
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SMLSD(uint32_t val1, uint32_t val2, uint32_t val3);
    
+      
    DescriptionThis function enables you to perform two 16-bit signed multiplications, take the 
+          difference of the products, subtracting the high halfword product from the low halfword 
+          product, and add the difference to a 32-bit accumulate operand.
    
+          The Q bit is set if the accumulation overflows. Overflow cannot occur during the multiplications or the 
+          subtraction.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+          
    • val3: accumulate value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the difference of the product of each multiplication, added 
+            to the accumulate value.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[15:0]
+p2 = val1[31:16] * val2[31:16]
+res[31:0] = p1 - p2 + val3[31:0]
    
+      
    
+
+
    Function __SMLSDX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint32_t __SMLSDX(uint32_t val1, uint32_t val2, uint32_t val3);
    
+      
    DescriptionThis function enables you to exchange the halfwords in the second operand, then perform 
+          two 16-bit signed multiplications. The difference of the products is added to a 32-bit 
+          accumulate operand.
    
+          The Q bit is set if the addition overflows. Overflow cannot occur during the multiplications or the subtraction.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+          
    • val3: accumulate value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the difference of the product of each multiplication, added 
+            to the accumulate value.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[31:16]
+p2 = val1[31:16] * val2[15:0]
+res[31:0] = p1 - p2 + val3[31:0]
    
+      
    
+
+
    Function __SMLSLD
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +uint64_t __SMLSLD(uint32_t val1, uint32_t val2, uint64_t val3);
    
+      
    DescriptionThis function It enables you to perform two 16-bit signed multiplications, take the 
+          difference of the products, subtracting the high halfword product from the low halfword 
+          product, and add the difference to a 64-bit accumulate operand. Overflow cannot occur 
+          during the multiplications or the subtraction. Overflow can occur as a result of the 64-bit 
+          addition, and this overflow is not detected. Instead, the result wraps round to  
+          modulo264.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+          
    • val3: accumulate value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the difference of the product of each multiplication, 
+            added to the accumulate value.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[15:0]
+p2 = val1[31:16] * val2[31:16]
+res[63:0] = p1 - p2 + val3[63:0]
    
+      
    
+
+
    Function __SMLSLDX
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+  
+
    Summary
+        
    +unsigned long long __SMLSLDX(uint32_t val1, uint32_t val2, unsigned long long val3);
    
+      
    DescriptionThis function enables you to exchange the halfwords of the second operand, perform two 
+          16-bit multiplications, adding the difference of the products to a 64-bit accumulate 
+          operand. Overflow cannot occur during the multiplications or the subtraction. Overflow 
+          can occur as a result of the 64-bit addition, and this overflow is not detected. Instead, 
+          the result wraps round to modulo264.
+      
    Parameter
+        
      
+          
    • val1: first 16-bit operands for each multiplication.
      • 
+          
    • val2: second 16-bit operands for each multiplication.
      • 
+          
    • val3: accumulate value.
      • 
+        
    
+      
    Return Value
+         
    The function returns the difference of the product of each multiplication, 
+            added to the accumulate value.
    
+      
    Operation
+        
    +p1 = val1[15:0]  * val2[31:16]
+p2 = val1[31:16] * val2[15:0]
+res[63:0] = p1 - p2 + val3[63:0]
    
+      
    
+
+
+
    Function __SEL
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+  
+
    Summary
+        
    +uint32_t __SEL(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function inserts a SEL instruction into the instruction stream generated by the 
+          compiler. It enables you to select bytes from the input parameters, whereby the bytes 
+          that are selected depend upon the results of previous SIMD instruction function. The 
+          results of previous SIMD instruction function are represented by the Greater than or 
+          Equal flags in the Application Program Status Register (APSR).
+          The __SEL function works equally well on both halfword and byte operand function 
+          results. This is because halfword operand operations set two (duplicate) GE bits per 
+          value.
+      
    Parameter
+        
      
+          
    • val1: four selectable 8-bit values.
      • 
+          
    • val2: four selectable 8-bit values.
      • 
+        
    
+      
    Return Value
+         
    The function selects bytes from the input parameters and returns them in the 
+            return value, res, according to the following criteria:
    
+         
      
+            
    • if APSR.GE[0] == 1 then res[7:0] = val1[7:0] else res[7:0] = val2[7:0]
      • 
+            
    • if APSR.GE[1] == 1 then res[15:8] = val1[15:8] else res[15:8] = val2[15:8]
      • 
+            
    • if APSR.GE[2] == 1 then res[23:16] = val1[23:16] else res[23:16] = val2[23:16]
      • 
+            
    • if APSR.GE[3] == 1 then res[31;24] = val1[31:24] else res = val2[31:24]
      • 
+          
    
+      
    
+
+
    Function __QADD
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+  
+
    Summary
+        
    +uint32_t __QADD(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to obtain the saturating add of two integers.
    
+         The Q bit is set if the operation saturates.
+      
    Parameter
+        
      
+          
    • val1: first summand of the saturating add operation.
      • 
+          
    • val2: second summand of the saturating add operation.
      • 
+        
    
+      
    Return Value
+         
    The function returns the saturating addition of val1 and val2.
    
+      
    Operation
+        
    +res[31:0] = SAT(val1 + SAT(val2 * 2))
    
+      
    
+
+
    Function __QSUB
    
+
+  
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+    
+      
+      
+    
+
+  
+
    Summary
+        
    +uint32_t __QSUB(uint32_t val1, uint32_t val2);
    
+      
    DescriptionThis function enables you to obtain the saturating subtraction of two integers.
    
+         The Q bit is set if the operation saturates.
+      
    Parameter
+        
      
+          
    • val1: minuend of the saturating subtraction operation.
      • 
+          
    • val2: subtrahend of the saturating subtraction operation.
      • 
+        
    
+      
    Return Value
+         
    The function returns the saturating subtraction of val1 and val2.
    
+      
    Operation
+        
    +res[31:0] = SAT(val1 - SAT(val2 * 2))
    
+      
    
+
+
+
+
     
    
+
    Examples
    
+
    Following are some coding examples using the SIMD functions:
+
    
+
+
+  
+    
+      
+      
+    
+ 
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+    
+      
+      
+      
+    
+
+  
+
    NameDescription
    AdditionAdd two values using SIMD function
    SubtractionSubtract two values using SIMD function
    MultiplicationPerforming a multiplication using SIMD function
    
+
+
+
    Addition
    
+
+  
+    
+      
+      
+    
+  
+
    Example
+        
    +uint32_t add_halfwords(uint32_t val1, uint32_t val2)
+{
+   uint32_t res;
+   res = __SADD16(val1, val2);
+   return res;
+}
    
+      
    
+
+
    Subtraction
    
+
+  
+    
+      
+      
+    
+  
+
    Example
+        
    +uint32_t sub_halfwords(uint32_t val1, uint32_t val2)
+{
+  uint32_t res;
+  res = __SSUB16(val1, val2);
+  return res;
+}
    
+      
    
+
+
    Multiplication
    
+
+  
+    
+      
+      
+    
+  
+
    Example
+        
    +uint32_t dual_mul_add_products(uint32_t val1, uint32_t val2)
+{
+  uint32_t res;
+  res = __SMUAD(val1, val2);
+  return res;
+}
    
+      
    
+
+
+
+
\ No newline at end of file
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_Core.htm b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_Core.htm
new file mode 100644
index 000000000..aff81c9bc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_Core.htm
@@ -0,0 +1,1470 @@
+
+
+  
+  CMSIS: Cortex Microcontroller Software Interface Standard
+  
+  
+
+
    Cortex Microcontroller Software Interface Standard
    
+
+
    This file describes the Cortex Microcontroller Software Interface Standard (CMSIS).
    
+
    Version: 2.10 - July 2011
    
+
+
    Information in this file, the accompany manuals, and software is
    
+                 Copyright  ARM Ltd.
    All rights reserved.
+
    
+
+
    
+
+
    Revision History
    
+
      
+	
    • Version 1.00: initial release. 
      • 
+	
    • Version 1.01: added __LDREXx, __STREXx, and __CLREX.
      • 
+	
    • Version 1.02: added Cortex-M0. 
      • 
+	
    • Version 1.10: second review. 
      • 
+	
    • Version 1.20: third review. 
      • 
+	
    • Version 1.30 PRE-RELEASE: reworked Startup Concept, additional Debug Functionality.
      • 
+	
    • Version 1.30 2nd PRE-RELEASE: changed folder structure, added doxyGen comments, added Bit definitions.
      • 
+	
    • Version 1.30: updated Device Support Packages.
      • 
+	
    • Version 2.00: added Cortex-M4 support.
      • 
+	
    • Version 2.01: internal review.
      • 
+	
    • Version 2.02: updated Device Specific Defines
      • 
+	
    • Version 2.10: reworked core include files
      • 
+
    
+
+
    
+
+
    Contents
    
+
+
      
+  
    1. About
      2. 
+  
    2. Coding Rules and Conventions
      3. 
+  
    3. CMSIS Files
      4. 
+  
    4. Core Peripheral Access Layer
      5. 
+  
    5. CMSIS Example
      6. 
+  
    6. CMSIS MISRA-C:2004 Compliance Exceptions
      7. 
+
    
+
+
    About
    
+
+
    
+  The Cortex Microcontroller Software Interface Standard (CMSIS) answers the challenges
+  that are faced when software components are deployed to physical microcontroller devices based on a
+  Cortex-M0 or Cortex-M3 processor. The CMSIS will be also expanded to future Cortex-M 
+  processor cores (the term Cortex-M is used to indicate that). The CMSIS is defined in close co-operation
+  with various silicon and software vendors and provides a common approach to interface to peripherals, 
+  real-time operating systems, and middleware components.
+
    
+
+
    ARM provides as part of the CMSIS the following software layers that are
+available for various compiler implementations:
    
+
      
+  
    • Core Peripheral Access Layer: contains name definitions, 
+    address definitions and helper functions to
+    access core registers and peripherals. It defines also a device
+    independent interface for RTOS Kernels that includes debug channel
+    definitions.
      • 
+
    
+
+
    These software layers are expanded by Silicon partners with:
    
+
      
+  
    • Device Peripheral Access Layer: provides definitions
+    for all device peripherals
      • 
+  
    • Access Functions for Peripherals (optional): provides
+    additional helper functions for peripherals
      • 
+
    
+
+
    CMSIS defines for a Cortex-M Microcontroller System:
    
+
      
+  
    • A common way to access peripheral registers
+    and a common way to define exception vectors.
      • 
+  
    • The register names of the Core
+    Peripherals and the names of the Core
+    Exception Vectors.
      • 
+  
    • An device independent interface for RTOS Kernels including a debug
+    channel.
      • 
+
    
+
+
    
+  By using CMSIS compliant software components, the user can easier re-use template code. 
+  CMSIS is intended to enable the combination of software components from multiple middleware vendors.
+
    
+
+
    Coding Rules and Conventions
    
+
+
    
+  The following section describes the coding rules and conventions used in the CMSIS 
+  implementation. It contains also information about data types and version number information.
+
    
+
+
    Essentials
    
+
      
+  
    • The CMSIS C code conforms to MISRA 2004 rules. In case of MISRA violations, 
+      there are disable and enable sequences for PC-LINT inserted.
      • 
+  
    • ANSI standard data types defined in the ANSI C header file
+    <stdint.h> are used.
      • 
+  
    • #define constants that include expressions must be enclosed by
+    parenthesis.
      • 
+  
    • Variables and parameters have a complete data type.
      • 
+  
    • All functions in the Core Peripheral Access Layer are
+    re-entrant.
      • 
+  
    • The Core Peripheral Access Layer has no blocking code
+    (which means that wait/query loops are done at other software layers).
      • 
+  
    • For each exception/interrupt there is definition for:
+  
        
+    
      • an exception/interrupt handler with the postfix _Handler 
+	(for exceptions) or _IRQHandler (for interrupts).
        • 
+    
      • a default exception/interrupt handler (weak definition) that contains an endless loop.
        • 
+    
      • a #define of the interrupt number with the postfix _IRQn.
        • 
+  
      • 
+
    
+
+
    Recommendations
    
+
+
    The CMSIS recommends the following conventions for identifiers.
    
+
      
+  
    • CAPITAL names to identify Core Registers, Peripheral Registers, and CPU Instructions.
      • 
+  
    • CamelCase names to identify peripherals access functions and interrupts.
      • 
+  
    • PERIPHERAL_ prefix to identify functions that belong to specify peripherals.
      • 
+  
    • Doxygen comments for all functions are included as described under Function Comments below.
      • 
+
    
+
+Comments
+
+
      
+  
    • Comments use the ANSI C90 style (/* comment */) or C++ style 
+  (// comment). It is assumed that the programming tools support today 
+	consistently the C++ comment style.
      • 
+  
    • Function Comments provide for each function the following information:
+  
        
+    
      • one-line brief function overview.
        • 
+    
      • detailed parameter explanation.
        • 
+    
      • detailed information about return values.
        • 
+    
      • detailed description of the actual function.
        • 
+  
      
+  
      Doxygen Example:
      
+  
      +/** 
+ * @brief  Enable Interrupt in NVIC Interrupt Controller
+ * @param  IRQn  interrupt number that specifies the interrupt
+ * @return none.
+ * Enable the specified interrupt in the NVIC Interrupt Controller.
+ * Other settings of the interrupt such as priority are not affected.
+ */
      
+  
      • 
+
    
+
+
    Data Types and IO Type Qualifiers
    
+
+
    
+  The Cortex-M HAL uses the standard types from the standard ANSI C header file
+  <stdint.h>. IO Type Qualifiers are used to specify the access
+  to peripheral variables. IO Type Qualifiers are indented to be used for automatic generation of 
+  debug information of peripheral registers.
+
    
+
+
+  
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+  
+
    IO Type Qualifier#defineDescription
    __Ivolatile constRead access only
    __OvolatileWrite access only
    __IOvolatileRead and write access
    
+
+
    CMSIS Version Number
    
+
    
+  File core_cm4.h contains the version number of the CMSIS with the following define:
+
    
+
+
    +#define __CM4_CMSIS_VERSION_MAIN  (0x02)      /* [31:16] main version       */
+#define __CM4_CMSIS_VERSION_SUB   (0x10)      /* [15:0]  sub version        */
+#define __CM4_CMSIS_VERSION       ((__CM4_CMSIS_VERSION_MAIN << 16) | __CM4_CMSIS_VERSION_SUB)
    
+
+
    
+  File core_cm3.h contains the version number of the CMSIS with the following define:
+
    
+
+
    +#define __CM3_CMSIS_VERSION_MAIN  (0x02)      /* [31:16] main version       */
+#define __CM3_CMSIS_VERSION_SUB   (0x10)      /* [15:0]  sub version        */
+#define __CM3_CMSIS_VERSION       ((__CM3_CMSIS_VERSION_MAIN << 16) | __CM3_CMSIS_VERSION_SUB)
    
+
+
    
+  File core_cm0.h contains the version number of the CMSIS with the following define:
+
    
+
+
    +#define __CM0_CMSIS_VERSION_MAIN  (0x02)      /* [31:16] main version       */
+#define __CM0_CMSIS_VERSION_SUB   (0x10)      /* [15:0]  sub version        */
+#define __CM0_CMSIS_VERSION       ((__CM0_CMSIS_VERSION_MAIN << 16) | __CM0_CMSIS_VERSION_SUB)
    
+
+
+
    CMSIS Cortex Core
    
+
    
+  File core_cm4.h contains the type of the CMSIS Cortex-M with the following define:
+
    
+
+
    +#define __CORTEX_M                (0x04)
    
+
+
    
+  File core_cm3.h contains the type of the CMSIS Cortex-M with the following define:
+
    
+
+
    +#define __CORTEX_M                (0x03)
    
+
+
    
+  File core_cm0.h contains the type of the CMSIS Cortex-M with the following define:
+
    
+
+
    +#define __CORTEX_M                (0x00)
    
+
+
+
    CMSIS Files
    
+
    
+  This section describes the Files provided in context with the CMSIS to access the Cortex-M
+  hardware and peripherals.
+
    
+
+
+  
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+  
+
    FileProviderDescription
    device.hDevice specific (provided by silicon partner)Defines the peripherals for the actual device. The file may use 
+        several other include files to define the peripherals of the actual device.
    core_cm0.hARM (for RealView ARMCC, IAR, and GNU GCC)Defines the core peripherals for the Cortex-M0 CPU and core peripherals.
    core_cm3.hARM (for RealView ARMCC, IAR, and GNU GCC)Defines the core peripherals for the Cortex-M3 CPU and core peripherals.
    core_cm4.hARM (for RealView ARMCC, IAR, and GNU GCC)Defines the core peripherals for the Cortex-M4 CPU and core peripherals.
    core_cm4_simd.hARM (for RealView ARMCC, IAR, and GNU GCC)Defines the Cortex-M4 Core SIMD functions.
    core_cmFunc.hARM (for RealView ARMCC, IAR, and GNU GCC)Defines the Cortex-M Core Register access functions.
    core_cmInstr.hARM (for RealView ARMCC, IAR, and GNU GCC)Defines the Cortex-M Core instructions.
    startup_deviceARM (adapted by compiler partner / silicon partner)Provides the Cortex-M startup code and the complete (device specific) Interrupt Vector Table
    system_deviceARM (adapted by silicon partner)Provides a device specific configuration file for the device. It configures the device initializes 
+        typically the oscillator (PLL) that is part of the microcontroller device
    
+
+
    device.h
    
+
+
    
+  The file device.h is provided by the silicon vendor and is the 
+  central include file that the application programmer is using in 
+  the C source code. This file contains:
+
    
+
      
+  
    • 
+	
      Interrupt Number Definition: provides interrupt numbers 
+	(IRQn) for all core and device specific exceptions and interrupts.
      
+	
      • 
+	
    • 
+	
      Configuration for core_cm0.h / core_cm3.h / core_cm4.h: reflects the 
+	actual configuration of the Cortex-M processor that is part of the actual 
+	device. As such the file core_cm0.h / core_cm3.h / core_cm4.h is included that 
+	implements access to processor registers and core peripherals. 
      
+	
      • 
+	
    • 
+	
      Device Peripheral Access Layer: provides definitions
+    for all device peripherals. It contains all data structures and the address 
+	mapping for the device specific peripherals. 
      
+	
      • 
+  
    • Access Functions for Peripherals (optional): provides
+    additional helper functions for peripherals that are useful for programming 
+	of these peripherals. Access Functions may be provided as inline functions 
+	or can be extern references to a device specific library provided by the 
+	silicon vendor.
      • 
+
    
+
+
+
    Interrupt Number Definition
    
+
+
    To access the device specific interrupts the device.h file defines IRQn 
+numbers for the complete device using a enum typedef as shown below:
    
+
    +typedef enum IRQn
+{
+/******  Cortex-M3 Processor Exceptions/Interrupt Numbers ************************************************/
+  NonMaskableInt_IRQn             = -14,      /*!< 2 Non Maskable Interrupt                              */
+  HardFault_IRQn                  = -13,      /*!< 3 Cortex-M3 Hard Fault Interrupt                      */
+  MemoryManagement_IRQn           = -12,      /*!< 4 Cortex-M3 Memory Management Interrupt               */
+  BusFault_IRQn                   = -11,      /*!< 5 Cortex-M3 Bus Fault Interrupt                       */
+  UsageFault_IRQn                 = -10,      /*!< 6 Cortex-M3 Usage Fault Interrupt                     */
+  SVCall_IRQn                     = -5,       /*!< 11 Cortex-M3 SV Call Interrupt                        */
+  DebugMonitor_IRQn               = -4,       /*!< 12 Cortex-M3 Debug Monitor Interrupt                  */
+  PendSV_IRQn                     = -2,       /*!< 14 Cortex-M3 Pend SV Interrupt                        */
+  SysTick_IRQn                    = -1,       /*!< 15 Cortex-M3 System Tick Interrupt                    */
+/******  STM32 specific Interrupt Numbers ****************************************************************/
+  WWDG_STM_IRQn                   = 0,        /*!< Window WatchDog Interrupt                             */
+  PVD_STM_IRQn                    = 1,        /*!< PVD through EXTI Line detection Interrupt             */
+  :
+  :
+  } IRQn_Type;
    
+
+
+
    Device Specific Defines
    
+
    
+  The following device implementation specific defines are set in the device header file and are 
+  used for the Cortex-M core configuration options. Some configuration options are reflected 
+  in the CMSIS layer using the #define settings described below.
+
    
+
    
+  Several features in core_cm#.h are configured by the following defines 
+  that must be defined before #include <core_cm#.h>
+  preprocessor command.
+
    
+
+
+  
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+  
+
    #defineCoreValueDescription
    __CM0_REVM00x0000Core revision number ([15:8] revision number, [7:0] patch number)
    __CM3_REVM30x0101 | 0x0200Core revision number ([15:8] revision number, [7:0] patch number)
    __CM4_REVM40x0000Core revision number ([15:8] revision number, [7:0] patch number)
    __NVIC_PRIO_BITSM0, M3, M42 .. 8Number of priority bits implemented in the NVIC (device specific)
    __MPU_PRESENTM0, M3, M40 | 1Defines if a MPU is present or not
    __FPU_PRESENTM40 | 1Defines if a FPU is present or not
    __Vendor_SysTickConfigM0, M3, M40 | 1When this define is setup to 1, the SysTickConfig function 
+		in core_cm3.h is excluded. In this case the device.h 
+		file must contain a vendor specific implementation of this function.
    
+
+
+
    Device Peripheral Access Layer
    
+
    
+  Each peripheral uses a prefix which consists of <device abbreviation>_ 
+  and <peripheral name>_ to identify peripheral registers that access this 
+  specific peripheral. The intention of this is to avoid name collisions caused
+  due to short names. If more than one peripheral of the same type exists, 
+  identifiers have a postfix (digit or letter). For example:
+
    
+
      
+	
    • <device abbreviation>_UART_Type: defines the generic register layout for all UART channels in a device.
+      
      +typedef struct
+{
+  union {
+  __I  uint8_t  RBR;                     /*!< Offset: 0x000 (R/ )  Receiver Buffer Register    */
+  __O  uint8_t  THR;                     /*!< Offset: 0x000 ( /W)  Transmit Holding Register   */
+  __IO uint8_t  DLL;                     /*!< Offset: 0x000 (R/W)  Divisor Latch LSB           */
+       uint32_t RESERVED0;
+  };
+  union {
+  __IO uint8_t  DLM;                     /*!< Offset: 0x004 (R/W)  Divisor Latch MSB           */
+  __IO uint32_t IER;                     /*!< Offset: 0x004 (R/W)  Interrupt Enable Register   */
+  };
+  union {
+  __I  uint32_t IIR;                     /*!< Offset: 0x008 (R/ )  Interrupt ID Register       */
+  __O  uint8_t  FCR;                     /*!< Offset: 0x008 ( /W)  FIFO Control Register       */
+  };
+  __IO uint8_t  LCR;                     /*!< Offset: 0x00C (R/W)  Line Control Register       */
+       uint8_t  RESERVED1[7];
+  __I  uint8_t  LSR;                     /*!< Offset: 0x014 (R/ )  Line Status Register        */
+       uint8_t  RESERVED2[7];
+  __IO uint8_t  SCR;                     /*!< Offset: 0x01C (R/W)  Scratch Pad Register        */
+       uint8_t  RESERVED3[3];
+  __IO uint32_t ACR;                     /*!< Offset: 0x020 (R/W)  Autobaud Control Register   */
+  __IO uint8_t  ICR;                     /*!< Offset: 0x024 (R/W)  IrDA Control Register       */
+       uint8_t  RESERVED4[3];
+  __IO uint8_t  FDR;                     /*!< Offset: 0x028 (R/W)  Fractional Divider Register */
+       uint8_t  RESERVED5[7];
+  __IO uint8_t  TER;                     /*!< Offset: 0x030 (R/W)  Transmit Enable Register    */
+       uint8_t  RESERVED6[39];
+  __I  uint8_t  FIFOLVL;                 /*!< Offset: 0x058 (R/ )  FIFO Level Register         */
+} LPC_UART_TypeDef;
      
+  
      • 
+	
    • <device abbreviation>_UART1: is a pointer to a register structure that refers to a specific UART. 
+      For example UART1->THR is the transmit holding register of UART1.
+      
      +#define LPC_UART2             ((LPC_UART_TypeDef      *) LPC_UART2_BASE    )
+#define LPC_UART3             ((LPC_UART_TypeDef      *) LPC_UART3_BASE    )
      
+  
      • 
+
    
+
+
    Minimal Requiements
    
+
    
+  To access the peripheral registers and related function in a device the files device.h 
+  and core_cm0.h / core_cm3.h defines as a minimum:
+
    
+
      
+  
    • The Register Layout Typedef for each peripheral that defines all register names.
+      Names that start with RESERVE are used to introduce space into the structure to adjust the addresses of
+      the peripheral registers. For example:
+      
      +typedef struct
+{
+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
+  __IO uint32_t LOAD;                    /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register       */
+  __IO uint32_t VAL;                     /*!< Offset: 0x008 (R/W)  SysTick Current Value Register      */
+  __I  uint32_t CALIB;                   /*!< Offset: 0x00C (R/ )  SysTick Calibration Register        */
+} SysTick_Type;
      
+  
      • 
+
+  
    • 
+    Base Address for each peripheral (in case of multiple peripherals 
+    that use the same register layout typedef multiple base addresses are defined). For example:
+    
      +#define SysTick_BASE (SCS_BASE + 0x0010)            /* SysTick Base Address */
      
+  
      • 
+
+  
    • 
+    Access Definition for each peripheral (in case of multiple peripherals that use 
+    the same register layout typedef multiple access definitions exist, i.e. LPC_UART0, 
+    LPC_UART2). For Example:
+    
      +#define SysTick ((SysTick_Type *) SysTick_BASE)     /* SysTick access definition */
      
+  
      • 
+
    
+
+
    
+  These definitions allow to access the peripheral registers from user code with simple assignments like:
+
    
+
    SysTick->CTRL = 0;
    
+
+
    Optional Features
    
+
    In addition the  device.h file may define:
    
+
      
+	
    • 
+    #define constants that simplify access to the peripheral registers. 
+	  These constant define bit-positions or other specific patterns are that required for the 
+    programming of the peripheral registers. The identifiers used start with 
+    <device abbreviation>_ and <peripheral name>_. 
+    It is recommended to use CAPITAL letters for such #define constants.
+  
      • 
+	
    • 
+    Functions that perform more complex functions with the peripheral (i.e. status query before 
+    a sending register is accessed). Again these function start with 
+    <device abbreviation>_ and <peripheral name>_. 
+  
      • 
+
    
+
+
    core_cm0.h
    
+
    
+  File core_cm0.h describes the data structures for the Cortex-M0 core peripherals and does 
+  the address mapping of this structures. It also provides basic access to the Cortex-M0 core registers 
+  and core peripherals with efficient functions (defined as static inline).
+
    
+
    This file implement the Core Peripheral Access Layer for a Cortex-M0.
    
+
    The define  __CMSIS_GENERIC allows to use core_cm0.h in generic 
+   library projects that are device independent. Only core relevant types and defines are used.
    
+
+
    core_cm3.h
    
+
    
+  File core_cm3.h describes the data structures for the Cortex-M3 core peripherals and does 
+  the address mapping of this structures. It also provides basic access to the Cortex-M3 core registers 
+  and core peripherals with efficient functions (defined as static inline).
+
    
+
    This file implement the Core Peripheral Access Layer for a Cortex-M3.
    
+
    The define  __CMSIS_GENERIC allows to use core_cm3.h in generic 
+   library projects that are device independent. Only core relevant types and defines are used.
    
+
+
    core_cm4.h, core_cm4_simd.h
    
+
    
+  File core_cm4.h describes the data structures for the Cortex-M4 core peripherals and does 
+  the address mapping of this structures. It also provides basic access to the Cortex-M4 core registers 
+  and core peripherals with efficient functions (defined as static inline).
+
    
+
    
+  File core_cm4_simd.h defines Cortex-M4 SIMD instructions.
+
    
+
    Together these files implement the Core Peripheral Access Layer for a Cortex-M4.
    
+
    The define  __CMSIS_GENERIC allows to use core_cm4.h in generic 
+   library projects that are device independent. Only core relevant types and defines are used.
    
+
+
    core_cmFunc.h and core_cmInstr.h
    
+
    
+  File core_cmFunc.h defines the Cortex-M Core Register access functions (defined as static inline).
+
    
+
    
+  File core_cmInstr.h defines the Cortex-M Core instructions (defined as static inline).
+
    
+
    These files are part of the Core Peripheral Access Layer for a Cortex-M.
    
+
+
    startup_device
    
+
    
+  A template file for startup_device is provided by ARM for each supported
+  compiler. It is adapted by the silicon vendor to include interrupt vectors for all device specific 
+  interrupt handlers. Each interrupt handler is defined as weak function 
+  to an dummy handler. Therefore the interrupt handler can be directly used in application software 
+  without any requirements to adapt the startup_device file.
+
    
+
    
+  The following exception names are fixed and define the start of the vector table for a Cortex-M0:
+
    
+
    +__Vectors       DCD     __initial_sp              ; Top of Stack
+                DCD     Reset_Handler             ; Reset Handler
+                DCD     NMI_Handler               ; NMI Handler
+                DCD     HardFault_Handler         ; Hard Fault Handler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     SVC_Handler               ; SVCall Handler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     PendSV_Handler            ; PendSV Handler
+                DCD     SysTick_Handler           ; SysTick Handler
    
+
+
    
+  The following exception names are fixed and define the start of the vector table for a Cortex-M3:
+
    
+
    +__Vectors       DCD     __initial_sp              ; Top of Stack
+                DCD     Reset_Handler             ; Reset Handler
+                DCD     NMI_Handler               ; NMI Handler
+                DCD     HardFault_Handler         ; Hard Fault Handler
+                DCD     MemManage_Handler         ; MPU Fault Handler
+                DCD     BusFault_Handler          ; Bus Fault Handler
+                DCD     UsageFault_Handler        ; Usage Fault Handler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     SVC_Handler               ; SVCall Handler
+                DCD     DebugMon_Handler          ; Debug Monitor Handler
+                DCD     0                         ; Reserved
+                DCD     PendSV_Handler            ; PendSV Handler
+                DCD     SysTick_Handler           ; SysTick Handler
    
+
+
    
+  In the following examples for device specific interrupts are shown:
+
    
+
    +; External Interrupts
+                DCD     WWDG_IRQHandler           ; Window Watchdog
+                DCD     PVD_IRQHandler            ; PVD through EXTI Line detect
+                DCD     TAMPER_IRQHandler         ; Tamper
    
+
+
    
+  Device specific interrupts must have a dummy function that can be overwritten in user code. 
+  Below is an example for this dummy function.
+
    
+
    +Default_Handler PROC
+                EXPORT WWDG_IRQHandler   [WEAK]
+                EXPORT PVD_IRQHandler    [WEAK]
+                EXPORT TAMPER_IRQHandler [WEAK]
+                :
+                :
+                WWDG_IRQHandler
+                PVD_IRQHandler
+                TAMPER_IRQHandler
+                :
+                :
+                B .
+                ENDP
    
+                
+
    
+  The user application may simply define an interrupt handler function by using the handler name
+  as shown below.
+
    
+
    +void WWDG_IRQHandler(void)
+{
+  :
+  :
+}
    
+
+
+
    system_device.c
    
+
    
+  A template file for system_device.c is provided by ARM but adapted by 
+  the silicon vendor to match their actual device. As a minimum requirement 
+  this file must provide a device specific system configuration function and a global variable 
+  that contains the system frequency. It configures the device and initializes typically the 
+  oscillator (PLL) that is part of the microcontroller device.
+
    
+
    
+  The file system_device.c must provide
+  as a minimum requirement the SystemInit function as shown below.
+
    
+
+
+  
+    
+      
+      
+    
+    
+      
+      
+    
+    
+      
+      
+    
+  
+
    Function DefinitionDescription
    void SystemInit (void)Setup the microcontroller system. Typically this function configures the 
+                     oscillator (PLL) that is part of the microcontroller device. For systems 
+                     with variable clock speed it also updates the variable SystemCoreClock.
    
+                     SystemInit is called from startup_device file.
    void SystemCoreClockUpdate (void)Updates the variable SystemCoreClock and must be called whenever the 
+                     core clock is changed during program execution. SystemCoreClockUpdate()
+                     evaluates the clock register settings and calculates the current core clock.
+
    
+
+
    
+  Also part of the file system_device.c 
+  is the variable SystemCoreClock which contains the current CPU clock speed shown below.
+
    
+
+
+  
+    
+      
+      
+    
+    
+      
+      
+    
+  
+
    Variable DefinitionDescription
    uint32_t SystemCoreClockContains the system core clock (which is the system clock	frequency supplied 
+                     to the SysTick timer and the processor core clock). This variable can be 
+                     used by the user application to setup the SysTick timer or configure other 
+                     parameters. It may also be used by debugger to query the frequency of the 
+                     debug timer or configure the trace clock speed.
    
+                     SystemCoreClock is initialized with a correct predefined value.

    
+		                 The compiler must be configured to avoid the removal of this variable in 
+		                 case that the application program is not using it. It is important for 
+		                 debug systems that the variable is physically present in memory so that 
+		                 it can be examined to configure the debugger.
    
+
+
    Note
    
+
      
+  
    • The above definitions are the minimum requirements for the file 
+	system_device.c. This 
+	file may export more functions or variables that provide a more flexible 
+	configuration of the microcontroller system.
      
+  
      • 
+
    
+
+
+
    Core Peripheral Access Layer
    
+
+
    Cortex-M Core Register Access
    
+
    
+  The following functions are defined in core_cm0.h / core_cm3.h
+  and provide access to Cortex-M core registers.
+
    
+
+
+  
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+  
+
    Function DefinitionCoreCore RegisterDescription
    void __enable_irq (void)M0, M3, M4PRIMASK = 0Global Interrupt enable (using the instruction CPSIE	i)
    void __disable_irq (void)M0, M3, M4PRIMASK = 1Global Interrupt disable (using the instruction CPSID i)
    uint32_t __get_CONTROL (void)M0, M3, M4return CONTROLReturn Control Register Value (using the instruction MRS)
    void __set_CONTROL (uint32_t value)M0, M3, M4CONTROL = valueSet CONTROL register value (using the instruction MSR)
    uint32_t __get_IPSR (void)M0, M3, M4return IPSRReturn IPSR Register Value (using the instruction MRS)
    uint32_t __get_APSR (void)M0, M3, M4return APSRReturn APSR Register Value (using the instruction MRS)
    uint32_t __get_xPSR (void)M0, M3, M4return xPSRReturn xPSR Register Value (using the instruction MRS)
    uint32_t __get_PSP (void)M0, M3, M4return PSPReturn Process Stack Pointer (using the instruction MRS)
    void __set_PSP (uint32_t TopOfProcStack)>M0, M3, M4PSP = TopOfProcStackSet Process Stack Pointer value (using the instruction MSR)
    uint32_t __get_MSP (void)M0, M3, M4return MSPReturn Main Stack Pointer (using the instruction MRS)
    void __set_MSP (uint32_t TopOfMainStack)M0, M3, M4MSP = TopOfMainStackSet Main Stack Pointer (using the instruction MSR)
    uint32_t __get_PRIMASK (void)M0, M3, M4return PRIMASKReturn Priority Mask Register (using the instruction MRS)
    void __set_PRIMASK (uint32_t value)M0, M3, M4PRIMASK = valueAssign value to Priority Mask Register (using the instruction MSR)
    void __enable_fault_irq (void)M3, M4FAULTMASK = 0Global Fault exception and Interrupt enable (using the instruction CPSIE f)
    void __disable_fault_irq (void)M3, M4FAULTMASK = 1Global Fault exception and Interrupt disable (using the instruction CPSID f)
    uint32_t __get_BASEPRI (void)M3, M4return BASEPRIReturn Base Priority (using the instruction MRS)
    void __set_BASEPRI (uint32_t value)M3, M4BASEPRI = valueSet Base Priority (using the instruction MSR)
    uint32_t __get_FAULTMASK (void)M3, M4return FAULTMASKReturn Fault Mask Register (using the instruction MRS)
    void __set_FAULTMASK (uint32_t value)M3, M4FAULTMASK = valueAssign value to Fault Mask Register (using the instruction MSR)
    uint32_t __get_FPSCR (void)M4return FPSCRReturn Floating Point Status / Control Register
    void __set_FPSCR (uint32_t value)M4FPSCR = valueAssign value to Floating Point Status / Control Register
    
+
+
    Cortex-M Instruction Access
    
+
    
+  The following functions are defined in core_cm0.h / core_cm3.hand
+  generate specific Cortex-M instructions. The functions are implemented in the file 
+  core_cm0.c / core_cm3.c.
+
    
+
+
+  
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
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+      
+    
+    
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+    
+    
+      
+      
+      
+      
+    
+    
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+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+  
+
    NameCoreGenerated CPU InstructionDescription
    void __NOP (void)M0, M3, M4NOPNo Operation
    void __WFI (void)M0, M3, M4WFIWait for Interrupt
    void __WFE (void)M0, M3, M4WFEWait for Event
    void __SEV (void)M0, M3, M4SEVSet Event
    void __ISB (void)M0, M3, M4ISBInstruction Synchronization Barrier
    void __DSB (void)M0, M3, M4DSBData Synchronization Barrier
    void __DMB (void)M0, M3, M4DMBData Memory Barrier
    uint32_t __REV (uint32_t value)M0, M3, M4REVReverse byte order in integer value.
    uint32_t __REV16 (uint16_t value)M0, M3, M4REV16Reverse byte order in unsigned short value. 
    sint32_t __REVSH (sint16_t value)M0, M3, M4REVSHReverse byte order in signed short value with sign extension to integer.
    uint32_t __RBIT (uint32_t value)M3, M4RBITReverse bit order of value
    uint8_t __LDREXB (uint8_t *addr)M3, M4LDREXBLoad exclusive byte
    uint16_t __LDREXH (uint16_t *addr)M3, M4LDREXHLoad exclusive half-word
    uint32_t __LDREXW (uint32_t *addr)M3, M4LDREXWLoad exclusive word
    uint8_t __STREXB (uint8_t value, uint8_t *addr)M3, M4STREXBStore exclusive byte
    uint16_t __STREXH (uint16_t value, uint16_t *addr)M3, M4STREXHStore exclusive half-word
    uint32_t __STREXW (uint32_t value, uint32_t *addr)M3, M4STREXWStore exclusive word
    void  __CLREX (void)M3, M4CLREXRemove the exclusive lock created by __LDREXB, __LDREXH, or __LDREXW
    void  __SSAT (void)M3, M4SSATsaturate a signed value
    void  __USAT (void)M3, M4USATsaturate an unsigned value
    
+
+
+
    NVIC Access Functions
    
+
    
+  The CMSIS provides access to the NVIC via the register interface structure and several helper
+  functions that simplify the setup of the NVIC. The CMSIS HAL uses IRQ numbers (IRQn) to 
+  identify the interrupts. The first device interrupt has the IRQn value 0. Therefore negative 
+  IRQn values are used for processor core exceptions.
+
    
+
    
+  For the IRQn values of core exceptions the file device.h provides 
+  the following enum names.
+
    
+
+
+  
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+  
+
    Core Exception enum ValueCoreIRQnDescription
    NonMaskableInt_IRQnM0, M3, M4-14Cortex-M Non Maskable Interrupt
    HardFault_IRQnM0, M3, M4-13Cortex-M Hard Fault Interrupt
    MemoryManagement_IRQnM3, M4-12Cortex-M Memory Management Interrupt
    BusFault_IRQnM3, M4-11Cortex-M Bus Fault Interrupt
    UsageFault_IRQnM3, M4-10Cortex-M Usage Fault Interrupt
    SVCall_IRQnM0, M3, M4-5Cortex-M SV Call Interrupt 
    DebugMonitor_IRQnM3, M4-4Cortex-M Debug Monitor Interrupt
    PendSV_IRQnM0, M3, M4-2Cortex-M Pend SV Interrupt
    SysTick_IRQnM0, M3, M4-1Cortex-M System Tick Interrupt
    
+
+
    The following functions simplify the setup of the NVIC.
+The functions are defined as static inline.
    
+
+
+  
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+    
+
+      
+      
+      
+      
+    
+
+      
+      
+      
+      
+    
+    
+      
+      
+      
+      
+    
+  
+
    NameCoreParameterDescription
    void NVIC_SetPriorityGrouping (uint32_t PriorityGroup)M3, M4Priority Grouping ValueSet the Priority Grouping (Groups . Subgroups)
    uint32_t NVIC_GetPriorityGrouping (void)M3, M4(void)Get the Priority Grouping (Groups . Subgroups)
    void NVIC_EnableIRQ (IRQn_Type IRQn)M0, M3, M4IRQ NumberEnable IRQn
    void NVIC_DisableIRQ (IRQn_Type IRQn)M0, M3, M4IRQ NumberDisable IRQn
    uint32_t NVIC_GetPendingIRQ (IRQn_Type IRQn)M0, M3, M4IRQ NumberReturn 1 if IRQn is pending else 0
    void NVIC_SetPendingIRQ (IRQn_Type IRQn)M0, M3, M4IRQ NumberSet IRQn Pending
    void NVIC_ClearPendingIRQ (IRQn_Type IRQn)M0, M3, M4IRQ NumberClear IRQn Pending Status
    uint32_t NVIC_GetActive (IRQn_Type IRQn)M3, M4IRQ NumberReturn 1 if IRQn is active else 0
    void NVIC_SetPriority (
    
+	    IRQn_Type IRQn,
    
+	    uint32_t priority)    		M0, M3, M4IRQ Number, PrioritySet Priority for IRQn
    
+                     (not threadsafe for Cortex-M0)
    uint32_t NVIC_GetPriority (IRQn_Type IRQn)M0, M3, M4IRQ NumberGet Priority for IRQn
    uint32_t NVIC_EncodePriority (
    
+	    uint32_t PriorityGroup,
    
+	    uint32_t PreemptPriority,
    
+	    uint32_t SubPriority)    		M3, M4IRQ Number,
    
+	  Priority Group,
    
+	  Preemptive Priority,
    
+	  Sub Priority    		Encode priority for given group, preemptive and sub priority
    void NVIC_DecodePriority (
    
+	    uint32_t Priority,
     
+	    uint32_t PriorityGroup,
     
+	    uint32_t* pPreemptPriority,
     
+	    uint32_t* pSubPriority)    		M3, M4
    
+	  Priority,
    
+	  Priority Group,
    
+	  pointer to Preempt. Priority,
    
+	  pointer to Sub Priority    		Decode given priority to group, preemptive and sub priority
    void NVIC_SystemReset (void)M0, M3, M4(void)Resets the System
    
+
    Note
    
+
      
+  
    • The processor exceptions have negative enum values. Device specific interrupts 
+         have positive enum values and start with 0. The values are defined in
+         device.h file.
+      
      
+  
      • 
+  
    • The values for PreemptPriority and SubPriority
+         used in functions NVIC_EncodePriority and NVIC_DecodePriority
+         depend on the available __NVIC_PRIO_BITS implemented in the NVIC.
+      
      
+  
      • 
+
    
+
+
+
    SysTick Configuration Function
    
+
+
    The following function is used to configure the SysTick timer and start the 
+SysTick interrupt.
    
+
+
+  
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+  
+
    NameParameterDescription
    uint32_t SysTickConfig (uint32_t ticks)ticks is SysTick counter reload valueSetup the SysTick timer and enable the SysTick interrupt. After this 
+        call the SysTick timer creates interrupts with the specified time interval.

    
+        Return: 0 when successful, 1 on failure.
    
+      
    
+
+
+
    Cortex-M3 / Cortex-M4 ITM Debug Access
    
+
+
    The Cortex-M3 / Cortex-M4 incorporates the Instrumented Trace Macrocell (ITM) that 
+provides together with the Serial Viewer Output trace capabilities for the 
+microcontroller system. The ITM has 32 communication channels; two ITM 
+communication channels are used by CMSIS to output the following information:
    
+
      
+  
    • ITM Channel 0: implements the ITM_SendChar function 
+      which can be used for printf-style output via the debug interface.
      • 
+  
    • ITM Channel 31: is reserved for the RTOS kernel and can be used for 
+      kernel awareness debugging.
      • 
+
    
+
    Note
    
+
      
+  
    • The ITM channel 31 is selected for the RTOS kernel since some kernels 
+      may use the Privileged level for program execution. ITM 
+      channels have 4 groups with 8 channels each, whereby each group can be 
+      configured for access rights in the Unprivileged level. The ITM channel 0 
+      may be therefore enabled for the user task whereas ITM channel 31 may be 
+      accessible only in Privileged level from the RTOS kernel itself.
      
+  
      • 
+
    
+
+
    The prototype of the ITM_SendChar routine is shown in the 
+table below.
    
+
+
+  
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+  
+
    NameParameterDescription
    void uint32_t ITM_SendChar(uint32_t chr)character to outputThe function outputs a character via the ITM channel 0. The 
+                     function returns when no debugger is connected that has booked the 
+                     output. It is blocking when a debugger is connected, but the 
+                     previous character send is not transmitted.

    
+                     Return: the input character 'chr'.
+      
    
+
+
    
+  Example for the usage of the ITM Channel 31 for RTOS Kernels:
+
    
+
    +  // check if debugger connected and ITM channel enabled for tracing
+  if ((CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA) &&
+  (ITM->TCR & ITM_TCR_ITMENA) &&
+  (ITM->TER & (1UL << 31))) {
+    // transmit trace data
+    while (ITM->PORT31_U32 == 0);
+    ITM->PORT[31].u8 = task_id;      // id of next task
+    while (ITM->PORT[31].u32 == 0);
+    ITM->PORT[31].u32 = task_status; // status information
+  }
    
+
+
+
    Cortex-M3 additional Debug Access
    
+
+
    CMSIS provides additional debug functions to enlarge the Cortex-M3 Debug Access.
+Data can be transmitted via a certain global buffer variable towards the target system.
    
+
+
    The buffer variable and the prototypes of the additional functions are shown in the 
+table below.
    
+
+
+  
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+    
+      
+      
+      
+    
+  
+
    NameParameterDescription
    extern volatile int ITM_RxBuffer Buffer to transmit data towards debug system. 

    
+                     Value 0x5AA55AA5 indicates that buffer is empty.
    int ITM_ReceiveChar (void)noneThe nonblocking functions returns the character stored in 
+                     ITM_RxBuffer. 

    
+                     Return: -1 indicates that no character was received.
    int ITM_CheckChar (void)noneThe function checks if a character is available in ITM_RxBuffer. 

    
+                     Return: 1 indicates that a character is available, 0 indicates that
+                     no character is available.
    
+
+
+
    CMSIS Example
    
+
    
+  The following section shows a typical example for using the CMSIS layer in user applications.
+  The example is based on a STM32F10x Device.
+
    
+
    +#include "stm32f10x.h"
+
+volatile uint32_t msTicks;                       /* timeTicks counter */
+
+void SysTick_Handler(void) {
+  msTicks++;                                     /* increment timeTicks counter */
+}
+
+__INLINE static void Delay (uint32_t dlyTicks) {
+  uint32_t curTicks = msTicks;
+
+  while ((msTicks - curTicks) < dlyTicks);
+}
+
+__INLINE static void LED_Config(void) {
+  ;                                              /* Configure the LEDs */
+}
+
+__INLINE static void LED_On (uint32_t led) {
+  ;                                              /* Turn On  LED */
+}
+
+__INLINE static void LED_Off (uint32_t led) {
+  ;                                              /* Turn Off LED */
+}
+
+int main (void) {
+  if (SysTick_Config (SystemCoreClock / 1000)) { /* Setup SysTick for 1 msec interrupts */
+    ;                                            /* Handle Error */
+    while (1);
+  }
+  
+  LED_Config();                                  /* configure the LEDs */                            
+ 
+  while(1) {
+    LED_On (0x100);                              /* Turn  on the LED   */
+    Delay (100);                                 /* delay  100 Msec    */
+    LED_Off (0x100);                             /* Turn off the LED   */
+    Delay (100);                                 /* delay  100 Msec    */
+  }
+}
    
+
+
+
    CMSIS MISRA-C:2004 Compliance Exceptions
    
+
    
+  CMSIS violates following MISRA-C2004 Rules:
+
    
+
      
+   
    • Violates MISRA 2004 Required Rule 8.5, object/function definition in header file.
      
+       Function definitions in header files are used to allow 'inlining'.
      •  
+
+   
    • Violates MISRA 2004 Required Rule 18.4, declaration of union type or object of union type: '{...}'.
      
+       Unions are used for effective representation of core registers.
      • 
+   
+   
    • Violates MISRA 2004 Advisory Rule 19.7, Function-like macro defined.
      
+       Function-like macros are used to allow more efficient code.
      •  
+
    
+
+
      
    
+
+
\ No newline at end of file
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_DebugSupport.htm b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_DebugSupport.htm
new file mode 100644
index 000000000..96cc60ddb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_DebugSupport.htm
@@ -0,0 +1,240 @@
+
+
+
+CMSIS Debug Support
+
+
+
+
+
+
+
+
+
    CMSIS Debug Support
    
+
    This file describes the CMSIS Debug support available with CMSIS (starting V1.30).
    
+
    Version: 1.02 - 25. July 2011
    
+
+
    Information in this file, the accompany manuals, and software is
    
+                 Copyright  ARM Ltd.
    All rights reserved.
+
    
+
+
    
+
+
    Revision History
    
+
      
+	
    • Version 1.00: Initial Release. 
      • 
+	
    • Version 1.01: Internal Review. 
      • 
+	
    • Version 1.02: Removed product specific information. 
      • 
+
    
+
+
    
+
+
    Contents
    
+
+
      
+  
    1. About
      2. 
+  
    2. Cortex-M3 / Cortex-M4 ITM Debug Access
      3. 
+  
    3. Debug IN / OUT functions
      4. 
+  
    4. ITM Debug Support in Debugger
      5. 
+
    
+
+
     
    
+
    About
    
+
    
+  CMSIS provides for Cortex-M3 / Cortex-M4 processor based microcontrollers debug support via the Instrumented Trace Macrocell (ITM).
+  This document describes the available CMSIS Debug functions and the used methods.
+
    
+
+
     
    
+
    Cortex-M3 / Cortex-M4 ITM Debug Access
    
+
    
+  The Cortex-M3 incorporates the Instrumented Trace Macrocell (ITM) that provides together with 
+  the Serial Viewer Output trace capabilities for the microcontroller system. The ITM has 
+  32 communication channels which are able to transmit 32 / 16 / 8 bit values; two ITM 
+  communication channels are used by CMSIS to output the following information:
+
    
+
      
+	
    • ITM Channel 0: used for printf-style output via the debug interface.
      • 
+	
    • ITM Channel 31: is reserved for RTOS kernel awareness debugging.
      • 
+
    
+
+
     
    
+
    Debug IN / OUT functions
    
+
    CMSIS provides following debug functions:
    
+
      
+	
    • ITM_SendChar (uses ITM channel 0)
      • 
+	
    • ITM_ReceiveChar (uses global variable)
      • 
+	
    • ITM_CheckChar (uses global variable)
      • 
+
    
+
+
    ITM_SendChar
    
+
    
+  ITM_SendChar is used to transmit a character over ITM channel 0 from 
+  the microcontroller system to the debug system. 
    
+  Only a 8 bit value is transmitted.
+
    
+
    +static __INLINE uint32_t ITM_SendChar (uint32_t ch)
+{
+  /* check if debugger connected and ITM channel enabled for tracing */
+  if ((CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA)  &&
+      (ITM->TCR & ITM_TCR_ITMENA)                  &&
+      (ITM->TER & (1UL << 0))  ) 
+  {
+    while (ITM->PORT[0].u32 == 0);
+    ITM->PORT[0].u8 = (uint8_t)ch;
+  }  
+  return (ch);
+}
    
+
+
    ITM_ReceiveChar
    
+
    
+  ITM communication channel is only capable for OUT direction. For IN direction
+  a global variable is used. A simple mechanism detects if a character is received.
+  The project to test need to be build with debug information.
+
    
+
+
    
+  The global variable ITM_RxBuffer is used to transmit a 8 bit value from debug system
+  to microcontroller system. ITM_RxBuffer is 32 bit wide to 
+	ensure a proper handshake.
+
    
+
    +extern volatile int32_t ITM_RxBuffer;                    /* variable to receive characters                             */
+
    
+
    
+  A dedicated bit pattern is used to determine if ITM_RxBuffer is empty
+  or contains a valid value.
+
    
+
    +#define                 ITM_RXBUFFER_EMPTY    0x5AA55AA5 /* value identifying ITM_RxBuffer is ready for next character */
+
    
+
    
+  ITM_ReceiveChar is used to receive a 8 bit value from the debug system. The function is nonblocking.
+  It returns the received character or '-1' if no character was available.
+
    
+
    +static __INLINE int32_t ITM_ReceiveChar (void) {
+  int32_t ch = -1;                               /* no character available */
+
+  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) {
+    ch = ITM_RxBuffer;
+    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */
+  }
+  
+  return (ch); 
+}
+
    
+
+
    ITM_CheckChar
    
+
    
+  ITM_CheckChar is used to check if a character is received.
+
    
+
    +static __INLINE int32_t ITM_CheckChar (void) {
+
+  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) {
+    return (0);                                 /* no character available */
+  } else {
+    return (1);                                 /*    character available */
+  }
+}
    
+
+
+
     
    
+
    ITM Debug Support in a Debugger
    
+
    
+  The Debugger shall offer a dedicated console window for printf style debug input and output using the CMSIS defined ITM methods described above.
+
    
+
    Direction: Microcontroller -> Debugger:
    
+
      
+  
    • 
+    at the beginning of a debug session the debugger shall enable ITM trace on channel 0 and continuously snoop for channel 0 data on the ITM trace
+    stream it receives from the Microcontroller's CoreSight ITM unit
+  
      • 
+  
    • 
+    data received via the ITM communication channel 0 is interpreted as charater and gets redirected into the dedicated Console Window
+  
      • 
+
    
+
+
    Direction: Debugger -> Microcontroller:
    
+
      
+  
    • 
+    at the beginning of a debug session the debugger shall seek for the presence of the global variable named ITM_RxBuffer in the debug
+    information of the application being loaded
+  
      • 
+  
    • 
+    strings entered into the Console Window are written by the debugger as a stream of char values via the variable ITM_RxBuffer.
+  
      • 
+  
    • 
+    the debugger writes the next character into the ITM_RxBuffer only once the value has been read and the ITM_RXBUFFER_EMPTY value being set.
+    (refer to: ITM_ReceiveChar()).
+
    
+
+
+
+
\ No newline at end of file
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_History.htm b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_History.htm
new file mode 100644
index 000000000..a906ae99c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_History.htm
@@ -0,0 +1,472 @@
+
+
+
+CMSIS Version History
+
+
+
+
+
+
+
+
+
    CMSIS Version History
    
+
    This document describes the changes between the different CMSIS versions.
    
+
    Version: 2.10 - July 2011
    
+
+
    Information in this file, the accompany manuals, and software is
    
+                 Copyright  ARM Ltd.
    All rights reserved.
+
    
+
+
    
+
+
+
    Contents
    
+
+
      
+  
    1. Used Toolchains
      2. 
+  
    2. Changes to version V2.00
      3. 
+  
    3. Changes to version V1.30
      4. 
+  
    4. Changes to version V1.20
      5. 
+  
    5. Open Points
      6. 
+  
    6. Limitations
      7. 
+
    
+
+
+
    Used Toolchains
    
+
    
+  Following toolchains have been used for test / verification:.
+
    
+  
      
+    
    • ARM: MDK-ARM Version 4.21
      • 
+    
    • GNU: Sourcery G++ Lite Edition for ARM 2010.09-51
      • 
+    
    • IAR: IAR Embedded Workbench Kickstart Edition V6.10
      • 
+  
    
+
+
+
    Changes to version V2.00
    
+
+
    Added CMSIS DSP Software Library support for Cortex-M0 based MCUs
    
+
    
+  The CMSIS DSP Software Library provides now also libraries and examples for Cortex-M0.
+
    
+
    
+  For more information refer to CMSIS DSP Library documentation.
+
    
+
+
    Added big endian support for DSP library
    
+
    
+  The CMSIS DSP Software Library provides now also pre-build libraries 
+	and projects for big endian devices.
+
    
+
    
+  For more information refer to CMSIS DSP Library documentation.
+
    
+
+
+
    Simplified folder structure for CMSIS include files
    
+
    
+  All CMSIS core include files as well as the DSP-Library header files are located in 
+	a single folder ./CMSIS/Include.
+
    
+
+
    Changed folder structure for Device Support packages
    
+
    
+  Device Support packages are expected to be in folder ./Device located at the
+  same level as ./CMSIS.
+
    
+
    The new Device folder contains the following subfolders:
    
+  
      
+     
    • Device
      • 
+       
        
+         
      • <Vendor> 
+           
          
+             
        • <Device> | <Device Series>
+               
            
+                  
          • Include
            
+                      <device>.h
            
+                      system_<device>.h
            
+                  
            • 
+                  
          • Source
+                    
              
+                       
            • Templates
              
+                           system_<device>.c
              
+                          
                
+                             
              • <Toolchain>
                
+                                 startup_<device>.s
                
+                             
                • 
+                             
              • <Toolchain>
                • 
+                                
              • ...
                • 
+                          
              
+                       
              • 
+                    
            
+                  
            • 
+               
          
+             
        • <Device> | <Device Series>
          • 
+             
        • ...
          • 
+           
        
+         
        • 
+         
      • <Vendor>
        • 
+         
      • ...
        • 
+       
      
+     
+  
    
+
    Template files are application specific files and are required to be copied to the project prior to use!
    
+
+
    Removed CMSIS core source files
    
+
    
+  The CMSIS core source files core_cm0.c, core_cm3.c, core_cm4.c 
+  containing helper functions for older ARM compiler versions got removed.
+
    
+
    
+  For the ARM Compiler Toolchain version V4.0.677 or later is 
+	required!
    
+
+
+
    Changes to version V1.30
    
+
+
    Added CMSIS DSP Software Library
    
+
    
+  The CMSIS DSP Software Library is a suite of common signal processing functions targeted 
+  to Cortex-M processor based microcontrollers. Even though the code has been specifically 
+  optimized towards using the extended DSP instruction set of the Cortex-M4 processor, 
+  the library can be compiled for any Cortex-M processor.
+
    
+
    
+  For more information see CMSIS DSP Library documentation.
+
    
+
+
    Added CMSIS System View Description
    
+
    
+  The CMSIS System View Description answers the challenges of accurate, detailed and 
+  timely device aware peripheral debugging support for Cortex Microcontroller based 
+  devices by the software development tools vendor community.
+
    
+
    
+  Silicon vendors shall create and maintain a formalized description of the debug view 
+  for all the peripherals contained in their Cortex Microcontroller based devices.
+  Tool vendors use such descriptions to establish device specific debug support in 
+  their debugging tools.
+
    
+
    
+  A standardized System View Description shall provide a common approach to 
+  capturing peripheral debug related information in a machine readable files.
+
    
+
    
+  For more information see CMSIS System View Description.
+
    
+
+
    Added Cortex-M4 Core Support
    
+
    
+  Additional folder CM4, containing the Cortex-M4 core support files, has been added.
+
    
+  
      
+    
    • CM0
      • 
+    
    • CM3
      • 
+    
    • CM4
+       
        
+         
      • CoreSupport
        • 
+         
      • DeviceSupport
        • 
+       
      
+    
      • 
+  
    
+
+
    New naming for Core Support Files
    
+
    
+  The new Core Support Files are:
+
    
+
      
+  
    • core_cm#.h  (# = 0, 3, 4)
      • 
+  
    • core_cmFunc.h  (Cortex-M Core Register access functions)
      • 
+  
    • core_cmInstr.h  (Cortex-M Core instructions)
      • 
+  
    • core_cm4_simd.h (Cortex-M4 SIMD instructions)
      • 
+
    
+
+
    Changes to version V1.20
    
+
+
    Removed CMSIS Middelware packages
    
+
    
+  CMSIS Middleware is removed and no longer focus of CMSIS.
+
    
+
+
    SystemFrequency renamed to SystemCoreClock
    
+
    
+  The variable name SystemCoreClock is more precise than SystemFrequency
+  because the variable holds the clock value at which the core is running.
+
    
+
+
    Changed startup concept
    
+
    
+  The old startup concept (calling SystemInit_ExtMemCtl from startup file and calling SystemInit 
+  from main) has the weakness that it does not work for controllers which need a already 
+  configuerd clock system to configure the external memory controller.
+
    
+
+
    Changed startup concept
    
+
      
+  
    • 
+    SystemInit() is called from startup file before premain.
+  
      • 
+  
    • 
+    SystemInit() configures the clock system and also configures
+    an existing external memory controller.
+  
      • 
+  
    • 
+    SystemInit() must not use global variables.
+  
      • 
+  
    • 
+    SystemCoreClock is initialized with a correct predefined value.
+  
      • 
+  
    • 
+    Additional function void SystemCoreClockUpdate (void) is provided.
      
+   SystemCoreClockUpdate() updates the variable SystemCoreClock
+   and must be called whenever the core clock is changed.
      
+   SystemCoreClockUpdate() evaluates the clock register settings and calculates
+   the current core clock.
+  
      • 
+
    
+      
+
+
    Advanced Debug Functions
    
+
    
+  ITM communication channel is only capable for OUT direction. To allow also communication for
+  IN direction a simple concept is provided.
+
    
+
      
+  
    • 
+    Global variable volatile int ITM_RxBuffer used for IN data.
+  
      • 
+  
    • 
+    Function int ITM_CheckChar (void) checks if a new character is available.
+  
      • 
+  
    • 
+    Function int ITM_ReceiveChar (void) retrieves the new character.
+  
      • 
+
    
+
+
    
+  For detailed explanation see file CMSIS debug support.htm. 
+
    
+
+
+
    Core Register Bit Definitions
    
+
    
+  Files core_cm3.h and core_cm0.h contain now bit definitions for Core Registers. The name for the
+  defines correspond with the Cortex-M Technical Reference Manual.  
+
    
+
    
+  e.g. SysTick structure with bit definitions
+
    
+
    +/** \brief  Structure type to access the System Timer (SysTick).
+ */
+typedef struct
+{
+  __IO uint32_t CTRL;                    /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
+  __IO uint32_t LOAD;                    /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register       */
+  __IO uint32_t VAL;                     /*!< Offset: 0x008 (R/W)  SysTick Current Value Register      */
+  __I  uint32_t CALIB;                   /*!< Offset: 0x00C (R/ )  SysTick Calibration Register        */
+} SysTick_Type;
+
+/* SysTick Control / Status Register Definitions */
+#define SysTick_CTRL_COUNTFLAG_Pos         16                                             /*!< SysTick CTRL: COUNTFLAG Position */
+#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
+
+#define SysTick_CTRL_CLKSOURCE_Pos          2                                             /*!< SysTick CTRL: CLKSOURCE Position */
+#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
+
+#define SysTick_CTRL_TICKINT_Pos            1                                             /*!< SysTick CTRL: TICKINT Position */
+#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
+
+#define SysTick_CTRL_ENABLE_Pos             0                                             /*!< SysTick CTRL: ENABLE Position */
+#define SysTick_CTRL_ENABLE_Msk            (1UL << SysTick_CTRL_ENABLE_Pos)               /*!< SysTick CTRL: ENABLE Mask */
+
+/* SysTick Reload Register Definitions */
+#define SysTick_LOAD_RELOAD_Pos             0                                             /*!< SysTick LOAD: RELOAD Position */
+#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL << SysTick_LOAD_RELOAD_Pos)        /*!< SysTick LOAD: RELOAD Mask */
+
+/* SysTick Current Register Definitions */
+#define SysTick_VAL_CURRENT_Pos             0                                             /*!< SysTick VAL: CURRENT Position */
+#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick VAL: CURRENT Mask */
+
+/* SysTick Calibration Register Definitions */
+#define SysTick_CALIB_NOREF_Pos            31                                             /*!< SysTick CALIB: NOREF Position */
+#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
+
+#define SysTick_CALIB_SKEW_Pos             30                                             /*!< SysTick CALIB: SKEW Position */
+#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
+
+#define SysTick_CALIB_TENMS_Pos             0                                             /*!< SysTick CALIB: TENMS Position */
+#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL << SysTick_VAL_CURRENT_Pos)        /*!< SysTick CALIB: TENMS Mask */
+
+/*@} end of group CMSIS_SysTick */
    
+
+
    DoxyGen Tags
    
+
    
+  DoxyGen tags in files core_cm3.[c,h] and core_cm0.[c,h] are reworked to create proper documentation
+  using DoxyGen.
+
    
+
+
    Folder Structure
    
+
    
+  The folder structure is changed to differentiate the single support packages.
+
    
+
+  
      
+    
    • CM0
      • 
+    
    • CM3
+       
        
+         
      • CoreSupport
        • 
+         
      • DeviceSupport
        • 
+           
          
+             
        • Vendor 
+               
            
+                 
          • Device
+                   
              
+                      
            • Startup
+                        
                
+                          
              • Toolchain
                • 
+                          
              • Toolchain
                • 
+                          
              • ...
                • 
+                        
              
+                      
              • 
+                   
            
+                 
            • 
+                 
          • Device
            • 
+                 
          • ...
            • 
+               
          
+             
          • 
+             
        • Vendor
          • 
+             
        • ...
          • 
+           
        
+         
+         
      • Example (optional)
+           
          
+             
        • Toolchain 
+               
            
+                 
          • Device
            • 
+                 
          • Device
            • 
+                 
          • ...
            • 
+               
          
+             
          • 
+             
        • Toolchain
          • 
+             
        • ...
          • 
+           
        
+         
        • 
+       
      
+    
      • 
+     
+    
    • Documentation
      • 
+  
    
+
+
    Open Points
    
+
    
+  Following points need to be clarified and solved:
+
    
+
      
+  
    • 
+    
      
+      Equivalent C and Assembler startup files.
+    
      
+    
      
+      Is there a need for having C startup files although assembler startup files are
+      very efficient and do not need to be changed?
+    
      
+  
      • 
+  
    • 
+    
      
+      Placing of HEAP in external RAM.
+    
      
+    
      
+      It must be possible to place HEAP in external RAM if the device supports an 
+      external memory controller.
+    
      
+  
      • 
+  
    • 
+    
      
+      Placing of STACK /HEAP.
+    
      
+    
      
+      STACK should always be placed at the end of internal RAM.
+    
      
+    
      
+      If HEAP is placed in internal RAM than it should be placed after RW ZI section.
+    
      
+  
      • 
+
    
+
+
+
    Limitations
    
+
    
+  The following limitations are not covered with the current CMSIS version:
+
    
+
      
+ 
    • 
+  No C startup files are available. 
+ 
      • 
+
    
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_Logo_Final.jpg b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_Logo_Final.jpg
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_System_View_Description.htm b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_System_View_Description.htm
new file mode 100644
index 000000000..fe5d71f88
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/CMSIS_System_View_Description.htm
@@ -0,0 +1,1157 @@
+
+
+  
+  CMSIS - SVD: Cortex Microcontroller Software Interface Standard - System View Description
+  
+  
+	
+
+
+
+
    Cortex Microcontroller Software Interface Standard
    
+System View Description
    
+
+
    This file describes the Cortex Microcontroller Software 
+Interface Standard - System View Description (CMSIS - SVD) concept and syntax.
    
+
    Version: 1.02 - 27. July 2011
    
+
+
    Information in this file, the accompany manuals, and software is
    
+                 Copyright  ARM Ltd.
    All rights reserved.
+
    
+
+
    
+
+
    Revision History
    
+
      
+	
    • Version 0.91: initial proposal.
      • 
+	
    • Version 0.92: revised proposal considering forum feedback (e.g. consider 
+	IP-XACT constructs and naming scheme)
      • 
+	
    • Version 1.0: new elements: peripheral version, vendor specific 
+	extension section, interrupt mapping information, global peripheral disable 
+	condition, naming of register arrays, enhanced naming schemes, etc.
      • 
+	
    • Version 1.0: SVD versioning and updated schema file
      • 
+	
    • Version 1.01: Error corrections in the example code. "include" has been removed. Restricted to one device per file.
      • 
+	
    • Version 1.02: Adding the use case of device header file generation.
      • 
+
    
+
+
     
    
+
+
    
+
+
    Contents
    
+
+    
+
+
    About
    
+
+
    
+  The Cortex Microcontroller Software Interface Standard - System View 
+	Description (CMSIS - SVD) answers the challenges
+  of accurate, detailed and timely device aware peripheral debugging support for Cortex 
+	Microcontroller based devices by the software development 
+	tools vendor community.
+
    
+
    
+  Silicon vendors shall create and maintain a formalized description of the 
+	debug view for all the peripherals contained in their Cortex 
+	Microcontroller based devices. Tool vendors use such descriptions to 
+	establish device specific debug support in their debugging tools with minimal turn around times and 
+	manageable effort. Device support across many development tools  is 
+	essential for silicon provider in order to promote new devices and device 
+	variants entering the market. Device aware debug views provide fast and 
+	convenient access to all registers and fields as well as a detailed 
+	description. This enables software developer to 
+	develop and debug code most efficiently and adopt new devices early and 
+	quickly.
    
+
    
+  A standardized System View Description shall provide a common approach to 
+	capturing peripheral debug related information in a machine readable files. 
+	The scope of the contained information is agreed to match the level usually 
+	provided by silicon vendors in their device reference manuals, however in a 
+	formalized XML based format. There 
+	are other description languages already available. IP-XACT from the SPIRIT 
+	consortium is a prominent example. IP-XACT covers the register description 
+	sufficiently, however it comprises many other aspects of the devices like 
+	ports, bus-protocols, modeling, tool flows, etc. making a direct use of 
+	IP-XACT too complex. The design of the SVD language is 
+	taking some guidance from IP-XACT thus allowing straight forward conversion 
+	from IP-XACT to CMSIS-SVD where IP-XACT device information is already 
+	available.
    
+
    
+  In a second step the CMSIS-SVD description shall be used for automatically 
+	generating CMSIS compliant a device header file. This enables the 
+	information in the header file to be consistent with what the debugger will 
+	display and CMSIS compliant by construction. The header file generation will 
+	require some additional pieces of information and therefore a future version 
+	of the description will need to include some extensions for this purpose.
    
+
    
+  Device aware debugging support is only one aspect of device 
+	support essential to software development environments, however it is one of 
+	the most time consuming and error prone ones.
    
+
    Motivation
    
+
    
+
+The software developer of microcontroller devices is faced with a growing number 
+of devices with an ever increasing number of peripheral blocks providing a wide 
+range of distinct and complex functionality. The development of drivers for 
+these peripherals is in the critical path of every project. Modern debuggers are supporting the software developer in getting the 
+software to run according to the requirements. A debugger providing peripheral awareness improves the 
+ability to access and interpret complex configuration and status information of 
+peripherals. Even though this is only one aspect of device support within microcontroller 
+development environments it is essential for the successful and timely adoption 
+of development tools and the device by the market.
    
+
    Today software development environments address device aware 
+debugging in various ways. They either use documents or proprietary file formats 
+as input for providing peripheral views in the debuggers. 
+Extracting peripheral information from written documentation is a very time 
+consuming, tedious and error prone task. Having a file containing peripheral specific information to generate peripheral views 
+is going to make device support more affordable, reliable and timely. 
+The challenge for the tool providers is the support of many 
+different and incompatible file formats from a growing number of silicon vendors. 
+For silicon vendors it is time consuming and costly to engage with many tool 
+provider in order to achieve device support in a wide range of development 
+environments.
    
+
    Standardizing on a System View Description aims to ease this challenge 
+by agreeing on a formal XML-based file format. In conjunction with supporting web server infrastructure silicon partner 
+shall upload and maintain such descriptions in a tool vendor agnostic device 
+database, hosted e.g. by the web server infrastructure 
+
+cmsis.arm.com . Access control to sensitive information is managed on a per user 
+basis. This allows silicon vendors to upload information for devices that have 
+not been made public.  
    
+
    Such an approach provides benefits for silicon and tool vendors as well as 
+software developers of Cortex-M based microcontroller devices
    
+
      
+  
    • timely and accurate device support provided by a whole range of tool providers 
      • 
+	
    • tool providers become more efficient in supporting a multitude of devices 
+	and device variants
      • 
+	
    • less interaction required between silicon vendors and the  
+	tool providers
      • 
+	
    • silicon provider has control over and maintains the System View 
+	Description during the life cycle of the device
      • 
+	
    • high quality device support in terms of completeness and correctness of 
+	device aware debugging
      • 
+	
    • improved productivity and user experience for the software developer
      • 
+
    
+
    Requirements
    
+
    The debug description shall capture the information about all 
+the peripherals contained in a specific device. This section describes which 
+items of information are deemed relevant for a debugger. Silicon vendors are expected to 
+provide the System View Description for their devices, matching the information 
+contained in device reference manuals. The System View Description shall be suitable for straight forward 
+generation from existing databases like IP-XACT descriptions or SIDSC. The size 
+of device description is a concern and therefore redundancy in the description 
+shall be avoided. The size of SVD files affects the efficiency of 
+distribution as well as the loading time by the development tools. Last but not least manual editing of SVD files shall be possible for 
+the purpose of customization by SW developers.
    
+
    Required content of the description
    
+
    From a programmer's perspective a peripheral can be seen as a set of registers 
+with unique names being mapped to fixed addresses allocated 
+within a defined range of an address space.
    
+
    From a debugger's point of view read accesses to a physical register need to be 
+executed in order to display its current value. The debugger executes a write 
+access to a register when a user edits its value. For this purpose the debugger 
+needs to know about the following additional attributes: 
    
+
      
+				
    • minimal addressable unit = smallest series of bits 
+				identified by a unique address (e.g. byte-addressable memory) 
      • 
+				
    • register size = number of bits forming a register (ARM Cortex-M usually 
+				32 bits)
      • 
+				
    • access permission = read and write, read only, 
+				write only
      • 
+				
    • access side effects = accesses by the debugger must 
+				be avoided if it has side effects. Some side effects may be 
+				reversed by the debugger to compensate for the side effect
      • 
+
    
+
    In many cases peripheral registers are partitioned into chunks of bits of 
+distinct functionality. In this document these chunks are referred to as 
+field. Each 
+register that consists of fields shall  be described by a list 
+of uniquely named fields (Note: field names are not required to be 
+unique across registers). In order for a debugger to extract the 
+value of a field from the corresponding register the following attributes are required:
    
+
      
+				
    • most significant bit = highest bit position of the 
+				bit-field in the corresponding register
      • 
+				
    • least significant bit = lowest bit position of the 
+				bit-field within the corresponding register
      • 
+				
    • access permission = read and write, read only, 
+				write only
      • 
+
    
+
    An enumerated value maps a number to a specific descriptive string 
+representing the semantics of the value of a field. The debugger displays the 
+descriptive string rather than the number to simplify the access to the 
+information thus 
+avoiding the necessity of a look-up in the device reference manual. Each item of 
+an enumerated value has the following attributes:
    
+
      
+				
    • value = value of the bit-field that corresponds to 
+				the string attribute
      • 
+				
    • name = short string that describes the semantics of a 
+				field when the corresponding value is set
      • 
+				
    • description = detailed description of the semantics 
+				of the field when the corresponding value is set
      • 
+
    
+
    The hierarchical structure of the description looks like this:
    
+
    Device =
    
+
      
+	
    • 
+		
       Peripherals
      
+		
        
+						
      • 
+						
        Peripheral
        
+						
          
+										
        • 
+										
          Registers
          
+										
            
+														
          • 
+														
            
+														Register
            
+														
              
+																		
            • 
+																		
              
+																		Fields
              
+																		
                
+																						
              • 
+																						
                Field
                
+																						
                  
+																										
                • 
+																										
                  Enumerated Values
                  
+																										
                    
+																														
                  • 
+																														
                    Enumerated Value
                    
+																														
                    • 
+																										
                  
+																										
                  • 
+																						
                
+																						
                • 
+																		
              
+																		
              • 
+														
            
+														
            • 
+										
          
+										
          • 
+						
        
+						
        • 
+		
      
+	
      • 
+
    
+
+
    One file can only contain a description for a single device or device family 
+sharing the identical description. Devices consists of a one or more peripherals. 
+Each peripheral contains 
+one or more registers, where each register may consist of one or more fields. 
+The values of a field maybe represented through descriptive strings and detailed 
+descriptions, the enumerated values.
    
+
    In many cases there are multiple 
+instances of the same peripheral in a device (e.g. Timer0, Timer1, etc.). For 
+this reason the description has the concept of deriving a peripheral from a peripheral 
+that has already been described. The attribute derivedFrom specifies 
+such a relationship. 
+Similarly registers or fields can be reused within the device description. The 
+grouping of  peripherals providing 
+similar functionality (e.g. Simple Timer, Complex Timer) is controlled via the element groupName. 
+All peripherals associated with the same group name are collectively listed under this group 
+in the order they have been specified in the file. 
+Collecting  
+similar or related peripherals into peripheral groups helps structuring the list 
+of peripherals e.g. in a drop down menu (tool dependent). Devices with a large 
+set of peripherals will benefit from this additional level of structure.
    
+
    Each of the items (i.e. Device, Peripheral, Register and 
+Field) owns an description element containing verbose information about 
+the respective element. The description field plays 
+an important part in improving the software development productivity. Instead of 
+searching through the reference manual the detailed explanation from the manual 
+could become immediately accessible from within the development environment.
    
+
    Details about the exact display format and layout of the peripheral view are 
+considered beyond the scope of the description. It is up to the tool vendor to 
+visualize the contained information appropriately. The  
+silicon vendor provides details about the device's peripherals that is commonly available. 
    
+
    System View Description files need to be validated for:
    
+
      
+				
    1. syntactical correctness using XML-Schema checking utilities
      2. 
+				
    2. consistency  of the provided information (e.g. multiple registers mapped to the same address, 
+				all registers located within the specified address ranges of a 
+				peripheral, all fields are within the range of the register 
+				size, etc.) by a utility developed by ARM (SVDConv.exe)
      3. 
+				
    3.  semantical correctness of the System View Description 
+				against the silicon specification executed by the silicon vendor
      4. 
+
    
+
    The SVD description format was extended by numerous elements during the 
+review period targeting version 1.0 and new extensions are expected for future 
+versions of this format. A new section named "vendorExtensions" has been added 
+to the end of the top level to allow silicon vendors and tool partners to 
+innovate and expand the description in order to overcome limitations of the 
+current specification until these can be incorporated into new versions of 
+CMSIS-SVD. 
    
+
    
+
+
     Format
    
+
+
    
+  The following section describes the SVD file format in detail. Each subsection 
+	defines a single hierarchy level of the description and lists all mandatory 
+	and optional language elements for that specific level including type 
+	information for each element. Each element is discussed in more detail and a 
+	brief snippet is provided as an example. The sequence of elements shown 
+	below is binding. Optional elements are highlighted in green, blue elements 
+	are mandatory unless they have been already specified globally on a higher 
+	level.
    
+
    
+  An XML-schema file is provided alongside this document for syntactical 
+	checking of descriptions being developed.
    
+
    <device schemaVersion="xs:decimal" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="CMSIS-SVD_Schema_1_0.xsd">
    
+
       <name>xs:Name</name>
    
+   <version>xs:string</version>
    
+   <description>xs:string</description>
    
+       <addressUnitBits>scaledNonNegativeInteger</addressUnitBits>
    
+   <width>scaledNonNegativeInteger </width>
    
+
    
+   <size>scaledNonNegativeInteger</size>
    
+       <access>accessType</access>
    
+   <resetValue>scaledNonNegativeInteger</resetValue>
    
+   <resetMask>scaledNonNegativeInteger</resetMask>
    
+
       <peripherals>
    
+      ...
    
+   </peripherals>
    
+   <vendorExtensions>
    
+      ...
    
+    </vendorExtensions>
    
+
    </device>
    
+
    The device provides the outermost frame of the description. All other 
+elements like peripherals, registers and fields are described inside of this scope. A device contains one or more peripherals.
+The optional elements size, access, resetValue and resetMask are used as default values throughout the 
+device description unless they get overruled on a lower level of the description 
+(e.g. peripheral or register).
    
+
    Mandatory items:
    
+
    name = the unique name string is used to identify the device. 
+All devices of a silicon vendor are required to have a unique name. In case an 
+SVD description covers a family or series of devices, the name of the series or 
+family is placed here. The device names of the members of the series or family 
+are listed in <memberDevices>
    
+
    description = string describing main features of a device 
+(e.g. CPU, clock frequency, peripheral overview, etc.)
    
+
    version = the string is defining the version of the 
+description for this device. Silicon vendors will maintain the description 
+throughout the lifecycle of the device and need to ensure that all updated and 
+released copies have a unique version string indicating the order in which. Note: this must not be used for 
+detailing the version of the device.
    
+
     
    
+
    addressUnitBits = defines the number of data bits for each address 
+increment. The value for Cortex-M based devices is  8 (byte-addressable).
    
+
    width = defines the number of bits for the maximum single 
+transfer size allowed by the bus interface hence the maximum size of a single 
+register that can be defined for the address space. This information is relevant 
+for debuggers when determining the size of debug transfers. The expected value 
+for Cortex-M based devices is 32.
    
+
    peripherals = next level of description (see next section 
+for details)
    
+
    Optional Items:
    
+
    size = defines the default bit-width of registers contained 
+in the device. This element can be overruled by re-specifying the size element on a lower level of the 
+description.
    
+
    access = defines the default access permissions for all 
+registers in the device. The allowed tokens are:
    
+  - read-only: read access is permitted. Write operations have an undefined 
+result.
    
+  - write-only: write access is permitted. Read operations have an 
+undefined result. 
    
+  -read-write: both read and write accesses are permitted. Writes affect 
+the state of the register and reads return a value related to the register
    
+  -writeOnce: only the first write after reset has an effect on the 
+register. Read operations deliver undefined results
    
+  -read-writeOnce: Read operations deliver a result related to the register 
+content. Only the first write access to this register after a reset will have an 
+effect on the register content.
    
+
    resetValue = defines the default value of all registers 
+after a reset. There are scenarios where SW developers need to know, what the 
+reset value of a register or field is. Even though listed as optional on this 
+level of the description, silicon vendors should ensure that this information is 
+provided for all registers. 
    
+
    resetMask = defines those bit positions set to one to be 
+taken from resetValue element. All other elements are undefined. If a register 
+does not have a defined reset value the resetMask needs to be set to 0.
    
+
    vendorExtensions = the content and format of this section of 
+the description is unspecified. Silicon vendors may choose to provide additional 
+information. The assumption is that by default this section is completely 
+ignored by the debugger. It is up to the silicon vendor to specify the content 
+of this section and share the specification with the tool vendors. The new 
+elements shall be considered for a future version of the description format.
    
+
    Example:
    
+
    <device schemaVersion="1.0" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="CMSIS-SVD_Schema_1_0.xsd" >
+  <name>CMSIS_Cortex-M3</name>
+  <version>0.1</version>
+  <description>ARM Cortex-M3 based Microcontroller demonstration device</description>
+  <addressUnitBits>8</addressUnitBits>
+  <width>32</width>
+  <size>32</size>
+  <access>read-write</access>
+  <resetValue>0</resetValue>
+  <resetMask>0xffffffff</resetMask>
    
+
      <peripherals>
+    ...
+  </peripherals>
+</device>
    
+
    The device description above is at version 0.1 and uniquely identifies the 
+device by the name "CMSIS_Cortex-M3". The peripherals are memory mapped in a 
+byte-addressable address space with a bus width of 32 bits. The default size of 
+the registers contained in the peripherals is set to 32 bits. Unless redefined 
+for specific peripherals, registers or fields all registers are read-write 
+accessible. A reset value of 0 valid for all 32 bits as specified by the reset 
+mask is set for all registers unless overruled at a lower level of the description.
    
+
    
+
    <peripherals>
    
+
       <peripheral>
    
+     ...
    
+   </peripheral>
    
+
         ...
    
+
       <peripheral>
    
+     ...
    
+   </peripheral>
    
+
    </peripherals>
    
+
    This construct sets the frame for all peripherals and peripheral groups contained in a device. This 
+creates a container element which ease-up processing with languages like Java.
    
+
    
+
    <peripheral derivedFrom="xs:Name">
    
+
       <name>xs:Name</name>
    
+   <version>xs:string</name>
    
+   <description>xs:string </description>
    
+   <groupName>xs:string</groupName>
    
+   <prependToName>xs:string</prependToName>
    
+   <appendToName>xs:string</appendToName>
    
+   <disableCondition>xs:string</disableCondition>
    
+   <baseAddress>scaledNonNegativeInteger</baseAddress>
    
+   <size>scaledNonNegativeInteger</size>
    
+       <access>accessType</access>
    
+   <resetValue>scaledNonNegativeInteger</resetValue>
    
+   <resetMask>scaledNonNegativeInteger</resetMask>
    
+
       <addressBlock>
    
+      <offset>    scaledNonNegativeInteger</offset>
    
+      <size>    scaledNonNegativeInteger</size>
    
+      <usage>usageType</usage>
    
+   </addressBlock>
    
+       ...
    
+      <addressBlock>
    
+      <offset>    scaledNonNegativeInteger</offset>
    
+      <size>    scaledNonNegativeInteger</size>
    
+      <usage>usageType</usage>
    
+   </addressBlock>
    
+   <interrupt>
    
+      <name>xs:string</name>
    
+      <value>scaledNonNegativeInteger</value>
    
+   </interrupt>
    
+       <registers>
    
+   ...
    
+   </registers>
    
+
    </peripheral>
    
+
    A peripheral encloses the description of one or more registers belonging to 
+this named peripheral. The address range allocated in the address space for this 
+peripheral is defined through one or more address ranges. An address range is 
+specified relative to the base address of the peripheral. This information 
+allows to display a memory map overview for all peripherals. Please note that 
+such a memory map does not contain any information for memories and unoccupied 
+address ranges.
    
+
    Mandatory items:
    
+
    name = name string used to identify the peripheral. Peripheral 
+names are required to be unique within the scope of a device.
    
+
    baseAddress = lowest address reserved or used by the peripheral
    
+
    description = string providing an overview of the purpose 
+and functionality of the peripheral
    
+
    addressBlock = a peripheral may occupy one or more disparate 
+blocks in the address space. An addressBlock is a complex element consisting of 
+the mandatory elements:
    
+    offset: specifying the start address of an address block. It 
+is calculated from the sum of baseAddress and offset
    
+    size: specifying the number of addressUnitBits being covered 
+by this address block. The end address of an address block is the sum of start 
+address and the size - 1.
    
+    usage: the usage element is of usageType specifying 
+if the addresses within the specified address block is used for 
+registers or buffer or is reserved. 
+
    
+Note: registers must not be allocated 
+to an address within a reserved or buffer address range.
    
+
    registers = next lower level of description (see next section 
+for details)
    
+
    Optional items:
    
+
    derivedFrom = this attribute specifies the name of a peripheral 
+that has already been described for this device. The description of that device 
+will be copied. It is mandatory to overwrite the name as well as the 
+addressOffset. All other specified information will overwrite the respective 
+elements in the copy.
    
+
    version = the string specifies the version of this 
+peripheral description.
    
+
    disableCondition = C language compliant logical expression 
+resulting in a true or false result. If "true" the refresh of the display 
+for this peripheral is disabled 
+and related accesses by the debugger are suppressed. Only constants and references to other registers 
+contained in the description are allowed:  
+<peripheral>-><register>-><field> (e.g.: (System->ClockControl->apbEnable == 0)). 
+Only the following operators are allowed [&&,||, ==, !=, >>, <<, &, |]. Warning! 
+This feature must only be use in case accesses from the debugger to registers of 
+un-clocked peripherals result in severe debugging failures. SVD is intended to 
+be fully static information and not include any run-time computation or 
+functions such capabilities may be added by the tools but is considered beyond 
+the scope of this description language.
    
+
    prependToName = all register names of this peripheral have 
+their names prepended with the string specified
    
+
    appendToName = all register names of this peripheral have 
+their names appended with the string specified
    
+
    size = defines the default bit-width of registers contained 
+in the device. This element can be overruled by re-specifying the size element on a lower level of the 
+description.
    
+
    access = defines the default access permissions for all 
+registers in the peripheral. The value can be reset on a lower level of the 
+description. The allowed tokens are:
    
+  - read-only: read access is permitted. Write operations have an undefined 
+result.
    
+  - write-only: write access is permitted. Read operations have an 
+undefined result. 
    
+  -read-write: both read and write accesses are permitted. Writes affect 
+the state of the register and reads return a value related to the register
    
+  -writeOnce: only the first write after reset has an effect on the 
+register. Read operations deliver undefined results
    
+  -read-writeOnce: Read operations deliver a result related to the register 
+content. Only the first write access to this register after a reset will have an 
+effect on the register content.
    
+
    resetValue = defines the default value of all registers 
+after a reset but can be set for individual registers and fields on a lower 
+level of the description.
    
+
    resetMask = defines those bit positions set to one to be 
+taken from resetValue element. All other elements are undefined. This is the 
+default value for the whole peripheral but can be readjusted on lower levels. If 
+a register does not have a defined reset value the resetMask needs to be set to 
+0.
    
+
    interrupt = is a complex type that consists of the name of 
+the interrupt and the associated enumeration value. A peripheral can also have 
+multiple associated interrupts. This entry is mainly intended for information 
+only purposes in order to display the interrupts and respective interrupt 
+numbers associated with a peripheral.
    
+
    Example:
    
+
    ... 
+    <peripheral>
+       <name>Timer0</name>
+       <version>1.0.32</version>
+       <description>Timer 0 is a simple 16 bit timer counting down ... </description>
+       <baseAddress>0x40000000</baseAddress>
+       <addressBlock>
+         <offset>0x0</offset>
+         <size>0x400</size>
+         <usage>registers</usage>
+       </addressBlock>
+       <interrupt><name>TIM0_INT</name><value>34</value></interrupt>
+       <registers>
+         ...
+       </registers>
+    </peripheral>
+    <peripheral derivedFrom="Timer0">
+      <name>Timer1</name>
+      <baseAddress>0x40000400</baseAddress>
+    </peripheral>
+
+...
    
+
    
+
    <registers> ... </registers>
    
+
    This construct sets the frame for all registers contained in a peripheral. 
+This creates container elements which ease-up processing with languages like Java.
    
+
    
+
    <register derivedFrom=xs:Name>
    
+
       <dim>scaledNonNegativeInteger</dim>
    
+   <dimIncrement>scaledNonNegativeInteger</dimIncrement>
    
+   <dimIndex>xs:string</dimIndex>
    
+   <name>xs:Name</name>
    
+   <displayName>xs:string</displayName>
    
+       <description>xs:string</description>
    
+   <alternateGroup>xs:Name</alternateGroup>
    
+       <addressOffset>scaledNonNegativeInteger 
+</addressOffset>
    
+    <size>scaledNonNegativeInteger</size>
    
+       <access>accessType</access>
    
+       <resetValue>scaledNonNegativeInteger</resetValue>
    
+   <resetMask>scaledNonNegativeInteger</resetMask>
    
+    
+       <modifiedWriteValues>writeValueType</modifiedWriteValues>
    
+   <writeConstraint>writeConstraintType</writeConstraint>
    
+   <readAction>readActionType </readAction>
    
+       <fields>
    
+      ...
    
+   </fields>     
    
+
    </register>
    
+
    The definition of registers is the central part of the description. A 
+register may use its complete size for a single purpose and therefore not 
+consist of fields. Otherwise the description 
+of fields is mandatory.
    
+
    Mandatory items:
    
+
    
+
    name = name string used to identify the register. Register 
+names are required to be unique within the scope of a peripheral.
    
+
    description = string describing the details of the register.
    
+
    addressOffset = value defining the address of the register relative to 
+the baseAddress defined by the peripheral the register belongs to.
    
+
    
+
    The following elements can be omitted if the corresponding value has been set 
+on a higher level of the description and matches the value required for this register:
    
+
    size =value defining the bit-width of the register
    
+
    access = predefined tokens: read-only, write-only, read-write, 
+writeOnce, read-writeOnce strings defining the allowed 
+accesses for this register.
    
+
    resetValue = element defining the value of the register 
+immediately after a reset.
    
+
    resetMask= element specifying those bits of the resetValue that 
+are defined (bit positions containing a 0 bit are ignored, bit 
+positions containing a 1 bit are taken from the corresponding bit position of 
+the resetValue). If a register does not have a defined reset value the resetMask 
+needs to be set to 0.
    
+
    Optional items:
    
+
    dim = if this field is specified the value defines the 
+number of elements in an array of registers.
    
+
    dimIncrement = if dim is specified this element becomes 
+mandatory and specifies the address increment in between 
+two neighboring registers of the register array in the address map.
    
+
    dimIndex = this element specifies the substrings within the 
+register array names that will replace the %s within the register name. By 
+default the index is a decimal value starting with 0 for the first register. 
+Examples:
    
+   <dim>6</dim> <dimIncrement>4</dimIncrement> <dimIndex>A,B,C,D,E,Z</dimIndex> 
+<name>GPIO_%s_CTRL</name> ...
    
+   => GPIO_A_CTRL, GPIO_B_CTRL, GPIO_C_CTRL, GPIO_D_CTRL, GPIO_E_CTRL, 
+GPIO_Z_CTRL
    
+   <dim>4</dim> <dimIncrement>4</dimIncrement> <dimIndex>3-6</dimIndex> 
+<name>IRQ%s</name> ... 
    
+   => IRQ3, IRQ4, IRQ5, IRQ6                  
    
+
    displayName = when used, this is the string being used by a 
+graphical frontend to visualize the register otherwise the name element is used. 
+Note: the display name may contain special characters and white spaces. It also 
+uses "%s" as the place holder for the dimIndex substring.
    
+
    alternateGroup = when used, this element specifies a name of 
+a group that all alternate register with the same name a associated with. At the 
+same time it indicates that there is a register description allocating the same 
+absolute address in the address space. 
    
+
    modifiedWriteValues = element to describe the manipulation of 
+data written to a register. If not specified the value written to the field is the 
+value stored in the field. The other options are bitwise operations: 
    
+  oneToClear: write data bits of one shall clear (set to zero) the 
+corresponding bit in the register
    
+  oneToSet: write data bits of one shall set (set to one) the 
+corresponding bit in the register
    
+  oneToToggle: write data bits of one shall toggle (invert) the 
+corresponding bit in the register
    
+  zeroToClear: write data bits of zero shall clear (set to zero) 
+the corresponding bit in the register
    
+  zeroToSet: write data bits of zero shall set (set to one) the 
+corresponding bit in the register
    
+  zeroToToggle: write data bits of zero shall toggle (invert) the 
+corresponding bit in the register
    
+  clear: after a write operation all bits in the field are cleared (set to 
+zero)
    
+  set: after a write operation all bits in the field are set (set to one)
    
+  modify: after a write operation all bit in the field may be modified 
+(default)
    
+
    writeConstraint: has a set of options:
    
+  writeAsRead = if true only the last read value can be written
    
+  useEnumeratedValues = if true only those values listed in the 
+enumeratedValues list are considered valid write values
    
+  minimum = specifies the smallest number to be written to the 
+register
    
+  maximum = specifies the largest number to be written to the 
+register
    
+
    readAction: if set it specifies the side effect following 
+read operations. If not set the register is not modified following a read 
+operations. The defined side effects are:
    
+  clear: indicates that the register is cleared (set to zero) 
+following a read operation
    
+  set: indicates that the register is set (set to ones) following a 
+read operation
    
+  modify: indicates that the register is modified in some way 
+after a read operation
    
+  modifyExternal: indicates that one or more dependent resources 
+other than the current register 
+are immediately affected by a read (it is recommended that the register 
+description specifies these dependencies). Debuggers are not expected to read 
+this register location unless explicitly instructed by user.
    
+
    fields = next lower level of description (see next section 
+for details).
    
+
    Optional attribute:
    
+
    derivedFrom = specifies the name of the register to be 
+replicated. Elements being specified underneath will override the values specified 
+from the register being derived from. Note that it is mandatory to overwrite at 
+least name and addressOffset.
    
+
    Example:
    
+
    ... 
+       <register>
+         <name>TimerCtrl0</name>
+         <description>Timer Control Register</description>
+         <addressOffset>0x0</addressOffset>
+         <access>read-write</access>
+         <resetValue>0x00008001</resetValue>
+         <resetMask>0x0000ffff</resetMask>
+         <size>32<size>
+         <fields>
+           ...
+         </fields>
+       </register>
+       <register derivedFrom="TimerCtrl0">
+         <name>TimerCtrl1</name>
+         <addressOffset>0x4<addressOffset>
+       </register>
+...
    
+
    
+
    <fields> ... </fields>
    
+
    This construct sets the frame for all fields contained in a register. 
+This creates container elements which ease-up processing with languages like Java.
    
+
    
+
     <field derivedFrom="xs:Name">
    
+
       <name>xs:Name</name>
    
+       <description>xs:string</description>
    
+   
+<bitOffset>scaledNonNegativeInteger</bitOffset>
+<bitWidth>scaledNonNegativeInteger</bitWidth>
    
+       or
    
+   <lsb>scaledNonNegativeInteger</lsb> <msb>scaledNonNegativeInteger</msb>
    
+       or
    
+   <bitRange>pattern</bitRange>
    
+   <access>accessType</access>
    
+       <modifiedWriteValues>writeValueType</modifiedWriteValues>
    
+   <writeConstraint>writeConstraintType</writeConstraint>
    
+   <readAction>readActionType </readAction>
    
+       <enumeratedValues>
    
+      ...
    
+   </enumeratedValues>
    
+
    </field>
    
+
    A bit-field has a name that is unique for the register it belongs to. The 
+position and size within the register is either described by the combination of 
+the least significant bit's position (lsb) and the most significant bit's 
+position (msb) or the lsb and the size, specifying the bit-width of the 
+field.  A field may define an enumeratedValue in order to make the display 
+more intuitive to read. 
    
+
    Mandatory items:
    
+
    name = name string used to identify the field. Field names 
+are required to be unique within the scope of a register.
    
+
    
+
    description = string describing the details of the register.
    
+
    
+
    There are 3 ways to describe a field to be used mutually exclusive:
    
+a) specifying bitOffset and bitWidth (IP-XACT like)
    
+b) specifying lsb and msb of the field.
    
+c) specifying a bit range in the format "[<msb>:<lsb>]"
    
+
    bitOffset = value defining the position of the least significant bit 
+of the field within the register it belongs to.
    
+bitWidth = value defining the bit-width of the bitfield within the 
+register it belongs to.
    
+
    
+
    
+lsb = value defining the bit position of the least significant 
+bit within the register it belongs to.
    
+msb = value defining the bit position of the most significant 
+bit within the register it belongs to. 
+
    
+
    bitRange = a string in the format: [<msb>:<lsb>]
    
+
    
+
    Optional items:
    
+
    derivedFrom = the field is cloned 
+from a previously defined field with a unique name.
    
+
    access = predefined strings defining the allowed 
+accesses for this register: read-only, write-only, read-write, writeOnce, 
+read-writeOnce. Can be omitted if it matches the access permission set for the parent register.
    
+
    enumeratedValues = next lower level of description (see next section 
+for details)
    
+
    modifiedWriteValues = element to describe the manipulation of 
+data written to a field. If not specified the value written to the field is the 
+value stored in the field. The other options are bitwise operations: 
    
+  oneToClear: write data bit of one shall clear (set to zero) the 
+corresponding bit in the field
    
+  oneToSet: write data bit of one shall set (set to one) the corresponding 
+bit in the field
    
+  oneToToggle: write data bit of one shall toggle (invert) the 
+corresponding bit in the field
    
+  zeroToClear: write data bit of zero shall clear (set to zero) the 
+corresponding bit in the field
    
+  zeroToSet: write data bit of zero shall set (set to one) the 
+corresponding bit in the field
    
+  zeroToToggle: write data bit of zero shall toggle (invert) the 
+corresponding bit in the field
    
+  clear: after a write operation all bits in the field are cleared (set to 
+zero)
    
+  set: after a write operation all bits in the field are set (set to one)
    
+  modify: after a write operation all bit in the field may be modified 
+(default)
    
+
    writeConstraint: has a set of options:
    
+  writeAsRead = if true only the last read value can be written
    
+  useEnumeratedValues = if true only those values listed in the 
+enumeratedValues list are considered valid write values
    
+  minimum = specifies the smallest number to be written to the field
    
+  maximum = specifies the largest number to be written to the field
    
+
    readAction: if set it specifies the side effect following 
+read operations. If not set the field is not modified following a read 
+operations. The defined side effects are:
    
+  clear: indicates that the field is cleared (set to zero) 
+following a read operation
    
+  set: indicates that the field is set (set to ones) following a 
+read operation
    
+  modify: indicates that the field is modified in some way after a 
+read operation 
+
    
+  modifyExternal: indicates that one or more dependent resources 
+other than this field are immediately affected by a read (it is recommended that 
+the field description specifies these dependencies). Debuggers are not expected 
+to read the field unless explicitly instructed by user.
    
+
    Example:
    
+
    ...
+         <field>
+           <name>TimerCtrl0_IntSel</name>
+           <description>Select interrupt line that is triggered by timer overflow.</description>
+	   <bitOffset>1</bitOffset>
+           <bitWidth>3</bitWidth>
+           <access>read-write</access>
+	   <resetValue>0x0</resetValue>
+           <modifiedWriteValues>oneToSet</modifiedWriteValues>
+           <writeConstraint>
+              <range>
+                <minimum>0</minimum>
+                <maximum>5</maximum>
+              </range>
+           </writeConstraint>
+           <readAction>clear</readAction>
+ 
+           <enumeratedValues>
+              ...
+           </enumeratedValues>
+         </field>
+...
    
+
    
+
    <enumeratedValues 
+derivedFrom="xs:Name">
    
+
       <name>xs:Name</name>
    
+   <usage>usageType</usage>
    
+   <enumeratedValue>
    
+      ...
    
+   </enumeratedValue>
    
+
          ... 
    
+
       <enumeratedValue>
    
+      ...
    
+   </enumeratedValue>
    
+
    </enumeratedValues>
    
+
    An enumerated value provides one or more enumeration items (enumeratedValue), defining a map 
+between all possible values of the bit-field it belongs to and the corresponding 
+human readable semantics of that value.
    
+
    Mandatory items:
    
+enumeratedValue = next lower level of description (see next section 
+for details)
    
+
    Optional items:
    
+derivedFrom = the enumeratedValues can be copied or derived 
+from a previously defined enumeratedValue that has been given a unique name.
    
+name = name string to identify an enumeratedValue. Named 
+enumeratedValues need to be unique in the scope of a device in order to be reusable 
+throughout the description of a device.
    
+usage = possible values are read, write or
+read-write. This allows to specify two different enumerated values 
+depending whether it is to be used for a read or a write access. If not specified the enueratedValues are valid for read and write.
    
+
    Example:
    
+
    ...
+           <enumeratedValues>
+              <name>TimerIntSelect</name>
+              <usage>read-write</usage>
+              <enumeratedValue>
+                <name>disabled</name>
+                <description>disabled bit</description>
+                <value>0</value>
+              </enumeratedValue>
+              ...
+              <enumeratedValue>
+                <name>reserved</name>
+	        <description>reserved values. Do not use</description>
+                <isDefault>true</isDefault>
+              </enumeratedValue>
+           </enumeratedValues>
+...
    
+
    
+
    <enumeratedValue>
    
+
       <name>xs:name</name>
    
+   <description>xs:string</description>
    
+       <value>scaledNonNegativeInteger</value>
    
+  
+    or
    
+   <    isDefault>xs:boolean</isDefault>
    
+
    
+
    </enumeratedValue>
    
+
    An enumeratedValue defines a map between a value and the string reading the 
+corresponding human readable semantics for that value in a brief and a detailed 
+version
    
+
    Mandatory items:
    
+
    name= brief string verbally describing the semantics of the value 
+defined for this enumeratedValue. E.g. used for display in visualization of a bit-field 
+instead of the value.
    
+
    
+value = defines the constant of the bit-field that the name 
+corresponds to.
    
+
    isDefault = defines the name and description for all other 
+values that are not explicitly listed
    
+
    Optional item:
    
+
    description = extended string verbally describing the semantics 
+of the value defined for this enumeratedValue in full detail.
    
+
    Example:
    
+
    ...
+         <enumeratedValue>
+            <name>disabled</name>
+            <description>Timer does not generate interrupts</description>
+            <value>0</value>
+         </enumeratedValue>
+         ...
+         <enumeratedValue>
+            <name>enabled</name>
+            <description>Timer does not generate interrupts</description>
+            <isDefault>true</isDefault>
+         </enumeratedValue>
+
+...
    
+
    
+
    Names
    
+
    Names shall comply with ANSI C variable naming restrictions.
    
+
    Constants
    
+
    Number constants shall be entered in hexadecimal, decimal or binary format.
    
+
      
+				
    • hexadecimal is indicated by a leading "0x"
      • 
+				
    • binary format is indicated by a leading  "#"
      • 
+				
    • all other formats are interpreted as decimal numbers
      • 
+				
    • the value tag in enumeratedValue accepts do not care bits 
+				represented by "x"
      • 
+
    
+
    Comments 
    
+
    Comments have the standard XML format "<!--" starts a comment
+	"-->" terminates a comment
    
+
    Example
    
+
    +<?xml version="1.0" encoding="utf-8"?>
+ 
+<device schemaVersion="1.0" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="CMSIS-SVD_Schema_1_0.xsd" >
+  <name>Cortex_M3_Sample</name>
+  <version>0.1</version>
+  <description>ARM Cortex-M3 based Microcontroller dummy device</description>
+  <!-- Bus Interface Properties -->
+  <!-- Cortex-M3 is byte addressable -->
+  <addressUnitBits>8</addressUnitBits>
+  <!-- the maximum data bit width accessible within a single transfer is 32bits -->
+  <width>32</width>
+
+  <!-- Register Default Properties -->
+  <!-- the size of the registers is set to a bit width of 32. This can be overruled for individual peripherals and/or registers -->
+  <size>32</size>
+  <!-- the access to all registers is set to be readable and writeable. This can be overruled for individual peripherals and/or registers -->
+  <access>read-write</access>
+  <!-- for demonstration purposes the resetValue for all registers of the device is set to be 0. This can be overruled within the description -->
+  <resetValue>0</resetValue>
+  <!-- the resetMask = 0 specifies that by default no register of this device has a defined reset value -->
+  <resetMask>0</resetMask>
+
+  <peripherals>
+    <peripheral>
+      <name>Timer0</name>
+      <description>A simple 16 bit timer counting down ... </description>
+      <groupName>Timer</groupName>
+      <baseAddress>0x40000000</baseAddress>
+      <!-- the first addressBlock is occupied by registers. The second block is reserved -> no access permission -->
+      <addressBlock>
+        <offset>0</offset>
+        <size>0x8</size>
+        <usage>registers</usage>
+      </addressBlock>
+      <addressBlock>
+        <offset>0x8</offset>
+        <size>0x3f8</size>
+        <usage>reserved</usage>
+      </addressBlock>
+      <interrupt>
+        <name>TIM0_IRQn</name>
+        <value>34</value>
+      </interrupt>
+      <registers>
+        <register> 
+          <name>TimerCtrl0</name>
+          <!-- the display name is an unrestricted string. -->
+          <displayName>Timer Ctrl 0</displayName>
+          <description>Timer Control Register</description>
+          <addressOffset>0x0</addressOffset>
+          <!-- size=32, access=read-write, resetValue=0x0, resetMask=0xffffffff, volatile=false -->
+          <fields>
+            <field>
+              <name>TimerCtrl0_En</name>
+              <description>Enable Bit activates the timer.</description>
+              <!-- Spirit like bit range description: [0:0] -->
+              <bitOffset>0</bitOffset>
+              <bitWidth>1</bitWidth>
+              <!-- Writing 1 enables, writing 0 has no effect -->
+	      <modifiedWriteValues>oneToSet</modifiedWriteValues>
+              <!-- The write constraint is defined to be that only the values provided by the enumeratedValues below are allowed -->
+              <writeConstraint>
+                <useEnumeratedValues>true</useEnumeratedValues>
+              </writeConstraint>
+              <!-- there is no side effect on reads, therefore <readAction> is not set -->
+              <!-- oneBitEnable named enumeration that can be reused in other parts of the description -->
+              <enumeratedValues>
+                <name>oneBitEnable</name>
+                <!-- the same enumerated Values are used for read and write. This default is assumed when this tag is missing -->
+                <usage>read-write</usage>
+                <enumeratedValue>
+                  <name>enabled</name>
+                  <description>Timer is enabled and active</description>
+                  <value>0x0</value>
+                </enumeratedValue>
+                <enumeratedValue>
+                  <name>disabled</name>
+                  <description>Timer is disabled and inactive</description>
+                  <value>0x1</value>
+                </enumeratedValue>
+              </enumeratedValues>
+            </field>
+            <field>
+              <name>TimerCtrl0_Dis</name>
+              <description>Disable Bit deactivates the timer.</description>
+              <!-- Spirit like bit range description: [1:1] -->
+              <bitOffset>1</bitOffset>
+              <bitWidth>1</bitWidth>
+              <!-- Writing 1 sets, writing 0 has no effect -->
+	      <modifiedWriteValues>oneToSet</modifiedWriteValues>
+              <!-- The write constraint is defined to be that only the values provided by the enumeratedValues below are allowed -->
+              <writeConstraint>
+                <useEnumeratedValues>true</useEnumeratedValues>
+              </writeConstraint>
+              <!-- there is no side effect on reads, therefore <readAction> is not set -->
+              <!-- oneBitEnable named enumeration that can be reused in other parts of the description -->
+              <enumeratedValues derivedFrom="oneBitEnable"></enumeratedValues>
+            </field>
+            <field>
+              <name>TimerCtrl0_Int</name>
+              <description>Select interrupt line that is triggered by timer overflow.</description>
+              <!-- the position of the bit field is described in the bitRange style. -->
+              <bitRange>[4:2]</bitRange>
+              <enumeratedValues>
+                <enumeratedValue>
+                  <name>disabled</name>
+                  <description>Timer does not generate interrupts</description>
+                  <value>0</value>
+                </enumeratedValue>
+                <enumeratedValue>
+                  <name>int 0</name>
+                  <description>Timer does generate interrupts on interrupt line 0</description>
+                  <value>1</value>
+                </enumeratedValue>
+                <enumeratedValue>
+                  <name>int 1</name>
+                  <description>Timer does generate interrupts on interrupt line 1</description>
+                  <value>2</value>
+                </enumeratedValue>
+                <enumeratedValue>
+                  <name>int 2</name>
+                  <description>Timer does generate interrupts on interrupt line 2</description>
+                  <value>3</value>
+                </enumeratedValue>
+                <enumeratedValue>
+                  <name>int 3</name>
+                  <description>Timer does generate interrupts on interrupt line 3</description>
+                  <value>4</value>
+                </enumeratedValue>
+                <enumeratedValue>
+                  <name>int 4</name>
+                  <description>Timer does generate interrupts on interrupt line 4</description>
+                  <value>5</value>
+                </enumeratedValue>
+                <!-- this is the default element. All the valid value not listed above (6,7) have the following name and description -->
+                <enumeratedValue>
+                  <name>reserved</name>
+                  <description>Timer is configured incorrectly and the functionality is considered unpredictable</description>
+                  <isDefault>true</isDefault>
+                </enumeratedValue>
+              </enumeratedValues>
+            </field>
+          </fields>
+        </register>
+        <register>
+          <name>TimerCounter0</name>
+          <description>Timer0 16 Bit Counter Register</description>
+          <addressOffset>0x4</addressOffset>
+          <size>16</size>
+        </register>
+        <!-- a copy of the counter register TimerCounter0 with the name="TimerCounter1" and the addressOffset="0x8" -->
+        <register derivedFrom="TimerCounter0">
+          <name>TimerCounter1</name>
+          <addressOffset>0x6</addressOffset>
+        </register>
+        <!-- ... this is a restricted demo example and a real timer peripheral would have more register to be complete -->
+      </registers>
+    </peripheral>
+    <!-- a copy of Timer0 with the name="Timer1 and the baseAddress="0x40000400" -->
+    <peripheral derivedFrom="Timer0">
+      <name>Timer1</name>
+      <baseAddress>0x40000400</baseAddress>
+      <interrupt>
+        <name>TIM1_IRQn</name>
+        <value>35</value>
+      </interrupt>
+    </peripheral>
+  </peripherals>
+</device>
    
+
+
    Questions & Answers
    
+
    Is there any relation between the System View Description and the CMSIS 
+standard?
    
+
    Initiallly there was no immediate link but both initiatives had a common goal: 
+Create a sound software development eco-system for Cortex-M based 
+Microcontroller, giving the customers the free choice of devices and software 
+development environments and all resources required for a successful product 
+development in a single location. Meanwhile we have started to generate 
+CMSIS compliant device header files from the same CMSIS-SVD description. We will 
+introduce a small number of additional description tags in the next version of 
+the specification. The benefit is the synchronization between symbols used in 
+the application and the symbols displayed by the debugger.  
    
+
    Why does the format not provide constructs like macros and 
+conditional statements?
    
+
    It is assumed that the description is generated from other sources and 
+therefore such concepts would only complicate the language unnecessarily. It is 
+recommended to use a standard C pre-processor to generate the debug description 
+format from a redundancy optimized description.
    
+
    Do we need to consider endianess in the description?
    
+
    This should be specified on a device configuration level and is not specific 
+to the visualization of peripheral details in a System View. Endianess becomes 
+relevant when using bit fields in the CMSIS compliant device header file.
    
+
    Is the System View Description limited to Cortex-M based devices ?
    
+
+
+
    There may have been assumptions made about the structure of the device due to 
+it being developed around a Cortex-M processor. E.g. that all peripherals are 
+assumed to be memory mapped and to reside in a single address space. It is quite 
+likely that the description format may also serve other architectures 
+sufficiently. There is no intent to limit the format to Cortex-M 
+processor based devices. 
    
+
+
+
\ No newline at end of file
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/README.txt b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/README.txt
new file mode 100644
index 000000000..77c148263
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/README.txt
@@ -0,0 +1,3 @@
+
+NOTE - Open the index.html file inside the html directory to access CMSIS DSP Library documentation
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/Biquad.gif b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/Biquad.gif
new file mode 100644
index 0000000000000000000000000000000000000000..d6c517059bfa028675d9c0c540707ae001c0592e
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z;JVm
+
+
+
+CMSIS DSP Software Library: Data Structures
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Data Structures
      
    
+
    
+
    
+Here are the data structures with brief descriptions:
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+  
+  
+  
+  
+  
+
    arm_bilinear_interp_instance_f32Instance structure for the floating-point bilinear interpolation function 
    arm_bilinear_interp_instance_q15Instance structure for the Q15 bilinear interpolation function 
    arm_bilinear_interp_instance_q31Instance structure for the Q31 bilinear interpolation function 
    arm_bilinear_interp_instance_q7Instance structure for the Q15 bilinear interpolation function 
    arm_biquad_cas_df1_32x64_ins_q31Instance structure for the high precision Q31 Biquad cascade filter 
    arm_biquad_cascade_df2T_instance_f32Instance structure for the floating-point transposed direct form II Biquad cascade filter 
    arm_biquad_casd_df1_inst_f32Instance structure for the floating-point Biquad cascade filter 
    arm_biquad_casd_df1_inst_q15Instance structure for the Q15 Biquad cascade filter 
    arm_biquad_casd_df1_inst_q31Instance structure for the Q31 Biquad cascade filter 
    arm_cfft_radix4_instance_f32Instance structure for the floating-point CFFT/CIFFT function 
    arm_cfft_radix4_instance_q15Instance structure for the Q15 CFFT/CIFFT function 
    arm_cfft_radix4_instance_q31Instance structure for the Q31 CFFT/CIFFT function 
    arm_dct4_instance_f32Instance structure for the floating-point DCT4/IDCT4 function 
    arm_dct4_instance_q15Instance structure for the Q15 DCT4/IDCT4 function 
    arm_dct4_instance_q31Instance structure for the Q31 DCT4/IDCT4 function 
    arm_fir_decimate_instance_f32Instance structure for the floating-point FIR decimator 
    arm_fir_decimate_instance_q15Instance structure for the Q15 FIR decimator 
    arm_fir_decimate_instance_q31Instance structure for the Q31 FIR decimator 
    arm_fir_instance_f32Instance structure for the floating-point FIR filter 
    arm_fir_instance_q15Instance structure for the Q15 FIR filter 
    arm_fir_instance_q31Instance structure for the Q31 FIR filter 
    arm_fir_instance_q7Instance structure for the Q7 FIR filter 
    arm_fir_interpolate_instance_f32Instance structure for the floating-point FIR interpolator 
    arm_fir_interpolate_instance_q15Instance structure for the Q15 FIR interpolator 
    arm_fir_interpolate_instance_q31Instance structure for the Q31 FIR interpolator 
    arm_fir_lattice_instance_f32Instance structure for the floating-point FIR lattice filter 
    arm_fir_lattice_instance_q15Instance structure for the Q15 FIR lattice filter 
    arm_fir_lattice_instance_q31Instance structure for the Q31 FIR lattice filter 
    arm_fir_sparse_instance_f32Instance structure for the floating-point sparse FIR filter 
    arm_fir_sparse_instance_q15Instance structure for the Q15 sparse FIR filter 
    arm_fir_sparse_instance_q31Instance structure for the Q31 sparse FIR filter 
    arm_fir_sparse_instance_q7Instance structure for the Q7 sparse FIR filter 
    arm_iir_lattice_instance_f32Instance structure for the floating-point IIR lattice filter 
    arm_iir_lattice_instance_q15Instance structure for the Q15 IIR lattice filter 
    arm_iir_lattice_instance_q31Instance structure for the Q31 IIR lattice filter 
    arm_linear_interp_instance_f32Instance structure for the floating-point Linear Interpolate function 
    arm_lms_instance_f32Instance structure for the floating-point LMS filter 
    arm_lms_instance_q15Instance structure for the Q15 LMS filter 
    arm_lms_instance_q31Instance structure for the Q31 LMS filter 
    arm_lms_norm_instance_f32Instance structure for the floating-point normalized LMS filter 
    arm_lms_norm_instance_q15Instance structure for the Q15 normalized LMS filter 
    arm_lms_norm_instance_q31Instance structure for the Q31 normalized LMS filter 
    arm_matrix_instance_f32Instance structure for the floating-point matrix structure 
    arm_matrix_instance_q15Instance structure for the Q15 matrix structure 
    arm_matrix_instance_q31Instance structure for the Q31 matrix structure 
    arm_pid_instance_f32Instance structure for the floating-point PID Control 
    arm_pid_instance_q15Instance structure for the Q15 PID Control 
    arm_pid_instance_q31Instance structure for the Q31 PID Control 
    arm_rfft_instance_f32Instance structure for the floating-point RFFT/RIFFT function 
    arm_rfft_instance_q15Instance structure for the Q15 RFFT/RIFFT function 
    arm_rfft_instance_q31Instance structure for the Q31 RFFT/RIFFT function 
    
+
    
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+
    
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+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__f32_8c.html
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+CMSIS DSP Software Library: arm_abs_f32.c File Reference
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_abs_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include <math.h>
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_abs_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__f32_8c_source.html
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+CMSIS DSP Software Library: arm_abs_f32.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q15_8c.html
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+CMSIS DSP Software Library: arm_abs_q15.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_abs_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_abs_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q15_8c_source.html
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+CMSIS DSP Software Library: arm_abs_q15.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q31_8c.html
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+CMSIS DSP Software Library: arm_abs_q31.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_abs_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_abs_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q31_8c_source.html
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+CMSIS DSP Software Library: arm_abs_q31.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q7_8c.html
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+CMSIS DSP Software Library: arm_abs_q7.c File Reference
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+  
    
+Functions  
    
+  
    
+
    arm_abs_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_abs_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__abs__q7_8c_source.html
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+CMSIS DSP Software Library: arm_abs_q7.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__f32_8c.html
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+CMSIS DSP Software Library: arm_add_f32.c File Reference
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+  
    
+Functions  
    
+  
    
+
    arm_add_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_add_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__f32_8c_source.html
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+CMSIS DSP Software Library: arm_add_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q15_8c.html
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+CMSIS DSP Software Library: arm_add_q15.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_add_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_add_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q15_8c_source.html
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+CMSIS DSP Software Library: arm_add_q15.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q31_8c.html
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+CMSIS DSP Software Library: arm_add_q31.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_add_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_add_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    
+
    
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q31_8c_source.html
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+CMSIS DSP Software Library: arm_add_q31.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q7_8c.html
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_add_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_add_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_add_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q7_8c_source.html
new file mode 100644
index 000000000..820838885
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__add__q7_8c_source.html
@@ -0,0 +1,173 @@
+
+
+
+
+CMSIS DSP Software Library: arm_add_q7.c Source File
+
+
+
+
+
+
+
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+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__init__q31_8c.html
new file mode 100644
index 000000000..275b77a56
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_32x64_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_32x64_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cas_df1_32x64_init_q31 (arm_biquad_cas_df1_32x64_ins_q31 *S, uint8_t numStages, q31_t *pCoeffs, q63_t *pState, uint8_t postShift)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__init__q31_8c_source.html
new file mode 100644
index 000000000..b36c37c8a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__init__q31_8c_source.html
@@ -0,0 +1,130 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_32x64_init_q31.c Source File
+
+
+
+
+
+
+
+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__q31_8c.html
new file mode 100644
index 000000000..ec4e914db
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_32x64_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_32x64_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cas_df1_32x64_q31 (const arm_biquad_cas_df1_32x64_ins_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__q31_8c_source.html
new file mode 100644
index 000000000..93966d095
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__32x64__q31_8c_source.html
@@ -0,0 +1,405 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_32x64_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__f32_8c.html
new file mode 100644
index 000000000..03352c51b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_f32 (const arm_biquad_casd_df1_inst_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
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+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__f32_8c_source.html
new file mode 100644
index 000000000..58e5b9404
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__f32_8c_source.html
@@ -0,0 +1,356 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_f32.c Source File
+
+
+
+
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+
+
+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q15_8c.html
new file mode 100644
index 000000000..add09a6d0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_fast_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_fast_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_fast_q15 (const arm_biquad_casd_df1_inst_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q15_8c_source.html
new file mode 100644
index 000000000..e211ac2da
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q15_8c_source.html
@@ -0,0 +1,322 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_fast_q15.c Source File
+
+
+
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+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q31_8c.html
new file mode 100644
index 000000000..727376977
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_fast_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_fast_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_fast_q31 (const arm_biquad_casd_df1_inst_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q31_8c_source.html
new file mode 100644
index 000000000..098077007
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__fast__q31_8c_source.html
@@ -0,0 +1,308 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_fast_q31.c Source File
+
+
+
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+
+
+
+
+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__f32_8c.html
new file mode 100644
index 000000000..98e998287
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_init_f32 (arm_biquad_casd_df1_inst_f32 *S, uint8_t numStages, float32_t *pCoeffs, float32_t *pState)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__f32_8c_source.html
new file mode 100644
index 000000000..8e3ad0997
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__f32_8c_source.html
@@ -0,0 +1,129 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_init_f32.c Source File
+
+
+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q15_8c.html
new file mode 100644
index 000000000..5ed36d7cd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_init_q15 (arm_biquad_casd_df1_inst_q15 *S, uint8_t numStages, q15_t *pCoeffs, q15_t *pState, int8_t postShift)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q15_8c_source.html
new file mode 100644
index 000000000..1ea314682
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q15_8c_source.html
@@ -0,0 +1,133 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_init_q15.c Source File
+
+
+
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+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q31_8c.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_init_q31 (arm_biquad_casd_df1_inst_q31 *S, uint8_t numStages, q31_t *pCoeffs, q31_t *pState, int8_t postShift)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q31_8c_source.html
new file mode 100644
index 000000000..f3ba98c79
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__init__q31_8c_source.html
@@ -0,0 +1,134 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_init_q31.c Source File
+
+
+
+
+
+
+
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+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q15_8c.html
new file mode 100644
index 000000000..8b0727fde
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df1_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_q15 (const arm_biquad_casd_df1_inst_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q15_8c_source.html
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+CMSIS DSP Software Library: arm_biquad_cascade_df1_q15.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q31_8c.html
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+CMSIS DSP Software Library: arm_biquad_cascade_df1_q31.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df1_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_q31 (const arm_biquad_casd_df1_inst_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df1__q31_8c_source.html
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+CMSIS DSP Software Library: arm_biquad_cascade_df1_q31.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df2_t__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df2_t__f32_8c.html
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+CMSIS DSP Software Library: arm_biquad_cascade_df2T_f32.c File Reference
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+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df2T_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df2T_f32 (const arm_biquad_cascade_df2T_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df2_t__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df2_t__f32_8c_source.html
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+CMSIS DSP Software Library: arm_biquad_cascade_df2T_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df2_t__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df2_t__init__f32_8c.html
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+CMSIS DSP Software Library: arm_biquad_cascade_df2T_init_f32.c File Reference
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+  
    
+Functions  
    
+  
    
+
    arm_biquad_cascade_df2T_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df2T_init_f32 (arm_biquad_cascade_df2T_instance_f32 *S, uint8_t numStages, float32_t *pCoeffs, float32_t *pState)
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df2_t__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__biquad__cascade__df2_t__init__f32_8c_source.html
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+CMSIS DSP Software Library: arm_biquad_cascade_df2T_init_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__f32_8c.html
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+CMSIS DSP Software Library: arm_cfft_radix4_f32.c File Reference
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cfft_radix4_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
    
+Functions
    void arm_cfft_radix4_f32 (const arm_cfft_radix4_instance_f32 *S, float32_t *pSrc)
    void arm_radix4_butterfly_f32 (float32_t *pSrc, uint16_t fftLen, float32_t *pCoef, uint16_t twidCoefModifier)
    void arm_radix4_butterfly_inverse_f32 (float32_t *pSrc, uint16_t fftLen, float32_t *pCoef, uint16_t twidCoefModifier, float32_t onebyfftLen)
    void arm_bitreversal_f32 (float32_t *pSrc, uint16_t fftSize, uint16_t bitRevFactor, uint16_t *pBitRevTab)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
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+      
    void arm_radix4_butterfly_f32 (float32_t *  pSrc, 
    uint16_t  fftLen, 
    float32_t *  pCoef, 
    uint16_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the floating-point CFFT butterfly process. 
    
+
    end of CFFT_CIFFT group 
    
+
+
    Definition at line 223 of file arm_cfft_radix4_f32.c.
    
+
+
    
+
    
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+        
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+      
    void arm_radix4_butterfly_inverse_f32 (float32_t *  pSrc, 
    uint16_t  fftLen, 
    float32_t *  pCoef, 
    uint16_t  twidCoefModifier, 
    float32_t  onebyfftLen 
    )
    
+
    
+
    
+
+
    Core function for the floating-point CIFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of floating-point data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoefpoints to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    [in]onebyfftLenvalue of 1/fftLen. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 660 of file arm_cfft_radix4_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+      
    void arm_bitreversal_f32 (float32_t *  pSrc, 
    uint16_t  fftSize, 
    uint16_t  bitRevFactor, 
    uint16_t *  pBitRevTab 
    )
    
+
    
+
    
+
+
    In-place bit reversal function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of floating-point data type. 
    [in]fftSizelength of the FFT. 
    [in]bitRevFactorbit reversal modifier that supports different size FFTs with the same bit reversal table. 
    [in]*pBitRevTabpoints to the bit reversal table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 1177 of file arm_cfft_radix4_f32.c.
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__f32_8c_source.html
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+CMSIS DSP Software Library: arm_cfft_radix4_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__f32_8c.html
new file mode 100644
index 000000000..403d16e5b
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@@ -0,0 +1,88 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cfft_radix4_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_cfft_radix4_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "arm_common_tables.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    arm_status arm_cfft_radix4_init_f32 (arm_cfft_radix4_instance_f32 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    
+Variables
    static const float32_t twiddleCoef [2048]
    
+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__f32_8c_source.html
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+CMSIS DSP Software Library: arm_cfft_radix4_init_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__q15_8c.html
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+CMSIS DSP Software Library: arm_cfft_radix4_init_q15.c File Reference
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+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_cfft_radix4_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "arm_common_tables.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    arm_status arm_cfft_radix4_init_q15 (arm_cfft_radix4_instance_q15 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    
+Variables
    static const q15_t twiddleCoefQ15 [2048]
    
+
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__q15_8c_source.html
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@@ -0,0 +1,435 @@
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+CMSIS DSP Software Library: arm_cfft_radix4_init_q15.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__q31_8c.html
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+CMSIS DSP Software Library: arm_cfft_radix4_init_q31.c File Reference
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+
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+
+
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+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_cfft_radix4_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "arm_common_tables.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    arm_status arm_cfft_radix4_init_q31 (arm_cfft_radix4_instance_q31 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    
+Variables
    static const q31_t twiddleCoefQ31 [2048]
    
+
    
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+
    
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+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__init__q31_8c_source.html
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@@ -0,0 +1,690 @@
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+CMSIS DSP Software Library: arm_cfft_radix4_init_q31.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__q15_8c.html
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+CMSIS DSP Software Library: arm_cfft_radix4_q15.c File Reference
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cfft_radix4_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
    
+Functions
    void arm_cfft_radix4_q15 (const arm_cfft_radix4_instance_q15 *S, q15_t *pSrc)
    void arm_radix4_butterfly_q15 (q15_t *pSrc16, uint32_t fftLen, q15_t *pCoef16, uint32_t twidCoefModifier)
    void arm_radix4_butterfly_inverse_q15 (q15_t *pSrc16, uint32_t fftLen, q15_t *pCoef16, uint32_t twidCoefModifier)
    void arm_bitreversal_q15 (q15_t *pSrc16, uint32_t fftLen, uint16_t bitRevFactor, uint16_t *pBitRevTab)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
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    void arm_radix4_butterfly_q15 (q15_t *  pSrc16, 
    uint32_t  fftLen, 
    q15_t *  pCoef16, 
    uint32_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the Q15 CFFT butterfly process. 
    
+
    end of CFFT_CIFFT group 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrc16points to the in-place buffer of Q15 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoef16points to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 138 of file arm_cfft_radix4_q15.c.
    
+
+
    
+
    
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    void arm_radix4_butterfly_inverse_q15 (q15_t *  pSrc16, 
    uint32_t  fftLen, 
    q15_t *  pCoef16, 
    uint32_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the Q15 CIFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrc16points to the in-place buffer of Q15 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoef16points to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 1053 of file arm_cfft_radix4_q15.c.
    
+
+
    
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    void arm_bitreversal_q15 (q15_t *  pSrc, 
    uint32_t  fftLen, 
    uint16_t  bitRevFactor, 
    uint16_t *  pBitRevTab 
    )
    
+
    
+
    
+
+
    In-place bit reversal function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q15 data type. 
    [in]fftLenlength of the FFT. 
    [in]bitRevFactorbit reversal modifier that supports different size FFTs with the same bit reversal table 
    [in]*pBitRevTabpoints to bit reversal table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 1906 of file arm_cfft_radix4_q15.c.
    
+
+
    
+
    
+
    
+
+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__q15_8c_source.html
new file mode 100644
index 000000000..9fbe3c676
--- /dev/null
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@@ -0,0 +1,1976 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cfft_radix4_q15.c Source File
+
+
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+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__q31_8c.html
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@@ -0,0 +1,247 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cfft_radix4_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cfft_radix4_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
    
+Functions
    void arm_cfft_radix4_q31 (const arm_cfft_radix4_instance_q31 *S, q31_t *pSrc)
    void arm_radix4_butterfly_q31 (q31_t *pSrc, uint32_t fftLen, q31_t *pCoef, uint32_t twidCoefModifier)
    void arm_radix4_butterfly_inverse_q31 (q31_t *pSrc, uint32_t fftLen, q31_t *pCoef, uint32_t twidCoefModifier)
    void arm_bitreversal_q31 (q31_t *pSrc, uint32_t fftLen, uint16_t bitRevFactor, uint16_t *pBitRevTable)
    
+
    Function Documentation
    
+
+
    
+
    
+      
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+        
+      
    void arm_radix4_butterfly_q31 (q31_t *  pSrc, 
    uint32_t  fftLen, 
    q31_t *  pCoef, 
    uint32_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the Q31 CFFT butterfly process. 
    
+
    end of CFFT_CIFFT group 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q31 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoefpoints to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 139 of file arm_cfft_radix4_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
+      
    void arm_radix4_butterfly_inverse_q31 (q31_t *  pSrc, 
    uint32_t  fftLen, 
    q31_t *  pCoef, 
    uint32_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the Q31 CIFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q31 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoefpoints to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 517 of file arm_cfft_radix4_q31.c.
    
+
+
    
+
    
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+        
+      
    void arm_bitreversal_q31 (q31_t *  pSrc, 
    uint32_t  fftLen, 
    uint16_t  bitRevFactor, 
    uint16_t *  pBitRevTab 
    )
    
+
    
+
    
+
+
    In-place bit reversal function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q31 data type. 
    [in]fftLenlength of the FFT. 
    [in]bitRevFactorbit reversal modifier that supports different size FFTs with the same bit reversal table 
    [in]*pBitRevTabpoints to bit reversal table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 848 of file arm_cfft_radix4_q31.c.
    
+
+
    
+
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cfft__radix4__q31_8c_source.html
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index 000000000..5d01552b8
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@@ -0,0 +1,929 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cfft_radix4_q31.c Source File
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+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__class__marks__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__class__marks__example__f32_8c.html
new file mode 100644
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@@ -0,0 +1,393 @@
+
+
+
+
+CMSIS DSP Software Library: arm_class_marks_example_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_class_marks_example_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+Defines
    #define USE_STATIC_INIT
    #define TEST_LENGTH_SAMPLES   (20*4)
    #define NUMSTUDENTS   20
    #define NUMSUBJECTS   4
    
+Functions
    int32_t main ()
    
+Variables
    const float32_t testMarks_f32 [TEST_LENGTH_SAMPLES]
    const float32_t testUnity_f32 [4]
    static float32_t testOutput [TEST_LENGTH_SAMPLES]
    uint32_t numStudents = 20
    uint32_t numSubjects = 4
    float32_t max_marks
    float32_t min_marks
    float32_t mean
    float32_t std
    float32_t var
    uint32_t student_num
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define USE_STATIC_INIT
    
+
    
+
    
+
+
    Definition at line 69 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define TEST_LENGTH_SAMPLES   (20*4)
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c, arm_fft_bin_example_f32.c, arm_fir_example_f32.c, arm_linear_interp_example_f32.c, and arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 75 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define NUMSTUDENTS   20
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 123 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define NUMSUBJECTS   4
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 124 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c, arm_convolution_example_f32.c, arm_dotproduct_example_f32.c, arm_fft_bin_example_f32.c, arm_fir_example_f32.c, arm_graphic_equalizer_example_q31.c, arm_linear_interp_example_f32.c, arm_matrix_example_f32.c, arm_signal_converge_example_f32.c, arm_sin_cos_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 139 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t testMarks_f32[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+Initial value:
      
+{    
+    42.000000,  37.000000,  81.000000,  28.000000,   
+    83.000000,  72.000000,  36.000000,  38.000000,   
+    32.000000,  51.000000,  63.000000,  64.000000,   
+    97.000000,  82.000000,  95.000000,  90.000000,   
+    66.000000,  51.000000,  54.000000,  42.000000,   
+    67.000000,  56.000000,  45.000000,  57.000000,   
+    67.000000,  69.000000,  35.000000,  52.000000,   
+    29.000000,  81.000000,  58.000000,  47.000000,   
+    38.000000,  76.000000,  100.000000, 29.000000,   
+    33.000000,  47.000000,  29.000000,  50.000000,   
+    34.000000,  41.000000,  61.000000,  46.000000,   
+    52.000000,  50.000000,  48.000000,  36.000000,   
+    47.000000,  55.000000,  44.000000,  40.000000,   
+    100.000000, 94.000000,  84.000000,  37.000000,   
+    32.000000,  71.000000,  47.000000,  77.000000,   
+    31.000000,  50.000000,  49.000000,  35.000000,   
+    63.000000,  67.000000,  40.000000,  31.000000,   
+    29.000000,  68.000000,  61.000000,  38.000000,   
+    31.000000,  28.000000,  28.000000,  76.000000,   
+    55.000000,  33.000000,  29.000000,  39.000000 
+}
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 80 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t testUnity_f32[4]
    
+
    
+
    
+Initial value:
      
+{    
+    1.000,  1.000,  1.000,  1.000 
+}
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 108 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testOutput[TEST_LENGTH_SAMPLES] [static]
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c, arm_dotproduct_example_f32.c, arm_fft_bin_example_f32.c, arm_fir_example_f32.c, arm_graphic_equalizer_example_q31.c, arm_linear_interp_example_f32.c, and arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 117 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t numStudents = 20
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 130 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t numSubjects = 4
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 131 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+          
+        
+      
    float32_t max_marks
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 132 of file arm_class_marks_example_f32.c.
    
+
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+
    
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    float32_t min_marks
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 132 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t mean
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 132 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t std
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 132 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+        
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    float32_t var
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 132 of file arm_class_marks_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t student_num
    
+
    
+
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 133 of file arm_class_marks_example_f32.c.
    
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__class__marks__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__class__marks__example__f32_8c_source.html
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+CMSIS DSP Software Library: arm_class_marks_example_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__f32_8c.html
new file mode 100644
index 000000000..9eb1ffa33
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_conj_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_conj_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_conj_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__f32_8c_source.html
new file mode 100644
index 000000000..84868b12f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__f32_8c_source.html
@@ -0,0 +1,171 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_conj_f32.c Source File
+
+
+
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+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q15_8c.html
new file mode 100644
index 000000000..d266b0628
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_conj_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_conj_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_conj_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q15_8c_source.html
new file mode 100644
index 000000000..96d9a69ef
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q15_8c_source.html
@@ -0,0 +1,171 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_conj_q15.c Source File
+
+
+
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+
+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q31_8c.html
new file mode 100644
index 000000000..463c91929
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_conj_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_conj_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_conj_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q31_8c_source.html
new file mode 100644
index 000000000..1eb0d09c8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__conj__q31_8c_source.html
@@ -0,0 +1,179 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_conj_q31.c Source File
+
+
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+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__f32_8c.html
new file mode 100644
index 000000000..2823695cc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_dot_prod_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_dot_prod_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_dot_prod_f32 (float32_t *pSrcA, float32_t *pSrcB, uint32_t numSamples, float32_t *realResult, float32_t *imagResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__f32_8c_source.html
new file mode 100644
index 000000000..c0394dd1d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__f32_8c_source.html
@@ -0,0 +1,182 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_dot_prod_f32.c Source File
+
+
+
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+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q15_8c.html
new file mode 100644
index 000000000..b90697cc7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_dot_prod_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_dot_prod_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_dot_prod_q15 (q15_t *pSrcA, q15_t *pSrcB, uint32_t numSamples, q31_t *realResult, q31_t *imagResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q15_8c_source.html
new file mode 100644
index 000000000..6a3cb4ace
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q15_8c_source.html
@@ -0,0 +1,184 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_dot_prod_q15.c Source File
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q31_8c.html
new file mode 100644
index 000000000..2195b74ec
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_dot_prod_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_dot_prod_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_dot_prod_q31 (q31_t *pSrcA, q31_t *pSrcB, uint32_t numSamples, q63_t *realResult, q63_t *imagResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q31_8c_source.html
new file mode 100644
index 000000000..e292ea3bc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__dot__prod__q31_8c_source.html
@@ -0,0 +1,184 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_dot_prod_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__f32_8c.html
new file mode 100644
index 000000000..e1bd36b8b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mag_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mag_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__f32_8c_source.html
new file mode 100644
index 000000000..7f1716cee
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__f32_8c_source.html
@@ -0,0 +1,183 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q15_8c.html
new file mode 100644
index 000000000..cf8cc0eb4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mag_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mag_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q15_8c_source.html
new file mode 100644
index 000000000..7d8d5905c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q15_8c_source.html
@@ -0,0 +1,201 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_q15.c Source File
+
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q31_8c.html
new file mode 100644
index 000000000..e99318c68
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mag_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mag_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q31_8c_source.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__q31_8c_source.html
@@ -0,0 +1,199 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__f32_8c.html
new file mode 100644
index 000000000..e6ed8a820
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_squared_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mag_squared_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mag_squared_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__f32_8c_source.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__f32_8c_source.html
@@ -0,0 +1,183 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_squared_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q15_8c.html
new file mode 100644
index 000000000..3d70290d7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mag_squared_q15.c File Reference
+
+
+
+
+
+
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mag_squared_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mag_squared_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    
+
    
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+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q15_8c_source.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q15_8c_source.html
@@ -0,0 +1,197 @@
+
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+CMSIS DSP Software Library: arm_cmplx_mag_squared_q15.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q31_8c.html
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+CMSIS DSP Software Library: arm_cmplx_mag_squared_q31.c File Reference
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mag_squared_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mag_squared_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    
+
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q31_8c_source.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mag__squared__q31_8c_source.html
@@ -0,0 +1,197 @@
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+CMSIS DSP Software Library: arm_cmplx_mag_squared_q31.c Source File
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    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__f32_8c.html
new file mode 100644
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@@ -0,0 +1,83 @@
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+CMSIS DSP Software Library: arm_cmplx_mult_cmplx_f32.c File Reference
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mult_cmplx_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mult_cmplx_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t numSamples)
    
+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__f32_8c_source.html
new file mode 100644
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@@ -0,0 +1,209 @@
+
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+CMSIS DSP Software Library: arm_cmplx_mult_cmplx_f32.c Source File
+
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+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q15_8c.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q15_8c.html
@@ -0,0 +1,83 @@
+
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+
+
+CMSIS DSP Software Library: arm_cmplx_mult_cmplx_q15.c File Reference
+
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+
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mult_cmplx_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mult_cmplx_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t numSamples)
    
+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q15_8c_source.html
new file mode 100644
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@@ -0,0 +1,230 @@
+
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+CMSIS DSP Software Library: arm_cmplx_mult_cmplx_q15.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q31_8c.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q31_8c.html
@@ -0,0 +1,83 @@
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+CMSIS DSP Software Library: arm_cmplx_mult_cmplx_q31.c File Reference
+
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+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mult_cmplx_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mult_cmplx_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t numSamples)
    
+
    
+
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+
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__cmplx__q31_8c_source.html
new file mode 100644
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@@ -0,0 +1,255 @@
+
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+CMSIS DSP Software Library: arm_cmplx_mult_cmplx_q31.c Source File
+
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+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__f32_8c.html
new file mode 100644
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@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mult_real_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mult_real_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mult_real_f32 (float32_t *pSrcCmplx, float32_t *pSrcReal, float32_t *pCmplxDst, uint32_t numSamples)
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__f32_8c_source.html
new file mode 100644
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@@ -0,0 +1,185 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cmplx_mult_real_f32.c Source File
+
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+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__q15_8c.html
new file mode 100644
index 000000000..e9db6d309
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@@ -0,0 +1,83 @@
+
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+
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+CMSIS DSP Software Library: arm_cmplx_mult_real_q15.c File Reference
+
+
+
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+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mult_real_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mult_real_q15 (q15_t *pSrcCmplx, q15_t *pSrcReal, q15_t *pCmplxDst, uint32_t numSamples)
    
+
    
+
+
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+
+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__q15_8c_source.html
new file mode 100644
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@@ -0,0 +1,197 @@
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+CMSIS DSP Software Library: arm_cmplx_mult_real_q15.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__q31_8c.html
new file mode 100644
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+CMSIS DSP Software Library: arm_cmplx_mult_real_q31.c File Reference
+
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_cmplx_mult_real_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_cmplx_mult_real_q31 (q31_t *pSrcCmplx, q31_t *pSrcReal, q31_t *pCmplxDst, uint32_t numSamples)
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cmplx__mult__real__q31_8c_source.html
new file mode 100644
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+
+CMSIS DSP Software Library: arm_cmplx_mult_real_q31.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__common__tables_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__common__tables_8c.html
new file mode 100644
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+
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+
+
+CMSIS DSP Software Library: arm_common_tables.c File Reference
+
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+
+
+
    
+  
    
+Variables  
    
+  
    
+
    arm_common_tables.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Variables
    const uint16_t armBitRevTable [256]
    const q15_t armRecipTableQ15 [64]
    const q31_t armRecipTableQ31 [64]
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t armRecipTableQ15[64]
    
+
    
+
    
+Initial value:
     {
+  0x7F03, 0x7D13, 0x7B31, 0x795E, 0x7798, 0x75E0,
+  0x7434, 0x7294, 0x70FF, 0x6F76, 0x6DF6, 0x6C82,
+  0x6B16, 0x69B5, 0x685C, 0x670C, 0x65C4, 0x6484,
+  0x634C, 0x621C, 0x60F3, 0x5FD0, 0x5EB5, 0x5DA0,
+  0x5C91, 0x5B88, 0x5A85, 0x5988, 0x5890, 0x579E,
+  0x56B0, 0x55C8, 0x54E4, 0x5405, 0x532B, 0x5255,
+  0x5183, 0x50B6, 0x4FEC, 0x4F26, 0x4E64, 0x4DA6,
+  0x4CEC, 0x4C34, 0x4B81, 0x4AD0, 0x4A23, 0x4978,
+  0x48D1, 0x482D, 0x478C, 0x46ED, 0x4651, 0x45B8,
+  0x4521, 0x448D, 0x43FC, 0x436C, 0x42DF, 0x4255,
+  0x41CC, 0x4146, 0x40C2, 0x4040
+}
+
    end of CFFT_CIFFT group 
    
+
+
    Definition at line 115 of file arm_common_tables.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t armRecipTableQ31[64]
    
+
    
+
    
+Initial value:
     {
+  0x7F03F03F, 0x7D137420, 0x7B31E739, 0x795E9F94, 0x7798FD29, 0x75E06928,
+  0x7434554D, 0x72943B4B, 0x70FF9C40, 0x6F760031, 0x6DF6F593, 0x6C8210E3,
+  0x6B16EC3A, 0x69B526F6, 0x685C655F, 0x670C505D, 0x65C4952D, 0x6484E519,
+  0x634CF53E, 0x621C7E4F, 0x60F33C61, 0x5FD0EEB3, 0x5EB55785, 0x5DA03BEB,
+  0x5C9163A1, 0x5B8898E6, 0x5A85A85A, 0x598860DF, 0x58909373, 0x579E1318,
+  0x56B0B4B8, 0x55C84F0B, 0x54E4BA80, 0x5405D124, 0x532B6E8F, 0x52556FD0,
+  0x5183B35A, 0x50B618F3, 0x4FEC81A2, 0x4F26CFA2, 0x4E64E64E, 0x4DA6AA1D,
+  0x4CEC008B, 0x4C34D010, 0x4B810016, 0x4AD078EF, 0x4A2323C4, 0x4978EA96,
+  0x48D1B827, 0x482D77FE, 0x478C1657, 0x46ED801D, 0x4651A2E5, 0x45B86CE2,
+  0x4521CCE1, 0x448DB244, 0x43FC0CFA, 0x436CCD78, 0x42DFE4B4, 0x42554426,
+  0x41CCDDB6, 0x4146A3C6, 0x40C28923, 0x40408102
+}
+
    
+
    Definition at line 132 of file arm_common_tables.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__common__tables_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__common__tables_8c_source.html
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__f32_8c.html
new file mode 100644
index 000000000..4c7cf3e86
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_conv_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__f32_8c_source.html
new file mode 100644
index 000000000..61c2d8ff8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__f32_8c_source.html
@@ -0,0 +1,626 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q15_8c.html
new file mode 100644
index 000000000..d39f7d653
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_fast_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_fast_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_conv_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q15_8c_source.html
new file mode 100644
index 000000000..13b027477
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q15_8c_source.html
@@ -0,0 +1,713 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_fast_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q31_8c.html
new file mode 100644
index 000000000..a9a80e496
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_fast_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_fast_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_conv_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q31_8c_source.html
new file mode 100644
index 000000000..a4525b294
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__fast__q31_8c_source.html
@@ -0,0 +1,601 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_fast_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__f32_8c.html
new file mode 100644
index 000000000..d9c433fca
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_partial_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_conv_partial_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__f32_8c_source.html
new file mode 100644
index 000000000..d043ca91f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__f32_8c_source.html
@@ -0,0 +1,673 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q15_8c.html
new file mode 100644
index 000000000..ff4703fd3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_fast_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_partial_fast_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_conv_partial_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q15_8c_source.html
new file mode 100644
index 000000000..449cde144
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q15_8c_source.html
@@ -0,0 +1,751 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_fast_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q31_8c.html
new file mode 100644
index 000000000..885d423f7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_fast_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_partial_fast_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_conv_partial_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q31_8c_source.html
new file mode 100644
index 000000000..f0a8d4e71
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__fast__q31_8c_source.html
@@ -0,0 +1,639 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_fast_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q15_8c.html
new file mode 100644
index 000000000..9ad51bcbd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_partial_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_conv_partial_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q15_8c_source.html
new file mode 100644
index 000000000..31a90ec83
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q15_8c_source.html
@@ -0,0 +1,811 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q31_8c.html
new file mode 100644
index 000000000..1440909d4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_partial_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_conv_partial_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q31_8c_source.html
new file mode 100644
index 000000000..859950124
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q31_8c_source.html
@@ -0,0 +1,663 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q7_8c.html
new file mode 100644
index 000000000..b6da19035
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_partial_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_conv_partial_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q7_8c_source.html
new file mode 100644
index 000000000..988b71d8b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__partial__q7_8c_source.html
@@ -0,0 +1,771 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_partial_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q15_8c.html
new file mode 100644
index 000000000..3d7eee6f0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_conv_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q15_8c_source.html
new file mode 100644
index 000000000..9d80dedcf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q15_8c_source.html
@@ -0,0 +1,765 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q31_8c.html
new file mode 100644
index 000000000..2fa09eecb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_conv_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q31_8c_source.html
new file mode 100644
index 000000000..e583f7442
--- /dev/null
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@@ -0,0 +1,618 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q7_8c.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_conv_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_conv_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q7_8c_source.html
new file mode 100644
index 000000000..a13412f29
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__conv__q7_8c_source.html
@@ -0,0 +1,721 @@
+
+
+
+
+CMSIS DSP Software Library: arm_conv_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__convolution__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__convolution__example__f32_8c.html
new file mode 100644
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+
+
+
+
+CMSIS DSP Software Library: arm_convolution_example_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_convolution_example_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "math_helper.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+Defines
    #define MAX_BLOCKSIZE   128
    #define DELTA   (0.000001f)
    #define SNR_THRESHOLD   90
    
+Functions
    int32_t main (void)
    
+Variables
    float32_t Ak [MAX_BLOCKSIZE]
    float32_t Bk [MAX_BLOCKSIZE]
    float32_t AxB [MAX_BLOCKSIZE *2]
    float32_t testInputA_f32 [64]
    float32_t testInputB_f32 [64]
    const float testRefOutput_f32 [126]
    uint32_t srcALen = 64
    uint32_t srcBLen = 64
    uint32_t outLen
    float32_t snr
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define MAX_BLOCKSIZE   128
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c, arm_dotproduct_example_f32.c, arm_sin_cos_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 95 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define DELTA   (0.000001f)
    
+
    
+
    
+
    Examples: 
    arm_dotproduct_example_f32.c, arm_sin_cos_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 96 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define SNR_THRESHOLD   90
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c, and arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 97 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 175 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t Ak[MAX_BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 102 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t Bk[MAX_BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 103 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t AxB[MAX_BLOCKSIZE *2]
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 104 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testInputA_f32[64]
    
+
    
+
    
+Initial value:
      
+{  
+-0.808920,  1.357369,   1.180861,   -0.504544,  1.762637,   -0.703285,   
+1.696966,   0.620571,   -0.151093,  -0.100235,  -0.872382,  -0.403579,   
+-0.860749,  -0.382648,  -1.052338,  0.128113,   -0.646269,  1.093377,    
+-2.209198,  0.471706,   0.408901,   1.266242,   0.598252,   1.176827,    
+-0.203421,  0.213596,   -0.851964,  -0.466958,  0.021841,   -0.698938,   
+-0.604107,  0.461778,   -0.318219,  0.942520,   0.577585,   0.417619,    
+0.614665,   0.563679,   -1.295073,  -0.764437,  0.952194,   -0.859222,   
+-0.618554,  -2.268542,  -1.210592,  1.655853,   -2.627219,  -0.994249,   
+-1.374704,  0.343799,   0.025619,   1.227481,   -0.708031,  0.069355,    
+-1.845228,  -1.570886,  1.010668,   -1.802084,  1.630088,   1.286090,    
+-0.161050,  -0.940794,  0.367961,   0.291907 
+         
+}
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 110 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testInputB_f32[64]
    
+
    
+
    
+Initial value:
      
+{  
+0.933724,   0.046881,   1.316470,   0.438345,   0.332682,   2.094885,    
+0.512081,   0.035546,   0.050894,   -2.320371,  0.168711,   -1.830493,   
+-0.444834,  -1.003242,  -0.531494,  -1.365600,  -0.155420,  -0.757692,   
+-0.431880,  -0.380021,  0.096243,   -0.695835,  0.558850,   -1.648962,   
+0.020369,   -0.363630,  0.887146,   0.845503,   -0.252864,  -0.330397,   
+1.269131,   -1.109295,  -1.027876,  0.135940,   0.116721,   -0.293399,   
+-1.349799,  0.166078,   -0.802201,  0.369367,   -0.964568,  -2.266011,   
+0.465178,   0.651222,   -0.325426,  0.320245,   -0.784178,  -0.579456,   
+0.093374,   0.604778,   -0.048225,  0.376297,   -0.394412,  0.578182,    
+-1.218141,  -1.387326,  0.692462,   -0.631297,  0.153137,   -0.638952,   
+0.635474,   -0.970468,  1.334057,   -0.111370 
+}
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 126 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float testRefOutput_f32[126]
    
+
    
+
    
+Initial value:
       
+{  
+-0.818943,  1.229484,   -0.533664,  1.016604,   0.341875,   -1.963656,   
+5.171476,   3.478033,   7.616361,   6.648384,   0.479069,   1.792012,    
+-1.295591,  -7.447818,  0.315830,   -10.657445, -2.483469,  -6.524236,   
+-7.380591,  -3.739005,  -8.388957,  0.184147,   -1.554888,  3.786508,    
+-1.684421,  5.400610,   -1.578126,  7.403361,   8.315999,   2.080267,    
+11.077776,  2.749673,   7.138962,   2.748762,   0.660363,   0.981552,    
+1.442275,   0.552721,   -2.576892,  4.703989,   0.989156,   8.759344,    
+-0.564825,  -3.994680,  0.954710,   -5.014144,  6.592329,   1.599488,    
+-13.979146, -0.391891,  -4.453369,  -2.311242,  -2.948764,  1.761415,    
+-0.138322,  10.433007,  -2.309103,  4.297153,   8.535523,   3.209462,    
+8.695819,   5.569919,   2.514304,   5.582029,   2.060199,   0.642280,    
+7.024616,   1.686615,   -6.481756,  1.343084,   -3.526451,  1.099073,    
+-2.965764,  -0.173723,  -4.111484,  6.528384,   -6.965658,  1.726291,    
+1.535172,   11.023435,  2.338401,   -4.690188,  1.298210,   3.943885,    
+8.407885,   5.168365,   0.684131,   1.559181,   1.859998,   2.852417,    
+8.574070,   -6.369078,  6.023458,   11.837963,  -6.027632,  4.469678,    
+-6.799093,  -2.674048,  6.250367,   -6.809971,  -3.459360,  9.112410,    
+-2.711621,  -1.336678,  1.564249,   -1.564297,  -1.296760,  8.904013,    
+-3.230109,  6.878013,   -7.819823,  3.369909,   -1.657410,  -2.007358,   
+-4.112825,  1.370685,   -3.420525,  -6.276605,  3.244873,   -3.352638,   
+1.545372,   0.902211,   0.197489,   -1.408732,  0.523390,   0.348440 
+}
+
    Examples: 
    arm_convolution_example_f32.c, arm_graphic_equalizer_example_q31.c, and arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 141 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t srcALen = 64
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 170 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t srcBLen = 64
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 171 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t outLen
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 172 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t snr
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c, arm_fir_example_f32.c, arm_graphic_equalizer_example_q31.c, and arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 173 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__convolution__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__convolution__example__f32_8c_source.html
new file mode 100644
index 000000000..5fc7237fe
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__convolution__example__f32_8c_source.html
@@ -0,0 +1,237 @@
+
+
+
+
+CMSIS DSP Software Library: arm_convolution_example_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__f32_8c.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_copy_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_copy_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_copy_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__f32_8c_source.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__f32_8c_source.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_copy_f32.c Source File
+
+
+
+
+
+
+
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+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q15_8c.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_copy_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_copy_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_copy_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q15_8c_source.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q15_8c_source.html
@@ -0,0 +1,183 @@
+
+
+
+
+CMSIS DSP Software Library: arm_copy_q15.c Source File
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q31_8c.html
new file mode 100644
index 000000000..b487ad6d2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_copy_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_copy_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_copy_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q31_8c_source.html
new file mode 100644
index 000000000..4ee3b5b62
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q31_8c_source.html
@@ -0,0 +1,161 @@
+
+
+
+
+CMSIS DSP Software Library: arm_copy_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q7_8c.html
new file mode 100644
index 000000000..a655ee2a4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_copy_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_copy_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_copy_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q7_8c_source.html
new file mode 100644
index 000000000..8c52643a2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__copy__q7_8c_source.html
@@ -0,0 +1,159 @@
+
+
+
+
+CMSIS DSP Software Library: arm_copy_q7.c Source File
+
+
+
+
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+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__f32_8c.html
new file mode 100644
index 000000000..88a960ddd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_correlate_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_correlate_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__f32_8c_source.html
new file mode 100644
index 000000000..557b9b0fd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__f32_8c_source.html
@@ -0,0 +1,729 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_f32.c Source File
+
+
+
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+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q15_8c.html
new file mode 100644
index 000000000..7d3f2d981
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_fast_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_correlate_fast_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_correlate_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q15_8c_source.html
new file mode 100644
index 000000000..345b342ec
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q15_8c_source.html
@@ -0,0 +1,658 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_fast_q15.c Source File
+
+
+
+
+
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+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q31_8c.html
new file mode 100644
index 000000000..23d3b06e7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_fast_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_correlate_fast_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_correlate_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q31_8c_source.html
new file mode 100644
index 000000000..39b1af449
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__fast__q31_8c_source.html
@@ -0,0 +1,631 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_fast_q31.c Source File
+
+
+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q15_8c.html
new file mode 100644
index 000000000..4a5a8702b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_correlate_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_correlate_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q15_8c_source.html
new file mode 100644
index 000000000..1982577e7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q15_8c_source.html
@@ -0,0 +1,752 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_q15.c Source File
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q31_8c.html
new file mode 100644
index 000000000..0f0122866
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_correlate_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_correlate_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q31_8c_source.html
new file mode 100644
index 000000000..d00827c14
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q31_8c_source.html
@@ -0,0 +1,718 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q7_8c.html
new file mode 100644
index 000000000..7055386cd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_correlate_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_correlate_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q7_8c_source.html
new file mode 100644
index 000000000..b86b03714
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__correlate__q7_8c_source.html
@@ -0,0 +1,821 @@
+
+
+
+
+CMSIS DSP Software Library: arm_correlate_q7.c Source File
+
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__f32_8c.html
new file mode 100644
index 000000000..137febfe8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__f32_8c.html
@@ -0,0 +1,87 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cos_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_cos_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    float32_t arm_cos_f32 (float32_t x)
    
+Variables
    static const float32_t cosTable [259]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__f32_8c_source.html
new file mode 100644
index 000000000..4acf4da26
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__f32_8c_source.html
@@ -0,0 +1,263 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cos_f32.c Source File
+
+
+
+
+
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+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q15_8c.html
new file mode 100644
index 000000000..564549ddb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q15_8c.html
@@ -0,0 +1,87 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cos_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_cos_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    q15_t arm_cos_q15 (q15_t x)
    
+Variables
    static const q15_t cosTableQ15 [259]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q15_8c_source.html
new file mode 100644
index 000000000..21086560b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q15_8c_source.html
@@ -0,0 +1,223 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cos_q15.c Source File
+
+
+
+
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+
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+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q31_8c.html
new file mode 100644
index 000000000..0448801c4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q31_8c.html
@@ -0,0 +1,87 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cos_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_cos_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    q31_t arm_cos_q31 (q31_t x)
    
+Variables
    static const q31_t cosTableQ31 [259]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q31_8c_source.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__cos__q31_8c_source.html
@@ -0,0 +1,259 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cos_q31.c Source File
+
+
+
+
+
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+
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+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__f32_8c.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_dct4_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_dct4_f32 (const arm_dct4_instance_f32 *S, float32_t *pState, float32_t *pInlineBuffer)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__f32_8c_source.html
new file mode 100644
index 000000000..96213b0c5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__f32_8c_source.html
@@ -0,0 +1,426 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__f32_8c.html
new file mode 100644
index 000000000..21724161b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__f32_8c.html
@@ -0,0 +1,92 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_dct4_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_dct4_init_f32 (arm_dct4_instance_f32 *S, arm_rfft_instance_f32 *S_RFFT, arm_cfft_radix4_instance_f32 *S_CFFT, uint16_t N, uint16_t Nby2, float32_t normalize)
    
+Variables
    static const float32_t Weights_128 [256]
    static const float32_t Weights_512 [1024]
    static const float32_t Weights_2048 [4096]
    static const float32_t cos_factors_128 [128]
    static const float32_t cos_factors_512 [512]
    static const float32_t cos_factors_2048 [2048]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__f32_8c_source.html
new file mode 100644
index 000000000..480fd6114
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__f32_8c_source.html
@@ -0,0 +1,4223 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_init_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q15_8c.html
new file mode 100644
index 000000000..325fa1d2f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q15_8c.html
@@ -0,0 +1,92 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_dct4_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_dct4_init_q15 (arm_dct4_instance_q15 *S, arm_rfft_instance_q15 *S_RFFT, arm_cfft_radix4_instance_q15 *S_CFFT, uint16_t N, uint16_t Nby2, q15_t normalize)
    
+Variables
    static const q15_t WeightsQ15_128 [256]
    static const q15_t WeightsQ15_512 [1024]
    static const q15_t WeightsQ15_2048 [4096]
    static const q15_t cos_factorsQ15_128 [128]
    static const q15_t cos_factorsQ15_512 [512]
    static const q15_t cos_factorsQ15_2048 [2048]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q15_8c_source.html
new file mode 100644
index 000000000..2dd02feee
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q15_8c_source.html
@@ -0,0 +1,1199 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_init_q15.c Source File
+
+
+
+
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+
+
+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q31_8c.html
new file mode 100644
index 000000000..cdd7741b2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q31_8c.html
@@ -0,0 +1,92 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_dct4_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_dct4_init_q31 (arm_dct4_instance_q31 *S, arm_rfft_instance_q31 *S_RFFT, arm_cfft_radix4_instance_q31 *S_CFFT, uint16_t N, uint16_t Nby2, q31_t normalize)
    
+Variables
    static const q31_t WeightsQ31_128 [256]
    static const q31_t WeightsQ31_512 [1024]
    static const q31_t WeightsQ31_2048 [4096]
    static const q31_t cos_factorsQ31_128 [128]
    static const q31_t cos_factorsQ31_512 [512]
    static const q31_t cos_factorsQ31_2048 [2048]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q31_8c_source.html
new file mode 100644
index 000000000..0ee51b3ec
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__init__q31_8c_source.html
@@ -0,0 +1,2207 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_init_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q15_8c.html
new file mode 100644
index 000000000..04607282f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_dct4_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_dct4_q15 (const arm_dct4_instance_q15 *S, q15_t *pState, q15_t *pInlineBuffer)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q15_8c_source.html
new file mode 100644
index 000000000..58c55a94f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q15_8c_source.html
@@ -0,0 +1,433 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q31_8c.html
new file mode 100644
index 000000000..1f037ce3e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_dct4_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_dct4_q31 (const arm_dct4_instance_q31 *S, q31_t *pState, q31_t *pInlineBuffer)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q31_8c_source.html
new file mode 100644
index 000000000..5ec02833e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dct4__q31_8c_source.html
@@ -0,0 +1,433 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__f32_8c.html
new file mode 100644
index 000000000..3089dca9f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dot_prod_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_dot_prod_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_dot_prod_f32 (float32_t *pSrcA, float32_t *pSrcB, uint32_t blockSize, float32_t *result)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__f32_8c_source.html
new file mode 100644
index 000000000..514a12ac3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__f32_8c_source.html
@@ -0,0 +1,165 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dot_prod_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q15_8c.html
new file mode 100644
index 000000000..abf98621b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dot_prod_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_dot_prod_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_dot_prod_q15 (q15_t *pSrcA, q15_t *pSrcB, uint32_t blockSize, q63_t *result)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q15_8c_source.html
new file mode 100644
index 000000000..f1667c6e2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q15_8c_source.html
@@ -0,0 +1,176 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dot_prod_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q31_8c.html
new file mode 100644
index 000000000..f50681beb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dot_prod_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_dot_prod_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_dot_prod_q31 (q31_t *pSrcA, q31_t *pSrcB, uint32_t blockSize, q63_t *result)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q31_8c_source.html
new file mode 100644
index 000000000..0dcf860e8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q31_8c_source.html
@@ -0,0 +1,167 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dot_prod_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q7_8c.html
new file mode 100644
index 000000000..c12b4bcb2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dot_prod_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_dot_prod_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_dot_prod_q7 (q7_t *pSrcA, q7_t *pSrcB, uint32_t blockSize, q31_t *result)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q7_8c_source.html
new file mode 100644
index 000000000..8103c5eb5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dot__prod__q7_8c_source.html
@@ -0,0 +1,207 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dot_prod_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dotproduct__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dotproduct__example__f32_8c.html
new file mode 100644
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+
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+
+
+CMSIS DSP Software Library: arm_dotproduct_example_f32.c File Reference
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+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_dotproduct_example_f32.c File Reference
      
    
+
    
+
    
+#include <math.h>
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
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+
+
+
+
+
    
+Defines
    #define MAX_BLOCKSIZE   32
    #define DELTA   (0.000001f)
    
+Functions
    int32_t main (void)
    
+Variables
    float32_t srcA_buf_f32 [MAX_BLOCKSIZE]
    float32_t srcB_buf_f32 [MAX_BLOCKSIZE]
    float32_t refDotProdOut = 5.9273644806352142
    float32_t multOutput [MAX_BLOCKSIZE]
    float32_t testOutput
    arm_status status
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define MAX_BLOCKSIZE   32
    
+
    
+
    
+
+
    Definition at line 76 of file arm_dotproduct_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define DELTA   (0.000001f)
    
+
    
+
    
+
+
    Definition at line 77 of file arm_dotproduct_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 130 of file arm_dotproduct_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t srcA_buf_f32[MAX_BLOCKSIZE]
    
+
    
+
    
+Initial value:
       
+{   
+-0.4325648115282207,    -1.6655843782380970,    0.1253323064748307,  
+ 0.2876764203585489,    -1.1464713506814637,    1.1909154656429988,  
+ 1.1891642016521031,    -0.0376332765933176,    0.3272923614086541,  
+ 0.1746391428209245,    -0.1867085776814394,    0.7257905482933027,  
+-0.5883165430141887,     2.1831858181971011,   -0.1363958830865957,  
+ 0.1139313135208096,     1.0667682113591888,    0.0592814605236053,  
+-0.0956484054836690,    -0.8323494636500225,    0.2944108163926404,  
+-1.3361818579378040,     0.7143245518189522,    1.6235620644462707,  
+-0.6917757017022868,     0.8579966728282626,    1.2540014216025324,  
+-1.5937295764474768,    -1.4409644319010200,    0.5711476236581780,  
+-0.3998855777153632,     0.6899973754643451 
+}
+
    Examples: 
    arm_dotproduct_example_f32.c.
    
+
    
+
    Definition at line 86 of file arm_dotproduct_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t srcB_buf_f32[MAX_BLOCKSIZE]
    
+
    
+
    
+Initial value:
       
+{   
+ 1.7491401329284098,    0.1325982188803279,  0.3252281811989881,     
+-0.7938091410349637,    0.3149236145048914, -0.5272704888029532,     
+ 0.9322666565031119,    1.1646643544607362, -2.0456694357357357,     
+-0.6443728590041911,    1.7410657940825480,  0.4867684246821860,     
+ 1.0488288293660140,    1.4885752747099299,  1.2705014969484090,     
+-1.8561241921210170,    2.1343209047321410,  1.4358467535865909,     
+-0.9173023332875400,   -1.1060770780029008,  0.8105708062681296,     
+ 0.6985430696369063,   -0.4015827425012831,  1.2687512030669628,     
+-0.7836083053674872,    0.2132664971465569,  0.7878984786088954,     
+ 0.8966819356782295,   -0.1869172943544062,  1.0131816724341454,     
+ 0.2484350696132857,    0.0596083377937976 
+}
+
    Examples: 
    arm_dotproduct_example_f32.c.
    
+
    
+
    Definition at line 104 of file arm_dotproduct_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t refDotProdOut = 5.9273644806352142
    
+
    
+
    
+
    Examples: 
    arm_dotproduct_example_f32.c.
    
+
    
+
    Definition at line 120 of file arm_dotproduct_example_f32.c.
    
+
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+
    
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+
    
+      
+        
+          
+        
+      
    float32_t multOutput[MAX_BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_dotproduct_example_f32.c.
    
+
    
+
    Definition at line 125 of file arm_dotproduct_example_f32.c.
    
+
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+
    
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+      
+        
+          
+        
+      
    float32_t testOutput
    
+
    
+
    
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+
    Definition at line 126 of file arm_dotproduct_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_status status
    
+
    
+
    
+
    Examples: 
    arm_convolution_example_f32.c, arm_dotproduct_example_f32.c, arm_fft_bin_example_f32.c, arm_fir_example_f32.c, arm_graphic_equalizer_example_q31.c, arm_linear_interp_example_f32.c, arm_matrix_example_f32.c, arm_signal_converge_example_f32.c, arm_sin_cos_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 128 of file arm_dotproduct_example_f32.c.
    
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+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dotproduct__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__dotproduct__example__f32_8c_source.html
new file mode 100644
index 000000000..e7fa374c5
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+CMSIS DSP Software Library: arm_dotproduct_example_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fft__bin__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fft__bin__example__f32_8c.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fft__bin__example__f32_8c.html
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+CMSIS DSP Software Library: arm_fft_bin_example_f32.c File Reference
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+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_fft_bin_example_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
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+
+
+
+
+
    
+Defines
    #define TEST_LENGTH_SAMPLES   2048
    
+Functions
    int32_t main (void)
    
+Variables
    float32_t testInput_f32_10khz [TEST_LENGTH_SAMPLES]
    static float32_t testOutput [TEST_LENGTH_SAMPLES/2]
    uint32_t fftSize = 1024
    uint32_t ifftFlag = 0
    uint32_t doBitReverse = 1
    uint32_t refIndex = 213
    uint32_t testIndex = 0
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define TEST_LENGTH_SAMPLES   2048
    
+
    
+
    
+
+
    Definition at line 84 of file arm_fft_bin_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 106 of file arm_fft_bin_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testInput_f32_10khz[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+
    Examples: 
    arm_fft_bin_example_f32.c.
    
+
    
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testOutput[TEST_LENGTH_SAMPLES/2] [static]
    
+
    
+
    
+
+
    Definition at line 90 of file arm_fft_bin_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t fftSize = 1024
    
+
    
+
    
+
    Examples: 
    arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 95 of file arm_fft_bin_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t ifftFlag = 0
    
+
    
+
    
+
    Examples: 
    arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 96 of file arm_fft_bin_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t doBitReverse = 1
    
+
    
+
    
+
    Examples: 
    arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 97 of file arm_fft_bin_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t refIndex = 213
    
+
    
+
    
+
    Examples: 
    arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 100 of file arm_fft_bin_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t testIndex = 0
    
+
    
+
    
+
    Examples: 
    arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 100 of file arm_fft_bin_example_f32.c.
    
+
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+
    
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+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fft__bin__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fft__bin__example__f32_8c_source.html
new file mode 100644
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+CMSIS DSP Software Library: arm_fft_bin_example_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__f32_8c.html
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+CMSIS DSP Software Library: arm_fill_f32.c File Reference
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fill_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fill_f32 (float32_t value, float32_t *pDst, uint32_t blockSize)
    
+
    
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    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__f32_8c_source.html
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+CMSIS DSP Software Library: arm_fill_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q15_8c.html
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+CMSIS DSP Software Library: arm_fill_q15.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_fill_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fill_q15 (q15_t value, q15_t *pDst, uint32_t blockSize)
    
+
    
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q15_8c_source.html
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+CMSIS DSP Software Library: arm_fill_q15.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q31_8c.html
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+CMSIS DSP Software Library: arm_fill_q31.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_fill_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fill_q31 (q31_t value, q31_t *pDst, uint32_t blockSize)
    
+
    
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q31_8c_source.html
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+CMSIS DSP Software Library: arm_fill_q31.c Source File
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q7_8c.html
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+CMSIS DSP Software Library: arm_fill_q7.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_fill_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fill_q7 (q7_t value, q7_t *pDst, uint32_t blockSize)
    
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fill__q7_8c_source.html
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+CMSIS DSP Software Library: arm_fill_q7.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__f32_8c.html
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+CMSIS DSP Software Library: arm_fir_decimate_f32.c File Reference
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+  
    
+Functions  
    
+  
    
+
    arm_fir_decimate_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_decimate_f32 (const arm_fir_decimate_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__f32_8c_source.html
new file mode 100644
index 000000000..08e606564
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__f32_8c_source.html
@@ -0,0 +1,344 @@
+
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+CMSIS DSP Software Library: arm_fir_decimate_f32.c Source File
+
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+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q15_8c.html
new file mode 100644
index 000000000..e138f1877
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q15_8c.html
@@ -0,0 +1,83 @@
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+CMSIS DSP Software Library: arm_fir_decimate_fast_q15.c File Reference
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+  
    
+Functions  
    
+  
    
+
    arm_fir_decimate_fast_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_decimate_fast_q15 (const arm_fir_decimate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q15_8c_source.html
new file mode 100644
index 000000000..bd5019168
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q15_8c_source.html
@@ -0,0 +1,238 @@
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+CMSIS DSP Software Library: arm_fir_decimate_fast_q15.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q31_8c.html
new file mode 100644
index 000000000..04834a183
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q31_8c.html
@@ -0,0 +1,83 @@
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+CMSIS DSP Software Library: arm_fir_decimate_fast_q31.c File Reference
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+  
    
+Functions  
    
+  
    
+
    arm_fir_decimate_fast_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_decimate_fast_q31 (arm_fir_decimate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
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+
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    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q31_8c_source.html
new file mode 100644
index 000000000..6b965a2eb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__fast__q31_8c_source.html
@@ -0,0 +1,257 @@
+
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+CMSIS DSP Software Library: arm_fir_decimate_fast_q31.c Source File
+
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+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__f32_8c.html
new file mode 100644
index 000000000..648ce3bed
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__f32_8c.html
@@ -0,0 +1,83 @@
+
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+
+
+CMSIS DSP Software Library: arm_fir_decimate_init_f32.c File Reference
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_decimate_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_fir_decimate_init_f32 (arm_fir_decimate_instance_f32 *S, uint16_t numTaps, uint8_t M, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    
+
    
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__f32_8c_source.html
new file mode 100644
index 000000000..d3f76dae6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__f32_8c_source.html
@@ -0,0 +1,147 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_init_f32.c Source File
+
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+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q15_8c.html
new file mode 100644
index 000000000..c00d58e65
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q15_8c.html
@@ -0,0 +1,83 @@
+
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+
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+CMSIS DSP Software Library: arm_fir_decimate_init_q15.c File Reference
+
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_decimate_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_fir_decimate_init_q15 (arm_fir_decimate_instance_q15 *S, uint16_t numTaps, uint8_t M, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    
+
    
+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q15_8c_source.html
new file mode 100644
index 000000000..efe874022
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q15_8c_source.html
@@ -0,0 +1,148 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_init_q15.c Source File
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q31_8c.html
new file mode 100644
index 000000000..7aa5afe07
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_decimate_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_fir_decimate_init_q31 (arm_fir_decimate_instance_q31 *S, uint16_t numTaps, uint8_t M, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q31_8c_source.html
new file mode 100644
index 000000000..2df1f14fe
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__init__q31_8c_source.html
@@ -0,0 +1,147 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_init_q31.c Source File
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q15_8c.html
new file mode 100644
index 000000000..cd67a34ad
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_decimate_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_decimate_q15 (const arm_fir_decimate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q15_8c_source.html
new file mode 100644
index 000000000..00aeb5067
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q15_8c_source.html
@@ -0,0 +1,325 @@
+
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+
+
+CMSIS DSP Software Library: arm_fir_decimate_q15.c Source File
+
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+
    
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+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q31_8c.html
new file mode 100644
index 000000000..6ecbaaa86
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q31_8c.html
@@ -0,0 +1,83 @@
+
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+CMSIS DSP Software Library: arm_fir_decimate_q31.c File Reference
+
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_decimate_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_decimate_q31 (const arm_fir_decimate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q31_8c_source.html
new file mode 100644
index 000000000..324f51e15
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__decimate__q31_8c_source.html
@@ -0,0 +1,344 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_q31.c Source File
+
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+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__example__f32_8c.html
new file mode 100644
index 000000000..ee46c0e8e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__example__f32_8c.html
@@ -0,0 +1,314 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_example_f32.c File Reference
+
+
+
+
+
+
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+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_fir_example_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "math_helper.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+Defines
    #define TEST_LENGTH_SAMPLES   320
    #define SNR_THRESHOLD_F32   140.0f
    #define BLOCK_SIZE   32
    #define NUM_TAPS   29
    
+Functions
    int32_t main (void)
    
+Variables
    float32_t testInput_f32_1kHz_15kHz [TEST_LENGTH_SAMPLES]
    float32_t refOutput [TEST_LENGTH_SAMPLES]
    static float32_t testOutput [TEST_LENGTH_SAMPLES]
    static float32_t firStateF32 [BLOCK_SIZE+NUM_TAPS-1]
    const float32_t firCoeffs32 [NUM_TAPS]
    uint32_t blockSize = BLOCK_SIZE
    uint32_t numBlocks = TEST_LENGTH_SAMPLES/BLOCK_SIZE
    float32_t snr
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define TEST_LENGTH_SAMPLES   320
    
+
    
+
    
+
+
    Definition at line 116 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define SNR_THRESHOLD_F32   140.0f
    
+
    
+
    
+
    Examples: 
    arm_fir_example_f32.c, and arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 117 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define BLOCK_SIZE   32
    
+
    
+
    
+
    Examples: 
    arm_fir_example_f32.c.
    
+
    
+
    Definition at line 118 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define NUM_TAPS   29
    
+
    
+
    
+
    Examples: 
    arm_fir_example_f32.c.
    
+
    
+
    Definition at line 119 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 166 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testInput_f32_1kHz_15kHz[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+
    Examples: 
    arm_fir_example_f32.c.
    
+
    
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t refOutput[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+
    Examples: 
    arm_fir_example_f32.c.
    
+
    
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testOutput[TEST_LENGTH_SAMPLES] [static]
    
+
    
+
    
+
+
    Definition at line 133 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t firStateF32[BLOCK_SIZE+NUM_TAPS-1] [static]
    
+
    
+
    
+
+
    Definition at line 139 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t firCoeffs32[NUM_TAPS]
    
+
    
+
    
+Initial value:
     { 
+-0.0018225230f, -0.0015879294f, +0.0000000000f, +0.0036977508f, +0.0080754303f, +0.0085302217f, -0.0000000000f, -0.0173976984f, 
+-0.0341458607f, -0.0333591565f, +0.0000000000f, +0.0676308395f, +0.1522061835f, +0.2229246956f, +0.2504960933f, +0.2229246956f, 
++0.1522061835f, +0.0676308395f, +0.0000000000f, -0.0333591565f, -0.0341458607f, -0.0173976984f, -0.0000000000f, +0.0085302217f, 
++0.0080754303f, +0.0036977508f, +0.0000000000f, -0.0015879294f, -0.0018225230f 
+}
+
    Examples: 
    arm_fir_example_f32.c.
    
+
    
+
    Definition at line 146 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t blockSize = BLOCK_SIZE
    
+
    
+
    
+
    Examples: 
    arm_fir_example_f32.c, arm_signal_converge_example_f32.c, arm_sin_cos_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 157 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t numBlocks = TEST_LENGTH_SAMPLES/BLOCK_SIZE
    
+
    
+
    
+
    Examples: 
    arm_fir_example_f32.c.
    
+
    
+
    Definition at line 158 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t snr
    
+
    
+
    
+
+
    Definition at line 160 of file arm_fir_example_f32.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__example__f32_8c_source.html
new file mode 100644
index 000000000..fe4d3aacf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__example__f32_8c_source.html
@@ -0,0 +1,208 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_example_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__f32_8c.html
new file mode 100644
index 000000000..a3da1e9a0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_f32 (const arm_fir_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__f32_8c_source.html
new file mode 100644
index 000000000..e817d7c53
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__f32_8c_source.html
@@ -0,0 +1,416 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_f32.c Source File
+
+
+
+
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+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q15_8c.html
new file mode 100644
index 000000000..8ba6f405d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_fast_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_fast_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_fast_q15 (const arm_fir_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q15_8c_source.html
new file mode 100644
index 000000000..93947ef70
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q15_8c_source.html
@@ -0,0 +1,320 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_fast_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q31_8c.html
new file mode 100644
index 000000000..60079ce25
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_fast_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_fast_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_fast_q31 (const arm_fir_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q31_8c_source.html
new file mode 100644
index 000000000..cb4ececa9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__fast__q31_8c_source.html
@@ -0,0 +1,342 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_fast_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__f32_8c.html
new file mode 100644
index 000000000..ea1fb6171
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_init_f32 (arm_fir_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__f32_8c_source.html
new file mode 100644
index 000000000..923683c0e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__f32_8c_source.html
@@ -0,0 +1,131 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_init_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q15_8c.html
new file mode 100644
index 000000000..e072bfeb2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_fir_init_q15 (arm_fir_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q15_8c_source.html
new file mode 100644
index 000000000..1eed9131f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q15_8c_source.html
@@ -0,0 +1,172 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_init_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q31_8c.html
new file mode 100644
index 000000000..cbd399b7f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_init_q31 (arm_fir_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q31_8c_source.html
new file mode 100644
index 000000000..8f9f0258e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q31_8c_source.html
@@ -0,0 +1,131 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_init_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q7_8c.html
new file mode 100644
index 000000000..1f1549f77
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_init_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_init_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_init_q7 (arm_fir_instance_q7 *S, uint16_t numTaps, q7_t *pCoeffs, q7_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q7_8c_source.html
new file mode 100644
index 000000000..f9735f00e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__init__q7_8c_source.html
@@ -0,0 +1,132 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_init_q7.c Source File
+
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__f32_8c.html
new file mode 100644
index 000000000..b572895df
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_interpolate_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_interpolate_f32 (const arm_fir_interpolate_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__f32_8c_source.html
new file mode 100644
index 000000000..562656f64
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__f32_8c_source.html
@@ -0,0 +1,369 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__f32_8c.html
new file mode 100644
index 000000000..e728cda15
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_interpolate_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_fir_interpolate_init_f32 (arm_fir_interpolate_instance_f32 *S, uint8_t L, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__f32_8c_source.html
new file mode 100644
index 000000000..da0b1022a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__f32_8c_source.html
@@ -0,0 +1,150 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_init_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q15_8c.html
new file mode 100644
index 000000000..8770df289
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_interpolate_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_fir_interpolate_init_q15 (arm_fir_interpolate_instance_q15 *S, uint8_t L, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q15_8c_source.html
new file mode 100644
index 000000000..9c48e936e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q15_8c_source.html
@@ -0,0 +1,149 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_init_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q31_8c.html
new file mode 100644
index 000000000..9a0a55f02
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_interpolate_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_fir_interpolate_init_q31 (arm_fir_interpolate_instance_q31 *S, uint8_t L, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q31_8c_source.html
new file mode 100644
index 000000000..7d7407d1a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__init__q31_8c_source.html
@@ -0,0 +1,149 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_init_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q15_8c.html
new file mode 100644
index 000000000..48d14c673
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_interpolate_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_interpolate_q15 (const arm_fir_interpolate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q15_8c_source.html
new file mode 100644
index 000000000..526d1aa0e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q15_8c_source.html
@@ -0,0 +1,392 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_q15.c Source File
+
+
+
+
+
+
+
+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q31_8c.html
new file mode 100644
index 000000000..40bd2e7c4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_interpolate_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_interpolate_q31 (const arm_fir_interpolate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q31_8c_source.html
new file mode 100644
index 000000000..2649b86f8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__interpolate__q31_8c_source.html
@@ -0,0 +1,382 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__f32_8c.html
new file mode 100644
index 000000000..23fbdc79e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_lattice_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_lattice_f32 (const arm_fir_lattice_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__f32_8c_source.html
new file mode 100644
index 000000000..d49d77141
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__f32_8c_source.html
@@ -0,0 +1,480 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__f32_8c.html
new file mode 100644
index 000000000..630fb1011
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_lattice_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_lattice_init_f32 (arm_fir_lattice_instance_f32 *S, uint16_t numStages, float32_t *pCoeffs, float32_t *pState)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__f32_8c_source.html
new file mode 100644
index 000000000..efc2413ab
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__f32_8c_source.html
@@ -0,0 +1,127 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_init_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q15_8c.html
new file mode 100644
index 000000000..3819d4584
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_lattice_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_lattice_init_q15 (arm_fir_lattice_instance_q15 *S, uint16_t numStages, q15_t *pCoeffs, q15_t *pState)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q15_8c_source.html
new file mode 100644
index 000000000..807445000
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q15_8c_source.html
@@ -0,0 +1,127 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_init_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q31_8c.html
new file mode 100644
index 000000000..3caba1a99
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_lattice_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_lattice_init_q31 (arm_fir_lattice_instance_q31 *S, uint16_t numStages, q31_t *pCoeffs, q31_t *pState)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q31_8c_source.html
new file mode 100644
index 000000000..2406c9436
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__init__q31_8c_source.html
@@ -0,0 +1,127 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_init_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q15_8c.html
new file mode 100644
index 000000000..ba6230ffd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_lattice_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_lattice_q15 (const arm_fir_lattice_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q15_8c_source.html
new file mode 100644
index 000000000..3f58e8c78
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q15_8c_source.html
@@ -0,0 +1,579 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q31_8c.html
new file mode 100644
index 000000000..cd8ecfbdb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_lattice_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_lattice_q31 (const arm_fir_lattice_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q31_8c_source.html
new file mode 100644
index 000000000..c67c9f8e7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__lattice__q31_8c_source.html
@@ -0,0 +1,487 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q15_8c.html
new file mode 100644
index 000000000..584d68923
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_q15 (const arm_fir_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q15_8c_source.html
new file mode 100644
index 000000000..a72742ce4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q15_8c_source.html
@@ -0,0 +1,408 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q31_8c.html
new file mode 100644
index 000000000..3cdf06aa5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_q31 (const arm_fir_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q31_8c_source.html
new file mode 100644
index 000000000..180d2cdaa
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q31_8c_source.html
@@ -0,0 +1,424 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q7_8c.html
new file mode 100644
index 000000000..3eb3d09d8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_q7 (const arm_fir_instance_q7 *S, q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q7_8c_source.html
new file mode 100644
index 000000000..a53eeb3f5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__q7_8c_source.html
@@ -0,0 +1,429 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__f32_8c.html
new file mode 100644
index 000000000..15470fc35
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_sparse_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_sparse_f32 (arm_fir_sparse_instance_f32 *S, float32_t *pSrc, float32_t *pDst, float32_t *pScratchIn, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__f32_8c_source.html
new file mode 100644
index 000000000..d718ec19e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__f32_8c_source.html
@@ -0,0 +1,353 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__f32_8c.html
new file mode 100644
index 000000000..d51dbc8f2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_sparse_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_sparse_init_f32 (arm_fir_sparse_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__f32_8c_source.html
new file mode 100644
index 000000000..71362e37c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__f32_8c_source.html
@@ -0,0 +1,139 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_init_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q15_8c.html
new file mode 100644
index 000000000..037f0f558
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_sparse_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_sparse_init_q15 (arm_fir_sparse_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q15_8c_source.html
new file mode 100644
index 000000000..fc1d6873e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q15_8c_source.html
@@ -0,0 +1,139 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_init_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q31_8c.html
new file mode 100644
index 000000000..21f6344e7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_sparse_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_sparse_init_q31 (arm_fir_sparse_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q31_8c_source.html
new file mode 100644
index 000000000..b943d7f2f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q31_8c_source.html
@@ -0,0 +1,139 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_init_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q7_8c.html
new file mode 100644
index 000000000..58985ec53
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_init_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_sparse_init_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_sparse_init_q7 (arm_fir_sparse_instance_q7 *S, uint16_t numTaps, q7_t *pCoeffs, q7_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q7_8c_source.html
new file mode 100644
index 000000000..4a75391d6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__init__q7_8c_source.html
@@ -0,0 +1,139 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_init_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q15_8c.html
new file mode 100644
index 000000000..0105940ce
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_sparse_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_sparse_q15 (arm_fir_sparse_instance_q15 *S, q15_t *pSrc, q15_t *pDst, q15_t *pScratchIn, q31_t *pScratchOut, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q15_8c_source.html
new file mode 100644
index 000000000..88a9a3c59
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q15_8c_source.html
@@ -0,0 +1,447 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q31_8c.html
new file mode 100644
index 000000000..a804e8407
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_sparse_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_sparse_q31 (arm_fir_sparse_instance_q31 *S, q31_t *pSrc, q31_t *pDst, q31_t *pScratchIn, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q31_8c_source.html
new file mode 100644
index 000000000..73c759049
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q31_8c_source.html
@@ -0,0 +1,414 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q7_8c.html
new file mode 100644
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+
+
+
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+CMSIS DSP Software Library: arm_fir_sparse_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_fir_sparse_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_fir_sparse_q7 (arm_fir_sparse_instance_q7 *S, q7_t *pSrc, q7_t *pDst, q7_t *pScratchIn, q31_t *pScratchOut, uint32_t blockSize)
    
+
    
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+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__fir__sparse__q7_8c_source.html
new file mode 100644
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@@ -0,0 +1,435 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_q7.c Source File
+
+
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+
    
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+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q15_8c.html
new file mode 100644
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+
+
+
+
+CMSIS DSP Software Library: arm_float_to_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_float_to_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_float_to_q15 (float32_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q15_8c_source.html
new file mode 100644
index 000000000..33fe5504b
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@@ -0,0 +1,230 @@
+
+
+
+
+CMSIS DSP Software Library: arm_float_to_q15.c Source File
+
+
+
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+
    
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+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q31_8c.html
new file mode 100644
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+
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+
+
+CMSIS DSP Software Library: arm_float_to_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_float_to_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_float_to_q31 (float32_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q31_8c_source.html
new file mode 100644
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+
+CMSIS DSP Software Library: arm_float_to_q31.c Source File
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+
    
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+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q7_8c.html
new file mode 100644
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+
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+
+CMSIS DSP Software Library: arm_float_to_q7.c File Reference
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+
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+
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+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_float_to_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_float_to_q7 (float32_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__float__to__q7_8c_source.html
new file mode 100644
index 000000000..844731d5f
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+
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+CMSIS DSP Software Library: arm_float_to_q7.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__graphic__equalizer__example__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__graphic__equalizer__example__q31_8c.html
new file mode 100644
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+CMSIS DSP Software Library: arm_graphic_equalizer_example_q31.c File Reference
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+
+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_graphic_equalizer_example_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "math_helper.h"
    
+
+
    Go to the source code of this file.
    
+
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+Defines
    #define TESTLENGTH   320
    #define BLOCKSIZE   32
    #define NUMBLOCKS   (TESTLENGTH/BLOCKSIZE)
    #define NUMSTAGES   2
    #define SNR_THRESHOLD_F32   98
    
+Functions
    int32_t main (void)
    
+Variables
    float32_t testInput_f32 [TESTLENGTH]
    static float32_t testOutput [TESTLENGTH]
    float32_t testRefOutput_f32 [TESTLENGTH]
    static q63_t biquadStateBand1Q31 [4 *2]
    static q63_t biquadStateBand2Q31 [4 *2]
    static q31_t biquadStateBand3Q31 [4 *2]
    static q31_t biquadStateBand4Q31 [4 *2]
    static q31_t biquadStateBand5Q31 [4 *2]
    q31_t inputQ31 [BLOCKSIZE]
    q31_t outputQ31 [BLOCKSIZE]
    const q31_t coeffTable [950]
    int gainDB [5] = {0, -3, 6, 4, -6}
    float32_t snr
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define TESTLENGTH   320
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 117 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
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+
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+
    
+      
+        
+          
+        
+      
    #define BLOCKSIZE   32
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c, and arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 120 of file arm_graphic_equalizer_example_q31.c.
    
+
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+
    
+      
+        
+          
+        
+      
    #define NUMBLOCKS   (TESTLENGTH/BLOCKSIZE)
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 123 of file arm_graphic_equalizer_example_q31.c.
    
+
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+      
+        
+          
+        
+      
    #define NUMSTAGES   2
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 126 of file arm_graphic_equalizer_example_q31.c.
    
+
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+      
+        
+          
+        
+      
    #define SNR_THRESHOLD_F32   98
    
+
    
+
    
+
+
    Definition at line 128 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 285 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testInput_f32[TESTLENGTH]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c, arm_signal_converge_example_f32.c, arm_sin_cos_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 83 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
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+
    
+      
+        
+          
+        
+      
    float32_t testOutput[TESTLENGTH] [static]
    
+
    
+
    
+
+
    Definition at line 135 of file arm_graphic_equalizer_example_q31.c.
    
+
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+      
+        
+          
+        
+      
    float32_t testRefOutput_f32[TESTLENGTH]
    
+
    
+
    
+
+
    Definition at line 141 of file arm_convolution_example_f32.c.
    
+
+
    
+
    
+
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+
    
+      
+        
+          
+        
+      
    q63_t biquadStateBand1Q31[4 *2] [static]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 143 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
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+
    
+      
+        
+          
+        
+      
    q63_t biquadStateBand2Q31[4 *2] [static]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 144 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
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+
    
+      
+        
+          
+        
+      
    q31_t biquadStateBand3Q31[4 *2] [static]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 145 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t biquadStateBand4Q31[4 *2] [static]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 146 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t biquadStateBand5Q31[4 *2] [static]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 147 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t inputQ31[BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 153 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t outputQ31[BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 154 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t coeffTable[950]
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 167 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    int gainDB[5] = {0, -3, 6, 4, -6}
    
+
    
+
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 276 of file arm_graphic_equalizer_example_q31.c.
    
+
+
    
+
    
+
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+
    
+      
+        
+          
+        
+      
    float32_t snr
    
+
    
+
    
+
+
    Definition at line 278 of file arm_graphic_equalizer_example_q31.c.
    
+
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+
    
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+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__graphic__equalizer__example__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__graphic__equalizer__example__q31_8c_source.html
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+CMSIS DSP Software Library: arm_graphic_equalizer_example_q31.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__f32_8c.html
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+CMSIS DSP Software Library: arm_iir_lattice_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_iir_lattice_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_iir_lattice_f32 (const arm_iir_lattice_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
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+
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+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__f32_8c_source.html
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+CMSIS DSP Software Library: arm_iir_lattice_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__f32_8c.html
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+
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+
+
+CMSIS DSP Software Library: arm_iir_lattice_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_iir_lattice_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_iir_lattice_init_f32 (arm_iir_lattice_instance_f32 *S, uint16_t numStages, float32_t *pkCoeffs, float32_t *pvCoeffs, float32_t *pState, uint32_t blockSize)
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__f32_8c_source.html
new file mode 100644
index 000000000..606ef4f0d
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__f32_8c_source.html
@@ -0,0 +1,133 @@
+
+
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+CMSIS DSP Software Library: arm_iir_lattice_init_f32.c Source File
+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q15_8c.html
new file mode 100644
index 000000000..29f5ab521
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@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_iir_lattice_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_iir_lattice_init_q15 (arm_iir_lattice_instance_q15 *S, uint16_t numStages, q15_t *pkCoeffs, q15_t *pvCoeffs, q15_t *pState, uint32_t blockSize)
    
+
    
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q15_8c_source.html
new file mode 100644
index 000000000..1fcbc32ef
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q15_8c_source.html
@@ -0,0 +1,133 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_init_q15.c Source File
+
+
+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q31_8c.html
new file mode 100644
index 000000000..659c893c9
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_iir_lattice_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_iir_lattice_init_q31 (arm_iir_lattice_instance_q31 *S, uint16_t numStages, q31_t *pkCoeffs, q31_t *pvCoeffs, q31_t *pState, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q31_8c_source.html
new file mode 100644
index 000000000..88562443f
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__init__q31_8c_source.html
@@ -0,0 +1,133 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_init_q31.c Source File
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q15_8c.html
new file mode 100644
index 000000000..8c1d940ff
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_iir_lattice_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_iir_lattice_q15 (const arm_iir_lattice_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q15_8c_source.html
new file mode 100644
index 000000000..a3c70e0fb
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q15_8c_source.html
@@ -0,0 +1,445 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_q15.c Source File
+
+
+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q31_8c.html
new file mode 100644
index 000000000..2fc40f912
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@@ -0,0 +1,83 @@
+
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+
+
+CMSIS DSP Software Library: arm_iir_lattice_q31.c File Reference
+
+
+
+
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+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_iir_lattice_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_iir_lattice_q31 (const arm_iir_lattice_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__iir__lattice__q31_8c_source.html
new file mode 100644
index 000000000..11fcf393d
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@@ -0,0 +1,385 @@
+
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+
+
+CMSIS DSP Software Library: arm_iir_lattice_q31.c Source File
+
+
+
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+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__linear__interp__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__linear__interp__example__f32_8c.html
new file mode 100644
index 000000000..ce0395860
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__linear__interp__example__f32_8c.html
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+
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+
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+CMSIS DSP Software Library: arm_linear_interp_example_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_linear_interp_example_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "math_helper.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
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+
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+
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+
    
+Defines
    #define SNR_THRESHOLD   90
    #define TEST_LENGTH_SAMPLES   10
    #define XSPACING   (0.00005f)
    
+Functions
    int32_t main (void)
    
+Variables
    float32_t testInputSin_f32 [TEST_LENGTH_SAMPLES]
    float32_t testRefSinOutput32_f32 [TEST_LENGTH_SAMPLES]
    float32_t testOutput [TEST_LENGTH_SAMPLES]
    float32_t testLinIntOutput [TEST_LENGTH_SAMPLES]
    float32_t arm_linear_interep_table [188495]
    float32_t snr1
    float32_t snr2
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define SNR_THRESHOLD   90
    
+
    
+
    
+
+
    Definition at line 73 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define TEST_LENGTH_SAMPLES   10
    
+
    
+
    
+
+
    Definition at line 74 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define XSPACING   (0.00005f)
    
+
    
+
    
+
    Examples: 
    arm_linear_interp_example_f32.c.
    
+
    
+
    Definition at line 75 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 123 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testInputSin_f32[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+Initial value:
      
+{
+    -0.649716504673081170,  -2.501723745497831200,  0.188250329003310100,   0.432092748487532540,   -1.722010988459680800,  1.788766476323060600,   1.786136060975809500,   -0.056525543169408797,  
+    0.491596272728153760,   0.262309671126153390   
+}
+
    Examples: 
    arm_linear_interp_example_f32.c.
    
+
    
+
    Definition at line 83 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testRefSinOutput32_f32[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+Initial value:
       
+{
+    -0.604960695383043530,  -0.597090287967934840,  0.187140422442966500,   0.418772124875992690,   -0.988588831792106880,  0.976338412038794010,   0.976903856413481100,   -0.056495446835214236,  
+    0.472033731854734240,   0.259311907228582830
+}
+
    Examples: 
    arm_linear_interp_example_f32.c.
    
+
    
+
    Definition at line 93 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testOutput[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+
+
    Definition at line 102 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testLinIntOutput[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+
    Examples: 
    arm_linear_interp_example_f32.c.
    
+
    
+
    Definition at line 107 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_linear_interep_table[188495]
    
+
    
+
    
+
    Examples: 
    arm_linear_interp_example_f32.c.
    
+
    
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t snr1
    
+
    
+
    
+
    Examples: 
    arm_linear_interp_example_f32.c.
    
+
    
+
    Definition at line 117 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t snr2
    
+
    
+
    
+
    Examples: 
    arm_linear_interp_example_f32.c.
    
+
    
+
    Definition at line 118 of file arm_linear_interp_example_f32.c.
    
+
+
    
+
    
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+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__linear__interp__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__linear__interp__example__f32_8c_source.html
new file mode 100644
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+CMSIS DSP Software Library: arm_linear_interp_example_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__f32_8c.html
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+
+CMSIS DSP Software Library: arm_lms_f32.c File Reference
+
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+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_f32 (const arm_lms_instance_f32 *S, float32_t *pSrc, float32_t *pRef, float32_t *pOut, float32_t *pErr, uint32_t blockSize)
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__f32_8c_source.html
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@@ -0,0 +1,366 @@
+
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+
+
+CMSIS DSP Software Library: arm_lms_f32.c Source File
+
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+
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+
    
+
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+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__f32_8c.html
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+
+
+
+
+CMSIS DSP Software Library: arm_lms_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_init_f32 (arm_lms_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, float32_t mu, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__f32_8c_source.html
new file mode 100644
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@@ -0,0 +1,131 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_init_f32.c Source File
+
+
+
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+
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+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q15_8c.html
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_init_q15 (arm_lms_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, q15_t mu, uint32_t blockSize, uint32_t postShift)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q15_8c_source.html
new file mode 100644
index 000000000..d7485e933
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q15_8c_source.html
@@ -0,0 +1,136 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_init_q15.c Source File
+
+
+
+
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+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q31_8c.html
new file mode 100644
index 000000000..65e5481b2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_init_q31 (arm_lms_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, q31_t mu, uint32_t blockSize, uint32_t postShift)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q31_8c_source.html
new file mode 100644
index 000000000..3f31d6739
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__init__q31_8c_source.html
@@ -0,0 +1,136 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_init_q31.c Source File
+
+
+
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+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__f32_8c.html
new file mode 100644
index 000000000..09bae676d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_norm_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_norm_f32 (arm_lms_norm_instance_f32 *S, float32_t *pSrc, float32_t *pRef, float32_t *pOut, float32_t *pErr, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__f32_8c_source.html
new file mode 100644
index 000000000..1b609babd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__f32_8c_source.html
@@ -0,0 +1,398 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_f32.c Source File
+
+
+
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+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__f32_8c.html
new file mode 100644
index 000000000..34ace1466
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_norm_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_norm_init_f32 (arm_lms_norm_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, float32_t mu, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__f32_8c_source.html
new file mode 100644
index 000000000..813bda8fa
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__f32_8c_source.html
@@ -0,0 +1,138 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_init_f32.c Source File
+
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q15_8c.html
new file mode 100644
index 000000000..37afc9259
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q15_8c.html
@@ -0,0 +1,84 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_norm_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "arm_common_tables.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_norm_init_q15 (arm_lms_norm_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, q15_t mu, uint32_t blockSize, uint8_t postShift)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q15_8c_source.html
new file mode 100644
index 000000000..f98cc7f5d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q15_8c_source.html
@@ -0,0 +1,146 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_init_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q31_8c.html
new file mode 100644
index 000000000..5f523b912
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q31_8c.html
@@ -0,0 +1,84 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_norm_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "arm_common_tables.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_norm_init_q31 (arm_lms_norm_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, q31_t mu, uint32_t blockSize, uint8_t postShift)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:18 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q31_8c_source.html
new file mode 100644
index 000000000..b257f2227
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__init__q31_8c_source.html
@@ -0,0 +1,146 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_init_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q15_8c.html
new file mode 100644
index 000000000..12852f9a7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_norm_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_norm_q15 (arm_lms_norm_instance_q15 *S, q15_t *pSrc, q15_t *pRef, q15_t *pOut, q15_t *pErr, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q15_8c_source.html
new file mode 100644
index 000000000..efe324a32
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q15_8c_source.html
@@ -0,0 +1,420 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_q15.c Source File
+
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q31_8c.html
new file mode 100644
index 000000000..dc1d25b97
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_norm_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_norm_q31 (arm_lms_norm_instance_q31 *S, q31_t *pSrc, q31_t *pRef, q31_t *pOut, q31_t *pErr, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q31_8c_source.html
new file mode 100644
index 000000000..e857f90ff
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__norm__q31_8c_source.html
@@ -0,0 +1,437 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q15_8c.html
new file mode 100644
index 000000000..a867659cc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_q15 (const arm_lms_instance_q15 *S, q15_t *pSrc, q15_t *pRef, q15_t *pOut, q15_t *pErr, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q15_8c_source.html
new file mode 100644
index 000000000..4270b3ebf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q15_8c_source.html
@@ -0,0 +1,369 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q31_8c.html
new file mode 100644
index 000000000..9239af4b8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_lms_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_lms_q31 (const arm_lms_instance_q31 *S, q31_t *pSrc, q31_t *pRef, q31_t *pOut, q31_t *pErr, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q31_8c_source.html
new file mode 100644
index 000000000..7fe78dfe5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__lms__q31_8c_source.html
@@ -0,0 +1,382 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__f32_8c.html
new file mode 100644
index 000000000..2b2851816
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_add_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_add_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_add_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__f32_8c_source.html
new file mode 100644
index 000000000..75cb27398
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__f32_8c_source.html
@@ -0,0 +1,194 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_add_f32.c Source File
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q15_8c.html
new file mode 100644
index 000000000..4d694ff72
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_add_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_add_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_add_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q15_8c_source.html
new file mode 100644
index 000000000..7c7e5d204
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q15_8c_source.html
@@ -0,0 +1,205 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_add_q15.c Source File
+
+
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+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q31_8c.html
new file mode 100644
index 000000000..14c8e851d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_add_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_add_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_add_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q31_8c_source.html
new file mode 100644
index 000000000..6b603d142
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__add__q31_8c_source.html
@@ -0,0 +1,204 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_add_q31.c Source File
+
+
+
+
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+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__f32_8c.html
new file mode 100644
index 000000000..90f259051
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mat_init_f32 (arm_matrix_instance_f32 *S, uint16_t nRows, uint16_t nColumns, float32_t *pData)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__f32_8c_source.html
new file mode 100644
index 000000000..55986e419
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__f32_8c_source.html
@@ -0,0 +1,126 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_init_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q15_8c.html
new file mode 100644
index 000000000..c0736772f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mat_init_q15 (arm_matrix_instance_q15 *S, uint16_t nRows, uint16_t nColumns, q15_t *pData)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q15_8c_source.html
new file mode 100644
index 000000000..c2f5ec3e5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q15_8c_source.html
@@ -0,0 +1,127 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_init_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q31_8c.html
new file mode 100644
index 000000000..a822f8517
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mat_init_q31 (arm_matrix_instance_q31 *S, uint16_t nRows, uint16_t nColumns, q31_t *pData)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q31_8c_source.html
new file mode 100644
index 000000000..78c8a2c2d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__init__q31_8c_source.html
@@ -0,0 +1,126 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_init_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__inverse__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__inverse__f32_8c.html
new file mode 100644
index 000000000..8e211dcc4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__inverse__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_inverse_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_inverse_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_inverse_f32 (const arm_matrix_instance_f32 *pSrc, arm_matrix_instance_f32 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__inverse__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__inverse__f32_8c_source.html
new file mode 100644
index 000000000..46a5d7e24
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__inverse__f32_8c_source.html
@@ -0,0 +1,693 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_inverse_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__f32_8c.html
new file mode 100644
index 000000000..55e68df18
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_mult_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_mult_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__f32_8c_source.html
new file mode 100644
index 000000000..3fc42a58d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__f32_8c_source.html
@@ -0,0 +1,305 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q15_8c.html
new file mode 100644
index 000000000..9bbd1d2cf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_fast_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_mult_fast_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_mult_fast_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst, q15_t *pState)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q15_8c_source.html
new file mode 100644
index 000000000..3d98de76c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q15_8c_source.html
@@ -0,0 +1,312 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_fast_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q31_8c.html
new file mode 100644
index 000000000..841d4c5d0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_fast_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_mult_fast_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_mult_fast_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q31_8c_source.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__fast__q31_8c_source.html
@@ -0,0 +1,232 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_fast_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q15_8c.html
new file mode 100644
index 000000000..a7c43c145
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_mult_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_mult_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst, q15_t *pState)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q15_8c_source.html
new file mode 100644
index 000000000..908c17a83
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q15_8c_source.html
@@ -0,0 +1,412 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q31_8c.html
new file mode 100644
index 000000000..340601ccf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_mult_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_mult_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q31_8c_source.html
new file mode 100644
index 000000000..364177e40
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__mult__q31_8c_source.html
@@ -0,0 +1,313 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_mult_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__f32_8c.html
new file mode 100644
index 000000000..af76a9409
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_scale_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_scale_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_scale_f32 (const arm_matrix_instance_f32 *pSrc, float32_t scale, arm_matrix_instance_f32 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__f32_8c_source.html
new file mode 100644
index 000000000..83d5a64c2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__f32_8c_source.html
@@ -0,0 +1,189 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_scale_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q15_8c.html
new file mode 100644
index 000000000..f0165bc2f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_scale_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_scale_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_scale_q15 (const arm_matrix_instance_q15 *pSrc, q15_t scaleFract, int32_t shift, arm_matrix_instance_q15 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q15_8c_source.html
new file mode 100644
index 000000000..da0e424ba
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q15_8c_source.html
@@ -0,0 +1,195 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_scale_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q31_8c.html
new file mode 100644
index 000000000..fa9a500cc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_scale_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_scale_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_scale_q31 (const arm_matrix_instance_q31 *pSrc, q31_t scaleFract, int32_t shift, arm_matrix_instance_q31 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q31_8c_source.html
new file mode 100644
index 000000000..887007ed6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__scale__q31_8c_source.html
@@ -0,0 +1,197 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_scale_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__f32_8c.html
new file mode 100644
index 000000000..3f5edee62
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_sub_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_sub_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_sub_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__f32_8c_source.html
new file mode 100644
index 000000000..75e8317c1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__f32_8c_source.html
@@ -0,0 +1,192 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_sub_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q15_8c.html
new file mode 100644
index 000000000..86e6da016
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_sub_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_sub_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_sub_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q15_8c_source.html
new file mode 100644
index 000000000..21ef30fb2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q15_8c_source.html
@@ -0,0 +1,202 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_sub_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q31_8c.html
new file mode 100644
index 000000000..c9aee4faf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_sub_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_sub_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_sub_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q31_8c_source.html
new file mode 100644
index 000000000..2511fb20c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__sub__q31_8c_source.html
@@ -0,0 +1,204 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_sub_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__f32_8c.html
new file mode 100644
index 000000000..97bda00cf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_trans_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_trans_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_trans_f32 (const arm_matrix_instance_f32 *pSrc, arm_matrix_instance_f32 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__f32_8c_source.html
new file mode 100644
index 000000000..950e2b291
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__f32_8c_source.html
@@ -0,0 +1,257 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_trans_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q15_8c.html
new file mode 100644
index 000000000..63fb740c4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_trans_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_trans_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_trans_q15 (const arm_matrix_instance_q15 *pSrc, arm_matrix_instance_q15 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q15_8c_source.html
new file mode 100644
index 000000000..2cbff87d5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q15_8c_source.html
@@ -0,0 +1,295 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_trans_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q31_8c.html
new file mode 100644
index 000000000..e4a538e62
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_trans_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mat_trans_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_mat_trans_q31 (const arm_matrix_instance_q31 *pSrc, arm_matrix_instance_q31 *pDst)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q31_8c_source.html
new file mode 100644
index 000000000..3ed8cd6af
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mat__trans__q31_8c_source.html
@@ -0,0 +1,266 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mat_trans_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:16 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__math_8h.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__math_8h.html
new file mode 100644
index 000000000..8683e120e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__math_8h.html
@@ -0,0 +1,1963 @@
+
+
+
+
+CMSIS DSP Software Library: arm_math.h File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Structures |
+Defines |
+Typedefs |
+Enumerations |
+Functions  
    
+  
    
+
    arm_math.h File Reference
      
    
+
    
+
    
+#include "ARMCM4.h"
    
+#include "string.h"
    
+#include "math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
+
+
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+Data Structures
    struct  arm_fir_instance_q7
     Instance structure for the Q7 FIR filter.  More...
    struct  arm_fir_instance_q15
     Instance structure for the Q15 FIR filter.  More...
    struct  arm_fir_instance_q31
     Instance structure for the Q31 FIR filter.  More...
    struct  arm_fir_instance_f32
     Instance structure for the floating-point FIR filter.  More...
    struct  arm_biquad_casd_df1_inst_q15
     Instance structure for the Q15 Biquad cascade filter.  More...
    struct  arm_biquad_casd_df1_inst_q31
     Instance structure for the Q31 Biquad cascade filter.  More...
    struct  arm_biquad_casd_df1_inst_f32
     Instance structure for the floating-point Biquad cascade filter.  More...
    struct  arm_matrix_instance_f32
     Instance structure for the floating-point matrix structure.  More...
    struct  arm_matrix_instance_q15
     Instance structure for the Q15 matrix structure.  More...
    struct  arm_matrix_instance_q31
     Instance structure for the Q31 matrix structure.  More...
    struct  arm_pid_instance_q15
     Instance structure for the Q15 PID Control.  More...
    struct  arm_pid_instance_q31
     Instance structure for the Q31 PID Control.  More...
    struct  arm_pid_instance_f32
     Instance structure for the floating-point PID Control.  More...
    struct  arm_linear_interp_instance_f32
     Instance structure for the floating-point Linear Interpolate function.  More...
    struct  arm_bilinear_interp_instance_f32
     Instance structure for the floating-point bilinear interpolation function.  More...
    struct  arm_bilinear_interp_instance_q31
     Instance structure for the Q31 bilinear interpolation function.  More...
    struct  arm_bilinear_interp_instance_q15
     Instance structure for the Q15 bilinear interpolation function.  More...
    struct  arm_bilinear_interp_instance_q7
     Instance structure for the Q15 bilinear interpolation function.  More...
    struct  arm_cfft_radix4_instance_q15
     Instance structure for the Q15 CFFT/CIFFT function.  More...
    struct  arm_cfft_radix4_instance_q31
     Instance structure for the Q31 CFFT/CIFFT function.  More...
    struct  arm_cfft_radix4_instance_f32
     Instance structure for the floating-point CFFT/CIFFT function.  More...
    struct  arm_rfft_instance_q15
     Instance structure for the Q15 RFFT/RIFFT function.  More...
    struct  arm_rfft_instance_q31
     Instance structure for the Q31 RFFT/RIFFT function.  More...
    struct  arm_rfft_instance_f32
     Instance structure for the floating-point RFFT/RIFFT function.  More...
    struct  arm_dct4_instance_f32
     Instance structure for the floating-point DCT4/IDCT4 function.  More...
    struct  arm_dct4_instance_q31
     Instance structure for the Q31 DCT4/IDCT4 function.  More...
    struct  arm_dct4_instance_q15
     Instance structure for the Q15 DCT4/IDCT4 function.  More...
    struct  arm_fir_decimate_instance_q15
     Instance structure for the Q15 FIR decimator.  More...
    struct  arm_fir_decimate_instance_q31
     Instance structure for the Q31 FIR decimator.  More...
    struct  arm_fir_decimate_instance_f32
     Instance structure for the floating-point FIR decimator.  More...
    struct  arm_fir_interpolate_instance_q15
     Instance structure for the Q15 FIR interpolator.  More...
    struct  arm_fir_interpolate_instance_q31
     Instance structure for the Q31 FIR interpolator.  More...
    struct  arm_fir_interpolate_instance_f32
     Instance structure for the floating-point FIR interpolator.  More...
    struct  arm_biquad_cas_df1_32x64_ins_q31
     Instance structure for the high precision Q31 Biquad cascade filter.  More...
    struct  arm_biquad_cascade_df2T_instance_f32
     Instance structure for the floating-point transposed direct form II Biquad cascade filter.  More...
    struct  arm_fir_lattice_instance_q15
     Instance structure for the Q15 FIR lattice filter.  More...
    struct  arm_fir_lattice_instance_q31
     Instance structure for the Q31 FIR lattice filter.  More...
    struct  arm_fir_lattice_instance_f32
     Instance structure for the floating-point FIR lattice filter.  More...
    struct  arm_iir_lattice_instance_q15
     Instance structure for the Q15 IIR lattice filter.  More...
    struct  arm_iir_lattice_instance_q31
     Instance structure for the Q31 IIR lattice filter.  More...
    struct  arm_iir_lattice_instance_f32
     Instance structure for the floating-point IIR lattice filter.  More...
    struct  arm_lms_instance_f32
     Instance structure for the floating-point LMS filter.  More...
    struct  arm_lms_instance_q15
     Instance structure for the Q15 LMS filter.  More...
    struct  arm_lms_instance_q31
     Instance structure for the Q31 LMS filter.  More...
    struct  arm_lms_norm_instance_f32
     Instance structure for the floating-point normalized LMS filter.  More...
    struct  arm_lms_norm_instance_q31
     Instance structure for the Q31 normalized LMS filter.  More...
    struct  arm_lms_norm_instance_q15
     Instance structure for the Q15 normalized LMS filter.  More...
    struct  arm_fir_sparse_instance_f32
     Instance structure for the floating-point sparse FIR filter.  More...
    struct  arm_fir_sparse_instance_q31
     Instance structure for the Q31 sparse FIR filter.  More...
    struct  arm_fir_sparse_instance_q15
     Instance structure for the Q15 sparse FIR filter.  More...
    struct  arm_fir_sparse_instance_q7
     Instance structure for the Q7 sparse FIR filter.  More...
    
+Defines
    #define __CMSIS_GENERIC
    #define DELTA_Q31   (0x100)
    #define DELTA_Q15   0x5
    #define INDEX_MASK   0x0000003F
    #define PI   3.14159265358979f
    #define TABLE_SIZE   256
    #define TABLE_SPACING_Q31   0x800000
    #define TABLE_SPACING_Q15   0x80
    #define INPUT_SPACING   0xB60B61
    #define __SIMD32(addr)   (*(int32_t **) & (addr))
    #define __PACKq7(v0, v1, v2, v3)
    
+Typedefs
    typedef int8_t q7_t
    typedef int16_t q15_t
    typedef int32_t q31_t
    typedef int64_t q63_t
    typedef float float32_t
    typedef double float64_t
    
+Enumerations
    enum  arm_status { 
    
+  ARM_MATH_SUCCESS =  0, 
+ARM_MATH_ARGUMENT_ERROR =  -1, 
+ARM_MATH_LENGTH_ERROR =  -2, 
+ARM_MATH_SIZE_MISMATCH =  -3, 
+
    
+  ARM_MATH_NANINF =  -4, 
+ARM_MATH_SINGULAR =  -5, 
+ARM_MATH_TEST_FAILURE =  -6
+
    
+ }
    
+Functions
    static __INLINE q31_t clip_q63_to_q31 (q63_t x)
    static __INLINE q15_t clip_q63_to_q15 (q63_t x)
    static __INLINE q7_t clip_q31_to_q7 (q31_t x)
    static __INLINE q15_t clip_q31_to_q15 (q31_t x)
    static __INLINE q63_t mult32x64 (q63_t x, q31_t y)
    static __INLINE uint32_t arm_recip_q31 (q31_t in, q31_t *dst, q31_t *pRecipTable)
    static __INLINE uint32_t arm_recip_q15 (q15_t in, q15_t *dst, q15_t *pRecipTable)
    void arm_fir_q7 (const arm_fir_instance_q7 *S, q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    void arm_fir_init_q7 (arm_fir_instance_q7 *S, uint16_t numTaps, q7_t *pCoeffs, q7_t *pState, uint32_t blockSize)
    void arm_fir_q15 (const arm_fir_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_fir_fast_q15 (const arm_fir_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    arm_status arm_fir_init_q15 (arm_fir_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    void arm_fir_q31 (const arm_fir_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_fir_fast_q31 (const arm_fir_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_fir_init_q31 (arm_fir_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    void arm_fir_f32 (const arm_fir_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_fir_init_f32 (arm_fir_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    void arm_biquad_cascade_df1_q15 (const arm_biquad_casd_df1_inst_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_init_q15 (arm_biquad_casd_df1_inst_q15 *S, uint8_t numStages, q15_t *pCoeffs, q15_t *pState, int8_t postShift)
    void arm_biquad_cascade_df1_fast_q15 (const arm_biquad_casd_df1_inst_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_q31 (const arm_biquad_casd_df1_inst_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_fast_q31 (const arm_biquad_casd_df1_inst_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_init_q31 (arm_biquad_casd_df1_inst_q31 *S, uint8_t numStages, q31_t *pCoeffs, q31_t *pState, int8_t postShift)
    void arm_biquad_cascade_df1_f32 (const arm_biquad_casd_df1_inst_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_init_f32 (arm_biquad_casd_df1_inst_f32 *S, uint8_t numStages, float32_t *pCoeffs, float32_t *pState)
    arm_status arm_mat_add_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_add_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst)
    arm_status arm_mat_add_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_trans_f32 (const arm_matrix_instance_f32 *pSrc, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_trans_q15 (const arm_matrix_instance_q15 *pSrc, arm_matrix_instance_q15 *pDst)
    arm_status arm_mat_trans_q31 (const arm_matrix_instance_q31 *pSrc, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_mult_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_mult_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst, q15_t *pState)
    arm_status arm_mat_mult_fast_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst, q15_t *pState)
    arm_status arm_mat_mult_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_mult_fast_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_sub_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_sub_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst)
    arm_status arm_mat_sub_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_scale_f32 (const arm_matrix_instance_f32 *pSrc, float32_t scale, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_scale_q15 (const arm_matrix_instance_q15 *pSrc, q15_t scaleFract, int32_t shift, arm_matrix_instance_q15 *pDst)
    arm_status arm_mat_scale_q31 (const arm_matrix_instance_q31 *pSrc, q31_t scaleFract, int32_t shift, arm_matrix_instance_q31 *pDst)
    void arm_mat_init_q31 (arm_matrix_instance_q31 *S, uint16_t nRows, uint16_t nColumns, q31_t *pData)
    void arm_mat_init_q15 (arm_matrix_instance_q15 *S, uint16_t nRows, uint16_t nColumns, q15_t *pData)
    void arm_mat_init_f32 (arm_matrix_instance_f32 *S, uint16_t nRows, uint16_t nColumns, float32_t *pData)
    void arm_pid_init_f32 (arm_pid_instance_f32 *S, int32_t resetStateFlag)
    void arm_pid_reset_f32 (arm_pid_instance_f32 *S)
    void arm_pid_init_q31 (arm_pid_instance_q31 *S, int32_t resetStateFlag)
    void arm_pid_reset_q31 (arm_pid_instance_q31 *S)
    void arm_pid_init_q15 (arm_pid_instance_q15 *S, int32_t resetStateFlag)
    void arm_pid_reset_q15 (arm_pid_instance_q15 *S)
    void arm_mult_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    void arm_mult_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    void arm_mult_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    void arm_mult_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    void arm_cfft_radix4_q15 (const arm_cfft_radix4_instance_q15 *S, q15_t *pSrc)
    arm_status arm_cfft_radix4_init_q15 (arm_cfft_radix4_instance_q15 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    void arm_cfft_radix4_q31 (const arm_cfft_radix4_instance_q31 *S, q31_t *pSrc)
    arm_status arm_cfft_radix4_init_q31 (arm_cfft_radix4_instance_q31 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    void arm_cfft_radix4_f32 (const arm_cfft_radix4_instance_f32 *S, float32_t *pSrc)
    arm_status arm_cfft_radix4_init_f32 (arm_cfft_radix4_instance_f32 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    void arm_radix4_butterfly_f32 (float32_t *pSrc, uint16_t fftLen, float32_t *pCoef, uint16_t twidCoefModifier)
    void arm_radix4_butterfly_inverse_f32 (float32_t *pSrc, uint16_t fftLen, float32_t *pCoef, uint16_t twidCoefModifier, float32_t onebyfftLen)
    void arm_bitreversal_f32 (float32_t *pSrc, uint16_t fftSize, uint16_t bitRevFactor, uint16_t *pBitRevTab)
    void arm_radix4_butterfly_q31 (q31_t *pSrc, uint32_t fftLen, q31_t *pCoef, uint32_t twidCoefModifier)
    void arm_radix4_butterfly_inverse_q31 (q31_t *pSrc, uint32_t fftLen, q31_t *pCoef, uint32_t twidCoefModifier)
    void arm_bitreversal_q31 (q31_t *pSrc, uint32_t fftLen, uint16_t bitRevFactor, uint16_t *pBitRevTab)
    void arm_radix4_butterfly_q15 (q15_t *pSrc16, uint32_t fftLen, q15_t *pCoef16, uint32_t twidCoefModifier)
    void arm_radix4_butterfly_inverse_q15 (q15_t *pSrc16, uint32_t fftLen, q15_t *pCoef16, uint32_t twidCoefModifier)
    void arm_bitreversal_q15 (q15_t *pSrc, uint32_t fftLen, uint16_t bitRevFactor, uint16_t *pBitRevTab)
    void arm_rfft_q15 (const arm_rfft_instance_q15 *S, q15_t *pSrc, q15_t *pDst)
    arm_status arm_rfft_init_q15 (arm_rfft_instance_q15 *S, arm_cfft_radix4_instance_q15 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    void arm_rfft_q31 (const arm_rfft_instance_q31 *S, q31_t *pSrc, q31_t *pDst)
    arm_status arm_rfft_init_q31 (arm_rfft_instance_q31 *S, arm_cfft_radix4_instance_q31 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    arm_status arm_rfft_init_f32 (arm_rfft_instance_f32 *S, arm_cfft_radix4_instance_f32 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    void arm_rfft_f32 (const arm_rfft_instance_f32 *S, float32_t *pSrc, float32_t *pDst)
    arm_status arm_dct4_init_f32 (arm_dct4_instance_f32 *S, arm_rfft_instance_f32 *S_RFFT, arm_cfft_radix4_instance_f32 *S_CFFT, uint16_t N, uint16_t Nby2, float32_t normalize)
    void arm_dct4_f32 (const arm_dct4_instance_f32 *S, float32_t *pState, float32_t *pInlineBuffer)
    arm_status arm_dct4_init_q31 (arm_dct4_instance_q31 *S, arm_rfft_instance_q31 *S_RFFT, arm_cfft_radix4_instance_q31 *S_CFFT, uint16_t N, uint16_t Nby2, q31_t normalize)
    void arm_dct4_q31 (const arm_dct4_instance_q31 *S, q31_t *pState, q31_t *pInlineBuffer)
    arm_status arm_dct4_init_q15 (arm_dct4_instance_q15 *S, arm_rfft_instance_q15 *S_RFFT, arm_cfft_radix4_instance_q15 *S_CFFT, uint16_t N, uint16_t Nby2, q15_t normalize)
    void arm_dct4_q15 (const arm_dct4_instance_q15 *S, q15_t *pState, q15_t *pInlineBuffer)
    void arm_add_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    void arm_add_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    void arm_add_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    void arm_add_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    void arm_sub_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    void arm_sub_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    void arm_sub_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    void arm_sub_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    void arm_scale_f32 (float32_t *pSrc, float32_t scale, float32_t *pDst, uint32_t blockSize)
    void arm_scale_q7 (q7_t *pSrc, q7_t scaleFract, int8_t shift, q7_t *pDst, uint32_t blockSize)
    void arm_scale_q15 (q15_t *pSrc, q15_t scaleFract, int8_t shift, q15_t *pDst, uint32_t blockSize)
    void arm_scale_q31 (q31_t *pSrc, q31_t scaleFract, int8_t shift, q31_t *pDst, uint32_t blockSize)
    void arm_abs_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    void arm_abs_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_abs_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_abs_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_dot_prod_f32 (float32_t *pSrcA, float32_t *pSrcB, uint32_t blockSize, float32_t *result)
    void arm_dot_prod_q7 (q7_t *pSrcA, q7_t *pSrcB, uint32_t blockSize, q31_t *result)
    void arm_dot_prod_q15 (q15_t *pSrcA, q15_t *pSrcB, uint32_t blockSize, q63_t *result)
    void arm_dot_prod_q31 (q31_t *pSrcA, q31_t *pSrcB, uint32_t blockSize, q63_t *result)
    void arm_shift_q7 (q7_t *pSrc, int8_t shiftBits, q7_t *pDst, uint32_t blockSize)
    void arm_shift_q15 (q15_t *pSrc, int8_t shiftBits, q15_t *pDst, uint32_t blockSize)
    void arm_shift_q31 (q31_t *pSrc, int8_t shiftBits, q31_t *pDst, uint32_t blockSize)
    void arm_offset_f32 (float32_t *pSrc, float32_t offset, float32_t *pDst, uint32_t blockSize)
    void arm_offset_q7 (q7_t *pSrc, q7_t offset, q7_t *pDst, uint32_t blockSize)
    void arm_offset_q15 (q15_t *pSrc, q15_t offset, q15_t *pDst, uint32_t blockSize)
    void arm_offset_q31 (q31_t *pSrc, q31_t offset, q31_t *pDst, uint32_t blockSize)
    void arm_negate_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_negate_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    void arm_negate_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_negate_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_copy_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_copy_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    void arm_copy_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_copy_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_fill_f32 (float32_t value, float32_t *pDst, uint32_t blockSize)
    void arm_fill_q7 (q7_t value, q7_t *pDst, uint32_t blockSize)
    void arm_fill_q15 (q15_t value, q15_t *pDst, uint32_t blockSize)
    void arm_fill_q31 (q31_t value, q31_t *pDst, uint32_t blockSize)
    void arm_conv_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst)
    void arm_conv_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    void arm_conv_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    void arm_conv_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    void arm_conv_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    void arm_conv_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst)
    arm_status arm_conv_partial_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    void arm_fir_decimate_f32 (const arm_fir_decimate_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    arm_status arm_fir_decimate_init_f32 (arm_fir_decimate_instance_f32 *S, uint16_t numTaps, uint8_t M, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    void arm_fir_decimate_q15 (const arm_fir_decimate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_fir_decimate_fast_q15 (const arm_fir_decimate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    arm_status arm_fir_decimate_init_q15 (arm_fir_decimate_instance_q15 *S, uint16_t numTaps, uint8_t M, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    void arm_fir_decimate_q31 (const arm_fir_decimate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_fir_decimate_fast_q31 (arm_fir_decimate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    arm_status arm_fir_decimate_init_q31 (arm_fir_decimate_instance_q31 *S, uint16_t numTaps, uint8_t M, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    void arm_fir_interpolate_q15 (const arm_fir_interpolate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    arm_status arm_fir_interpolate_init_q15 (arm_fir_interpolate_instance_q15 *S, uint8_t L, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    void arm_fir_interpolate_q31 (const arm_fir_interpolate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    arm_status arm_fir_interpolate_init_q31 (arm_fir_interpolate_instance_q31 *S, uint8_t L, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    void arm_fir_interpolate_f32 (const arm_fir_interpolate_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    arm_status arm_fir_interpolate_init_f32 (arm_fir_interpolate_instance_f32 *S, uint8_t L, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    void arm_biquad_cas_df1_32x64_q31 (const arm_biquad_cas_df1_32x64_ins_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_biquad_cas_df1_32x64_init_q31 (arm_biquad_cas_df1_32x64_ins_q31 *S, uint8_t numStages, q31_t *pCoeffs, q63_t *pState, uint8_t postShift)
    void arm_biquad_cascade_df2T_f32 (const arm_biquad_cascade_df2T_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df2T_init_f32 (arm_biquad_cascade_df2T_instance_f32 *S, uint8_t numStages, float32_t *pCoeffs, float32_t *pState)
    void arm_fir_lattice_init_q15 (arm_fir_lattice_instance_q15 *S, uint16_t numStages, q15_t *pCoeffs, q15_t *pState)
    void arm_fir_lattice_q15 (const arm_fir_lattice_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_fir_lattice_init_q31 (arm_fir_lattice_instance_q31 *S, uint16_t numStages, q31_t *pCoeffs, q31_t *pState)
    void arm_fir_lattice_q31 (const arm_fir_lattice_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_fir_lattice_init_f32 (arm_fir_lattice_instance_f32 *S, uint16_t numStages, float32_t *pCoeffs, float32_t *pState)
    void arm_fir_lattice_f32 (const arm_fir_lattice_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_iir_lattice_f32 (const arm_iir_lattice_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_iir_lattice_init_f32 (arm_iir_lattice_instance_f32 *S, uint16_t numStages, float32_t *pkCoeffs, float32_t *pvCoeffs, float32_t *pState, uint32_t blockSize)
    void arm_iir_lattice_q31 (const arm_iir_lattice_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_iir_lattice_init_q31 (arm_iir_lattice_instance_q31 *S, uint16_t numStages, q31_t *pkCoeffs, q31_t *pvCoeffs, q31_t *pState, uint32_t blockSize)
    void arm_iir_lattice_q15 (const arm_iir_lattice_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_iir_lattice_init_q15 (arm_iir_lattice_instance_q15 *S, uint16_t numStages, q15_t *pkCoeffs, q15_t *pvCoeffs, q15_t *pState, uint32_t blockSize)
    void arm_lms_f32 (const arm_lms_instance_f32 *S, float32_t *pSrc, float32_t *pRef, float32_t *pOut, float32_t *pErr, uint32_t blockSize)
    void arm_lms_init_f32 (arm_lms_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, float32_t mu, uint32_t blockSize)
    void arm_lms_init_q15 (arm_lms_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, q15_t mu, uint32_t blockSize, uint32_t postShift)
    void arm_lms_q15 (const arm_lms_instance_q15 *S, q15_t *pSrc, q15_t *pRef, q15_t *pOut, q15_t *pErr, uint32_t blockSize)
    void arm_lms_q31 (const arm_lms_instance_q31 *S, q31_t *pSrc, q31_t *pRef, q31_t *pOut, q31_t *pErr, uint32_t blockSize)
    void arm_lms_init_q31 (arm_lms_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, q31_t mu, uint32_t blockSize, uint32_t postShift)
    void arm_lms_norm_f32 (arm_lms_norm_instance_f32 *S, float32_t *pSrc, float32_t *pRef, float32_t *pOut, float32_t *pErr, uint32_t blockSize)
    void arm_lms_norm_init_f32 (arm_lms_norm_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, float32_t mu, uint32_t blockSize)
    void arm_lms_norm_q31 (arm_lms_norm_instance_q31 *S, q31_t *pSrc, q31_t *pRef, q31_t *pOut, q31_t *pErr, uint32_t blockSize)
    void arm_lms_norm_init_q31 (arm_lms_norm_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, q31_t mu, uint32_t blockSize, uint8_t postShift)
    void arm_lms_norm_q15 (arm_lms_norm_instance_q15 *S, q15_t *pSrc, q15_t *pRef, q15_t *pOut, q15_t *pErr, uint32_t blockSize)
    void arm_lms_norm_init_q15 (arm_lms_norm_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, q15_t mu, uint32_t blockSize, uint8_t postShift)
    void arm_correlate_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst)
    void arm_correlate_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    void arm_correlate_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    void arm_correlate_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    void arm_correlate_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    void arm_correlate_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst)
    void arm_fir_sparse_f32 (arm_fir_sparse_instance_f32 *S, float32_t *pSrc, float32_t *pDst, float32_t *pScratchIn, uint32_t blockSize)
    void arm_fir_sparse_init_f32 (arm_fir_sparse_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    void arm_fir_sparse_q31 (arm_fir_sparse_instance_q31 *S, q31_t *pSrc, q31_t *pDst, q31_t *pScratchIn, uint32_t blockSize)
    void arm_fir_sparse_init_q31 (arm_fir_sparse_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    void arm_fir_sparse_q15 (arm_fir_sparse_instance_q15 *S, q15_t *pSrc, q15_t *pDst, q15_t *pScratchIn, q31_t *pScratchOut, uint32_t blockSize)
    void arm_fir_sparse_init_q15 (arm_fir_sparse_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    void arm_fir_sparse_q7 (arm_fir_sparse_instance_q7 *S, q7_t *pSrc, q7_t *pDst, q7_t *pScratchIn, q31_t *pScratchOut, uint32_t blockSize)
    void arm_fir_sparse_init_q7 (arm_fir_sparse_instance_q7 *S, uint16_t numTaps, q7_t *pCoeffs, q7_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    void arm_sin_cos_f32 (float32_t theta, float32_t *pSinVal, float32_t *pCcosVal)
    void arm_sin_cos_q31 (q31_t theta, q31_t *pSinVal, q31_t *pCosVal)
    void arm_cmplx_conj_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    void arm_cmplx_conj_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    void arm_cmplx_conj_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_squared_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_squared_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_squared_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    static __INLINE float32_t arm_pid_f32 (arm_pid_instance_f32 *S, float32_t in)
    static __INLINE q31_t arm_pid_q31 (arm_pid_instance_q31 *S, q31_t in)
    static __INLINE q15_t arm_pid_q15 (arm_pid_instance_q15 *S, q15_t in)
    arm_status arm_mat_inverse_f32 (const arm_matrix_instance_f32 *src, arm_matrix_instance_f32 *dst)
    static __INLINE void arm_clarke_f32 (float32_t Ia, float32_t Ib, float32_t *pIalpha, float32_t *pIbeta)
    static __INLINE void arm_clarke_q31 (q31_t Ia, q31_t Ib, q31_t *pIalpha, q31_t *pIbeta)
    void arm_q7_to_q31 (q7_t *pSrc, q31_t *pDst, uint32_t blockSize)
    static __INLINE void arm_inv_clarke_f32 (float32_t Ialpha, float32_t Ibeta, float32_t *pIa, float32_t *pIb)
    static __INLINE void arm_inv_clarke_q31 (q31_t Ialpha, q31_t Ibeta, q31_t *pIa, q31_t *pIb)
    void arm_q7_to_q15 (q7_t *pSrc, q15_t *pDst, uint32_t blockSize)
    static __INLINE void arm_park_f32 (float32_t Ialpha, float32_t Ibeta, float32_t *pId, float32_t *pIq, float32_t sinVal, float32_t cosVal)
    static __INLINE void arm_park_q31 (q31_t Ialpha, q31_t Ibeta, q31_t *pId, q31_t *pIq, q31_t sinVal, q31_t cosVal)
    void arm_q7_to_float (q7_t *pSrc, float32_t *pDst, uint32_t blockSize)
    static __INLINE void arm_inv_park_f32 (float32_t Id, float32_t Iq, float32_t *pIalpha, float32_t *pIbeta, float32_t sinVal, float32_t cosVal)
    static __INLINE void arm_inv_park_q31 (q31_t Id, q31_t Iq, q31_t *pIalpha, q31_t *pIbeta, q31_t sinVal, q31_t cosVal)
    void arm_q31_to_float (q31_t *pSrc, float32_t *pDst, uint32_t blockSize)
    static __INLINE float32_t arm_linear_interp_f32 (arm_linear_interp_instance_f32 *S, float32_t x)
    static __INLINE q31_t arm_linear_interp_q31 (q31_t *pYData, q31_t x, uint32_t nValues)
    static __INLINE q15_t arm_linear_interp_q15 (q15_t *pYData, q31_t x, uint32_t nValues)
    static __INLINE q7_t arm_linear_interp_q7 (q7_t *pYData, q31_t x, uint32_t nValues)
    float32_t arm_sin_f32 (float32_t x)
    q31_t arm_sin_q31 (q31_t x)
    q15_t arm_sin_q15 (q15_t x)
    float32_t arm_cos_f32 (float32_t x)
    q31_t arm_cos_q31 (q31_t x)
    q15_t arm_cos_q15 (q15_t x)
    static __INLINE arm_status arm_sqrt_f32 (float32_t in, float32_t *pOut)
    arm_status arm_sqrt_q31 (q31_t in, q31_t *pOut)
    arm_status arm_sqrt_q15 (q15_t in, q15_t *pOut)
    static __INLINE void arm_circularWrite_f32 (int32_t *circBuffer, int32_t L, uint16_t *writeOffset, int32_t bufferInc, const int32_t *src, int32_t srcInc, uint32_t blockSize)
    static __INLINE void arm_circularRead_f32 (int32_t *circBuffer, int32_t L, int32_t *readOffset, int32_t bufferInc, int32_t *dst, int32_t *dst_base, int32_t dst_length, int32_t dstInc, uint32_t blockSize)
    static __INLINE void arm_circularWrite_q15 (q15_t *circBuffer, int32_t L, uint16_t *writeOffset, int32_t bufferInc, const q15_t *src, int32_t srcInc, uint32_t blockSize)
    static __INLINE void arm_circularRead_q15 (q15_t *circBuffer, int32_t L, int32_t *readOffset, int32_t bufferInc, q15_t *dst, q15_t *dst_base, int32_t dst_length, int32_t dstInc, uint32_t blockSize)
    static __INLINE void arm_circularWrite_q7 (q7_t *circBuffer, int32_t L, uint16_t *writeOffset, int32_t bufferInc, const q7_t *src, int32_t srcInc, uint32_t blockSize)
    static __INLINE void arm_circularRead_q7 (q7_t *circBuffer, int32_t L, int32_t *readOffset, int32_t bufferInc, q7_t *dst, q7_t *dst_base, int32_t dst_length, int32_t dstInc, uint32_t blockSize)
    void arm_power_q31 (q31_t *pSrc, uint32_t blockSize, q63_t *pResult)
    void arm_power_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_power_q15 (q15_t *pSrc, uint32_t blockSize, q63_t *pResult)
    void arm_power_q7 (q7_t *pSrc, uint32_t blockSize, q31_t *pResult)
    void arm_mean_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *pResult)
    void arm_mean_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    void arm_mean_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    void arm_mean_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_var_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_var_q31 (q31_t *pSrc, uint32_t blockSize, q63_t *pResult)
    void arm_var_q15 (q15_t *pSrc, uint32_t blockSize, q31_t *pResult)
    void arm_rms_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_rms_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    void arm_rms_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    void arm_std_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_std_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    void arm_std_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    void arm_cmplx_mag_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    void arm_cmplx_dot_prod_q15 (q15_t *pSrcA, q15_t *pSrcB, uint32_t numSamples, q31_t *realResult, q31_t *imagResult)
    void arm_cmplx_dot_prod_q31 (q31_t *pSrcA, q31_t *pSrcB, uint32_t numSamples, q63_t *realResult, q63_t *imagResult)
    void arm_cmplx_dot_prod_f32 (float32_t *pSrcA, float32_t *pSrcB, uint32_t numSamples, float32_t *realResult, float32_t *imagResult)
    void arm_cmplx_mult_real_q15 (q15_t *pSrcCmplx, q15_t *pSrcReal, q15_t *pCmplxDst, uint32_t numSamples)
    void arm_cmplx_mult_real_q31 (q31_t *pSrcCmplx, q31_t *pSrcReal, q31_t *pCmplxDst, uint32_t numSamples)
    void arm_cmplx_mult_real_f32 (float32_t *pSrcCmplx, float32_t *pSrcReal, float32_t *pCmplxDst, uint32_t numSamples)
    void arm_min_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *result, uint32_t *index)
    void arm_min_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult, uint32_t *pIndex)
    void arm_min_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult, uint32_t *pIndex)
    void arm_min_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult, uint32_t *pIndex)
    void arm_max_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *pResult, uint32_t *pIndex)
    void arm_max_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult, uint32_t *pIndex)
    void arm_max_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult, uint32_t *pIndex)
    void arm_max_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult, uint32_t *pIndex)
    void arm_cmplx_mult_cmplx_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t numSamples)
    void arm_cmplx_mult_cmplx_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t numSamples)
    void arm_cmplx_mult_cmplx_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t numSamples)
    void arm_float_to_q31 (float32_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_float_to_q15 (float32_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_float_to_q7 (float32_t *pSrc, q7_t *pDst, uint32_t blockSize)
    void arm_q31_to_q15 (q31_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_q31_to_q7 (q31_t *pSrc, q7_t *pDst, uint32_t blockSize)
    void arm_q15_to_float (q15_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_q15_to_q31 (q15_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_q15_to_q7 (q15_t *pSrc, q7_t *pDst, uint32_t blockSize)
    static __INLINE float32_t arm_bilinear_interp_f32 (const arm_bilinear_interp_instance_f32 *S, float32_t X, float32_t Y)
    static __INLINE q31_t arm_bilinear_interp_q31 (arm_bilinear_interp_instance_q31 *S, q31_t X, q31_t Y)
    static __INLINE q15_t arm_bilinear_interp_q15 (arm_bilinear_interp_instance_q15 *S, q31_t X, q31_t Y)
    static __INLINE q7_t arm_bilinear_interp_q7 (arm_bilinear_interp_instance_q7 *S, q31_t X, q31_t Y)
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define __CMSIS_GENERIC
    
+
    
+
    
+
+
    Definition at line 254 of file arm_math.h.
    
+
+
    
+
    
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+
    
+
    
+      
+        
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+      
    #define DELTA_Q31   (0x100)
    
+
    
+
    
+
+
    Macros required for reciprocal calculation in Normalized LMS. 
    
+
+
    Definition at line 280 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
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    #define DELTA_Q15   0x5
    
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+
+
    Definition at line 281 of file arm_math.h.
    
+
+
    
+
    
+
+
    
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+      
    #define INDEX_MASK   0x0000003F
    
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+
+
    Definition at line 282 of file arm_math.h.
    
+
+
    
+
    
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+
    
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+      
+        
+          
+        
+      
    #define PI   3.14159265358979f
    
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+
+
    Definition at line 283 of file arm_math.h.
    
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+
    
+
    
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+
    
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    #define TABLE_SIZE   256
    
+
    
+
    
+
+
    Macros required for SINE and COSINE Fast math approximations. 
    
+
+
    Definition at line 289 of file arm_math.h.
    
+
+
    
+
    
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+
    
+
    
+      
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+      
    #define TABLE_SPACING_Q31   0x800000
    
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+
    
+
+
    Definition at line 290 of file arm_math.h.
    
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+
    
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+
    
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    #define TABLE_SPACING_Q15   0x80
    
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+
+
    Definition at line 291 of file arm_math.h.
    
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+
    
+
    
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+
    
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+      
+        
+          
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+      
    #define INPUT_SPACING   0xB60B61
    
+
    
+
    
+
+
    Macros required for SINE and COSINE Controller functions. 
    
+
+
    Definition at line 298 of file arm_math.h.
    
+
+
    
+
    
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+
    
+
    
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+        
+      
    #define __SIMD32( addr )   (*(int32_t **) & (addr))
    
+
    
+
    
+
+
    definition to read/write two 16 bit values. 
    
+
+
    Definition at line 349 of file arm_math.h.
    
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+      
    #define __PACKq7( v0, 
     v1, 
     v2, 
     v3 
    )
    
+
    
+
    
+Value:
    ( (((int32_t)(v0) <<  0) & (int32_t)0x000000FF) |   \
+                                (((int32_t)(v1) <<  8) & (int32_t)0x0000FF00) | \
+                                (((int32_t)(v2) << 16) & (int32_t)0x00FF0000) | \
+                                (((int32_t)(v3) << 24) & (int32_t)0xFF000000)  )
+
    
+
    definition to pack four 8 bit values. 
    
+
+
    Definition at line 366 of file arm_math.h.
    
+
+
    
+
    
+
    Typedef Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    typedef int8_t q7_t
    
+
    
+
    
+
+
    8-bit fractional data type in 1.7 format. 
    
+
+
    Definition at line 319 of file arm_math.h.
    
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    typedef int16_t q15_t
    
+
    
+
    
+
+
    16-bit fractional data type in 1.15 format. 
    
+
+
    Definition at line 324 of file arm_math.h.
    
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+
    
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    typedef int32_t q31_t
    
+
    
+
    
+
+
    32-bit fractional data type in 1.31 format. 
    
+
+
    Definition at line 329 of file arm_math.h.
    
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    typedef int64_t q63_t
    
+
    
+
    
+
+
    64-bit fractional data type in 1.63 format. 
    
+
+
    Definition at line 334 of file arm_math.h.
    
+
+
    
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+
    
+
    
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    typedef float float32_t
    
+
    
+
    
+
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    32-bit floating-point type definition. 
    
+
+
    Definition at line 339 of file arm_math.h.
    
+
+
    
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+
    
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    typedef double float64_t
    
+
    
+
    
+
+
    64-bit floating-point type definition. 
    
+
+
    Definition at line 344 of file arm_math.h.
    
+
+
    
+
    
+
    Enumeration Type Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    enum arm_status
    
+
    
+
    
+
+
    Error status returned by some functions in the library. 
    
+
    Enumerator: 
    
+
+
+
+
+
+
+
+
    ARM_MATH_SUCCESS 
+
    No error 
    
+
    ARM_MATH_ARGUMENT_ERROR 
+
    One or more arguments are incorrect 
    
+
    ARM_MATH_LENGTH_ERROR 
+
    Length of data buffer is incorrect 
    
+
    ARM_MATH_SIZE_MISMATCH 
+
    Size of matrices is not compatible with the operation. 
    
+
    ARM_MATH_NANINF 
+
    Not-a-number (NaN) or infinity is generated 
    
+
    ARM_MATH_SINGULAR 
+
    Generated by matrix inversion if the input matrix is singular and cannot be inverted. 
    
+
    ARM_MATH_TEST_FAILURE 
+
    Test Failed 
    
+
    
+
    
+
    
+
+
    Definition at line 305 of file arm_math.h.
    
+
+
    
+
    
+
    Function Documentation
    
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+        
+      
    static __INLINE q31_t clip_q63_to_q31 (q63_t  x ) [static]
    
+
    
+
    
+
+
    Clips Q63 to Q31 values. 
    
+
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    Definition at line 383 of file arm_math.h.
    
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+      
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    static __INLINE q15_t clip_q63_to_q15 (q63_t  x ) [static]
    
+
    
+
    
+
+
    Clips Q63 to Q15 values. 
    
+
+
    Definition at line 393 of file arm_math.h.
    
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    static __INLINE q7_t clip_q31_to_q7 (q31_t  x ) [static]
    
+
    
+
    
+
+
    Clips Q31 to Q7 values. 
    
+
+
    Definition at line 403 of file arm_math.h.
    
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    static __INLINE q15_t clip_q31_to_q15 (q31_t  x ) [static]
    
+
    
+
    
+
+
    Clips Q31 to Q15 values. 
    
+
+
    Definition at line 413 of file arm_math.h.
    
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+      
    static __INLINE q63_t mult32x64 (q63_t  x, 
    q31_t  y 
    ) [static]
    
+
    
+
    
+
+
    Multiplies 32 X 64 and returns 32 bit result in 2.30 format. 
    
+
+
    Definition at line 424 of file arm_math.h.
    
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    static __INLINE uint32_t arm_recip_q31 (q31_t  in, 
    q31_t *  dst, 
    q31_t *  pRecipTable 
    ) [static]
    
+
    
+
    
+
+
    Function to Calculates 1/in(reciprocal) value of Q31 Data type. 
    
+
+
    Definition at line 463 of file arm_math.h.
    
+
+
    
+
    
+
+
    
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+      
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+      
    static __INLINE uint32_t arm_recip_q15 (q15_t  in, 
    q15_t *  dst, 
    q15_t *  pRecipTable 
    ) [static]
    
+
    
+
    
+
+
    Function to Calculates 1/in(reciprocal) value of Q15 Data type. 
    
+
+
    Definition at line 514 of file arm_math.h.
    
+
+
    
+
    
+
+
    
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+      
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    void arm_radix4_butterfly_f32 (float32_t *  pSrc, 
    uint16_t  fftLen, 
    float32_t *  pCoef, 
    uint16_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the floating-point CFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of floating-point data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoefpoints to the twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    end of CFFT_CIFFT group 
    
+
+
    Definition at line 223 of file arm_cfft_radix4_f32.c.
    
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+      
    void arm_radix4_butterfly_inverse_f32 (float32_t *  pSrc, 
    uint16_t  fftLen, 
    float32_t *  pCoef, 
    uint16_t  twidCoefModifier, 
    float32_t  onebyfftLen 
    )
    
+
    
+
    
+
+
    Core function for the floating-point CIFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of floating-point data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoefpoints to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    [in]onebyfftLenvalue of 1/fftLen. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 660 of file arm_cfft_radix4_f32.c.
    
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+      
    void arm_bitreversal_f32 (float32_t *  pSrc, 
    uint16_t  fftSize, 
    uint16_t  bitRevFactor, 
    uint16_t *  pBitRevTab 
    )
    
+
    
+
    
+
+
    In-place bit reversal function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of floating-point data type. 
    [in]fftSizelength of the FFT. 
    [in]bitRevFactorbit reversal modifier that supports different size FFTs with the same bit reversal table. 
    [in]*pBitRevTabpoints to the bit reversal table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 1177 of file arm_cfft_radix4_f32.c.
    
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+      
    void arm_radix4_butterfly_q31 (q31_t *  pSrc, 
    uint32_t  fftLen, 
    q31_t *  pCoef, 
    uint32_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the Q31 CFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q31 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoefpoints to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    end of CFFT_CIFFT group 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q31 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoefpoints to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 139 of file arm_cfft_radix4_q31.c.
    
+
+
    
+
    
+
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+      
    void arm_radix4_butterfly_inverse_q31 (q31_t *  pSrc, 
    uint32_t  fftLen, 
    q31_t *  pCoef, 
    uint32_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the Q31 CIFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q31 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoefpoints to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 517 of file arm_cfft_radix4_q31.c.
    
+
+
    
+
    
+
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+
    
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    void arm_bitreversal_q31 (q31_t *  pSrc, 
    uint32_t  fftLen, 
    uint16_t  bitRevFactor, 
    uint16_t *  pBitRevTab 
    )
    
+
    
+
    
+
+
    In-place bit reversal function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q31 data type. 
    [in]fftLenlength of the FFT. 
    [in]bitRevFactorbit reversal modifier that supports different size FFTs with the same bit reversal table 
    [in]*pBitRevTabpoints to bit reversal table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 848 of file arm_cfft_radix4_q31.c.
    
+
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+
    
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    void arm_radix4_butterfly_q15 (q15_t *  pSrc16, 
    uint32_t  fftLen, 
    q15_t *  pCoef16, 
    uint32_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the Q15 CFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrc16points to the in-place buffer of Q15 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoef16points to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    end of CFFT_CIFFT group 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrc16points to the in-place buffer of Q15 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoef16points to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 138 of file arm_cfft_radix4_q15.c.
    
+
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+      
    void arm_radix4_butterfly_inverse_q15 (q15_t *  pSrc16, 
    uint32_t  fftLen, 
    q15_t *  pCoef16, 
    uint32_t  twidCoefModifier 
    )
    
+
    
+
    
+
+
    Core function for the Q15 CIFFT butterfly process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrc16points to the in-place buffer of Q15 data type. 
    [in]fftLenlength of the FFT. 
    [in]*pCoef16points to twiddle coefficient buffer. 
    [in]twidCoefModifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 1053 of file arm_cfft_radix4_q15.c.
    
+
+
    
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+          
+          
+        
+      
    void arm_bitreversal_q15 (q15_t *  pSrc, 
    uint32_t  fftLen, 
    uint16_t  bitRevFactor, 
    uint16_t *  pBitRevTab 
    )
    
+
    
+
    
+
+
    In-place bit reversal function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*pSrcpoints to the in-place buffer of Q15 data type. 
    [in]fftLenlength of the FFT. 
    [in]bitRevFactorbit reversal modifier that supports different size FFTs with the same bit reversal table 
    [in]*pBitRevTabpoints to bit reversal table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 1906 of file arm_cfft_radix4_q15.c.
    
+
+
    
+
    
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+
    
+
    
+      
+        
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+        
+        
+          
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+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_circularWrite_f32 (int32_t *  circBuffer, 
    int32_t  L, 
    uint16_t *  writeOffset, 
    int32_t  bufferInc, 
    const int32_t *  src, 
    int32_t  srcInc, 
    uint32_t  blockSize 
    ) [static]
    
+
    
+
    
+
+
    floating-point Circular write function. 
    
+
    end of SQRT group 
    
+
+
    Definition at line 5751 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+          
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+        
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+        
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+          
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+        
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_circularRead_f32 (int32_t *  circBuffer, 
    int32_t  L, 
    int32_t *  readOffset, 
    int32_t  bufferInc, 
    int32_t *  dst, 
    int32_t *  dst_base, 
    int32_t  dst_length, 
    int32_t  dstInc, 
    uint32_t  blockSize 
    ) [static]
    
+
    
+
    
+
+
    floating-point Circular Read function. 
    
+
+
    Definition at line 5796 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
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+          
+        
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+          
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+          
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+          
+          
+          
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+        
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+          
+          
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_circularWrite_q15 (q15_t *  circBuffer, 
    int32_t  L, 
    uint16_t *  writeOffset, 
    int32_t  bufferInc, 
    const q15_t *  src, 
    int32_t  srcInc, 
    uint32_t  blockSize 
    ) [static]
    
+
    
+
    
+
+
    Q15 Circular write function. 
    
+
+
    Definition at line 5851 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_circularRead_q15 (q15_t *  circBuffer, 
    int32_t  L, 
    int32_t *  readOffset, 
    int32_t  bufferInc, 
    q15_t *  dst, 
    q15_t *  dst_base, 
    int32_t  dst_length, 
    int32_t  dstInc, 
    uint32_t  blockSize 
    ) [static]
    
+
    
+
    
+
+
    Q15 Circular Read function. 
    
+
+
    Definition at line 5896 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+          
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+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_circularWrite_q7 (q7_t *  circBuffer, 
    int32_t  L, 
    uint16_t *  writeOffset, 
    int32_t  bufferInc, 
    const q7_t *  src, 
    int32_t  srcInc, 
    uint32_t  blockSize 
    ) [static]
    
+
    
+
    
+
+
    Q7 Circular write function. 
    
+
+
    Definition at line 5953 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_circularRead_q7 (q7_t *  circBuffer, 
    int32_t  L, 
    int32_t *  readOffset, 
    int32_t  bufferInc, 
    q7_t *  dst, 
    q7_t *  dst_base, 
    int32_t  dst_length, 
    int32_t  dstInc, 
    uint32_t  blockSize 
    ) [static]
    
+
    
+
    
+
+
    Q7 Circular Read function. 
    
+
+
    Definition at line 5998 of file arm_math.h.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__math_8h_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__math_8h_source.html
new file mode 100644
index 000000000..27f1cf8b9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__math_8h_source.html
@@ -0,0 +1,3817 @@
+
+
+
+
+CMSIS DSP Software Library: arm_math.h Source File
+
+
+
+
+
+
+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__matrix__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__matrix__example__f32_8c.html
new file mode 100644
index 000000000..397df9f14
--- /dev/null
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@@ -0,0 +1,275 @@
+
+
+
+
+CMSIS DSP Software Library: arm_matrix_example_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_matrix_example_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "math_helper.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+Defines
    #define SNR_THRESHOLD   90
    
+Functions
    int32_t main (void)
    
+Variables
    const float32_t B_f32 [4]
    const float32_t A_f32 [16]
    float32_t AT_f32 [16]
    float32_t ATMA_f32 [16]
    float32_t ATMAI_f32 [16]
    float32_t X_f32 [4]
    const float32_t xRef_f32 [4] = {73.0, 8.0, 21.25, 2.875}
    float32_t snr
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define SNR_THRESHOLD   90
    
+
    
+
    
+
+
    Definition at line 80 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 130 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t B_f32[4]
    
+
    
+
    
+Initial value:
      
+{    
+    782.0, 7577.0, 470.0, 4505.0 
+}
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 87 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t A_f32[16]
    
+
    
+
    
+Initial value:
      
+{ 
+        
+    1.0,        32.0,       4.0,        128.0,  
+    1.0,        32.0,       64.0,       2048.0, 
+    1.0,        16.0,       4.0,        64.0, 
+    1.0,        16.0,       64.0,       1024.0, 
+}
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 96 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t AT_f32[16]
    
+
    
+
    
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 110 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t ATMA_f32[16]
    
+
    
+
    
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 112 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t ATMAI_f32[16]
    
+
    
+
    
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 114 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t X_f32[4]
    
+
    
+
    
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 116 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t xRef_f32[4] = {73.0, 8.0, 21.25, 2.875}
    
+
    
+
    
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 121 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t snr
    
+
    
+
    
+
+
    Definition at line 123 of file arm_matrix_example_f32.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__matrix__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__matrix__example__f32_8c_source.html
new file mode 100644
index 000000000..56288e945
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__matrix__example__f32_8c_source.html
@@ -0,0 +1,236 @@
+
+
+
+
+CMSIS DSP Software Library: arm_matrix_example_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__f32_8c.html
new file mode 100644
index 000000000..cebc886bb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_max_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_max_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_max_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult, uint32_t *pIndex)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__f32_8c_source.html
new file mode 100644
index 000000000..d6c3f7ef9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__f32_8c_source.html
@@ -0,0 +1,170 @@
+
+
+
+
+CMSIS DSP Software Library: arm_max_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q15_8c.html
new file mode 100644
index 000000000..5c404dd43
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_max_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_max_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_max_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult, uint32_t *pIndex)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q15_8c_source.html
new file mode 100644
index 000000000..ab3f7c2ed
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q15_8c_source.html
@@ -0,0 +1,170 @@
+
+
+
+
+CMSIS DSP Software Library: arm_max_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q31_8c.html
new file mode 100644
index 000000000..cb5bf9c69
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_max_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_max_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_max_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult, uint32_t *pIndex)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q31_8c_source.html
new file mode 100644
index 000000000..f673f6905
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q31_8c_source.html
@@ -0,0 +1,172 @@
+
+
+
+
+CMSIS DSP Software Library: arm_max_q31.c Source File
+
+
+
+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q7_8c.html
new file mode 100644
index 000000000..0795a1a25
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_max_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_max_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_max_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *pResult, uint32_t *pIndex)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q7_8c_source.html
new file mode 100644
index 000000000..accd44897
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__max__q7_8c_source.html
@@ -0,0 +1,257 @@
+
+
+
+
+CMSIS DSP Software Library: arm_max_q7.c Source File
+
+
+
+
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+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__f32_8c.html
new file mode 100644
index 000000000..8893326b1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mean_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mean_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mean_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__f32_8c_source.html
new file mode 100644
index 000000000..886fcdca2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__f32_8c_source.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mean_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q15_8c.html
new file mode 100644
index 000000000..8af8eb7ba
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mean_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mean_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mean_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q15_8c_source.html
new file mode 100644
index 000000000..18d8b56e6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q15_8c_source.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mean_q15.c Source File
+
+
+
+
+
+
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+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q31_8c.html
new file mode 100644
index 000000000..e72b7618e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mean_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mean_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mean_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q31_8c_source.html
new file mode 100644
index 000000000..5fb51c398
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q31_8c_source.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mean_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q7_8c.html
new file mode 100644
index 000000000..4a58692ff
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mean_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mean_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mean_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q7_8c_source.html
new file mode 100644
index 000000000..e28148b05
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mean__q7_8c_source.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mean_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__f32_8c.html
new file mode 100644
index 000000000..806e098ba
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_min_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_min_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_min_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult, uint32_t *pIndex)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__f32_8c_source.html
new file mode 100644
index 000000000..bf395b326
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__f32_8c_source.html
@@ -0,0 +1,175 @@
+
+
+
+
+CMSIS DSP Software Library: arm_min_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q15_8c.html
new file mode 100644
index 000000000..52a2c72ba
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_min_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_min_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_min_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult, uint32_t *pIndex)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q15_8c_source.html
new file mode 100644
index 000000000..30600e1ce
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q15_8c_source.html
@@ -0,0 +1,176 @@
+
+
+
+
+CMSIS DSP Software Library: arm_min_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q31_8c.html
new file mode 100644
index 000000000..97d75fa67
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_min_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_min_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_min_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult, uint32_t *pIndex)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q31_8c_source.html
new file mode 100644
index 000000000..8e268d04c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q31_8c_source.html
@@ -0,0 +1,174 @@
+
+
+
+
+CMSIS DSP Software Library: arm_min_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q7_8c.html
new file mode 100644
index 000000000..c16961930
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_min_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_min_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_min_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *pResult, uint32_t *pIndex)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q7_8c_source.html
new file mode 100644
index 000000000..e7802851d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__min__q7_8c_source.html
@@ -0,0 +1,254 @@
+
+
+
+
+CMSIS DSP Software Library: arm_min_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__f32_8c.html
new file mode 100644
index 000000000..0601319eb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mult_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mult_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mult_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__f32_8c_source.html
new file mode 100644
index 000000000..e89956bd4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__f32_8c_source.html
@@ -0,0 +1,166 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mult_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q15_8c.html
new file mode 100644
index 000000000..9c2068d44
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mult_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mult_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mult_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q15_8c_source.html
new file mode 100644
index 000000000..549addebd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q15_8c_source.html
@@ -0,0 +1,165 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mult_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q31_8c.html
new file mode 100644
index 000000000..154851dcc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mult_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mult_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mult_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q31_8c_source.html
new file mode 100644
index 000000000..c235c1d17
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q31_8c_source.html
@@ -0,0 +1,168 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mult_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q7_8c.html
new file mode 100644
index 000000000..e0df57d95
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mult_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_mult_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_mult_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q7_8c_source.html
new file mode 100644
index 000000000..a7a67901b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__mult__q7_8c_source.html
@@ -0,0 +1,172 @@
+
+
+
+
+CMSIS DSP Software Library: arm_mult_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__f32_8c.html
new file mode 100644
index 000000000..08dbd5f35
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_negate_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_negate_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_negate_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__f32_8c_source.html
new file mode 100644
index 000000000..2980f57be
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__f32_8c_source.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_negate_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q15_8c.html
new file mode 100644
index 000000000..28dc3d644
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_negate_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_negate_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_negate_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q15_8c_source.html
new file mode 100644
index 000000000..cfda4c81b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q15_8c_source.html
@@ -0,0 +1,188 @@
+
+
+
+
+CMSIS DSP Software Library: arm_negate_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q31_8c.html
new file mode 100644
index 000000000..fa798f017
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_negate_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_negate_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_negate_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q31_8c_source.html
new file mode 100644
index 000000000..fd34eb2dc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q31_8c_source.html
@@ -0,0 +1,167 @@
+
+
+
+
+CMSIS DSP Software Library: arm_negate_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q7_8c.html
new file mode 100644
index 000000000..43adc0e98
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_negate_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_negate_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_negate_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q7_8c_source.html
new file mode 100644
index 000000000..6aff496a9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__negate__q7_8c_source.html
@@ -0,0 +1,170 @@
+
+
+
+
+CMSIS DSP Software Library: arm_negate_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__f32_8c.html
new file mode 100644
index 000000000..8c6ca5f21
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_offset_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_offset_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_offset_f32 (float32_t *pSrc, float32_t offset, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__f32_8c_source.html
new file mode 100644
index 000000000..b53a1b2f5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__f32_8c_source.html
@@ -0,0 +1,161 @@
+
+
+
+
+CMSIS DSP Software Library: arm_offset_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q15_8c.html
new file mode 100644
index 000000000..f773a85a0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_offset_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_offset_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_offset_q15 (q15_t *pSrc, q15_t offset, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q15_8c_source.html
new file mode 100644
index 000000000..5b96cf87b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q15_8c_source.html
@@ -0,0 +1,175 @@
+
+
+
+
+CMSIS DSP Software Library: arm_offset_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q31_8c.html
new file mode 100644
index 000000000..ac3b46415
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_offset_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_offset_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_offset_q31 (q31_t *pSrc, q31_t offset, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q31_8c_source.html
new file mode 100644
index 000000000..6739240f2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q31_8c_source.html
@@ -0,0 +1,173 @@
+
+
+
+
+CMSIS DSP Software Library: arm_offset_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q7_8c.html
new file mode 100644
index 000000000..4c3e36e56
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_offset_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_offset_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_offset_q7 (q7_t *pSrc, q7_t offset, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q7_8c_source.html
new file mode 100644
index 000000000..d8bd330eb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__offset__q7_8c_source.html
@@ -0,0 +1,174 @@
+
+
+
+
+CMSIS DSP Software Library: arm_offset_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__f32_8c.html
new file mode 100644
index 000000000..9923ee89b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_pid_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_pid_init_f32 (arm_pid_instance_f32 *S, int32_t resetStateFlag)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__f32_8c_source.html
new file mode 100644
index 000000000..3ba46253f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__f32_8c_source.html
@@ -0,0 +1,128 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_init_f32.c Source File
+
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q15_8c.html
new file mode 100644
index 000000000..911792ef2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_pid_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_pid_init_q15 (arm_pid_instance_q15 *S, int32_t resetStateFlag)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q15_8c_source.html
new file mode 100644
index 000000000..ddd14a47e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q15_8c_source.html
@@ -0,0 +1,163 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_init_q15.c Source File
+
+
+
+
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+
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+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q31_8c.html
new file mode 100644
index 000000000..91105d2ad
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_init_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_pid_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_pid_init_q31 (arm_pid_instance_q31 *S, int32_t resetStateFlag)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q31_8c_source.html
new file mode 100644
index 000000000..abd1ce76a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__init__q31_8c_source.html
@@ -0,0 +1,148 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_init_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__f32_8c.html
new file mode 100644
index 000000000..99c811298
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_reset_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_pid_reset_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_pid_reset_f32 (arm_pid_instance_f32 *S)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__f32_8c_source.html
new file mode 100644
index 000000000..f499a1365
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__f32_8c_source.html
@@ -0,0 +1,112 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_reset_f32.c Source File
+
+
+
+
+
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+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q15_8c.html
new file mode 100644
index 000000000..20d303922
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_reset_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_pid_reset_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_pid_reset_q15 (arm_pid_instance_q15 *S)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q15_8c_source.html
new file mode 100644
index 000000000..333448d45
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q15_8c_source.html
@@ -0,0 +1,111 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_reset_q15.c Source File
+
+
+
+
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+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q31_8c.html
new file mode 100644
index 000000000..399b1afdb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_reset_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_pid_reset_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_pid_reset_q31 (arm_pid_instance_q31 *S)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q31_8c_source.html
new file mode 100644
index 000000000..944673608
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__pid__reset__q31_8c_source.html
@@ -0,0 +1,112 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_reset_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__f32_8c.html
new file mode 100644
index 000000000..59073bbd4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_power_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_power_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_power_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__f32_8c_source.html
new file mode 100644
index 000000000..2e36246e1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__f32_8c_source.html
@@ -0,0 +1,172 @@
+
+
+
+
+CMSIS DSP Software Library: arm_power_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q15_8c.html
new file mode 100644
index 000000000..14628a15f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_power_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_power_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_power_q15 (q15_t *pSrc, uint32_t blockSize, q63_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q15_8c_source.html
new file mode 100644
index 000000000..89bc7515a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q15_8c_source.html
@@ -0,0 +1,181 @@
+
+
+
+
+CMSIS DSP Software Library: arm_power_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q31_8c.html
new file mode 100644
index 000000000..9e8f09453
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_power_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_power_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_power_q31 (q31_t *pSrc, uint32_t blockSize, q63_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q31_8c_source.html
new file mode 100644
index 000000000..1bf163856
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q31_8c_source.html
@@ -0,0 +1,171 @@
+
+
+
+
+CMSIS DSP Software Library: arm_power_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q7_8c.html
new file mode 100644
index 000000000..e402b5ed2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_power_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_power_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_power_q7 (q7_t *pSrc, uint32_t blockSize, q31_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q7_8c_source.html
new file mode 100644
index 000000000..62f6e0742
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__power__q7_8c_source.html
@@ -0,0 +1,177 @@
+
+
+
+
+CMSIS DSP Software Library: arm_power_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__float_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__float_8c.html
new file mode 100644
index 000000000..f0630f83e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__float_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_q15_to_float.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q15_to_float.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q15_to_float (q15_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__float_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__float_8c_source.html
new file mode 100644
index 000000000..861b56be2
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__float_8c_source.html
@@ -0,0 +1,159 @@
+
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+CMSIS DSP Software Library: arm_q15_to_float.c Source File
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q31_8c.html
new file mode 100644
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+
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+CMSIS DSP Software Library: arm_q15_to_q31.c File Reference
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q15_to_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q15_to_q31 (q15_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
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+
+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q31_8c_source.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q31_8c_source.html
@@ -0,0 +1,159 @@
+
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+CMSIS DSP Software Library: arm_q15_to_q31.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q7_8c.html
new file mode 100644
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+
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+CMSIS DSP Software Library: arm_q15_to_q7.c File Reference
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q15_to_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q15_to_q7 (q15_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    
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+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q7_8c_source.html
new file mode 100644
index 000000000..3d32865b6
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q15__to__q7_8c_source.html
@@ -0,0 +1,159 @@
+
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+CMSIS DSP Software Library: arm_q15_to_q7.c Source File
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__float_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__float_8c.html
new file mode 100644
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+
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+CMSIS DSP Software Library: arm_q31_to_float.c File Reference
+
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+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q31_to_float.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q31_to_float (q31_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
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+
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+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__float_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__float_8c_source.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__float_8c_source.html
@@ -0,0 +1,159 @@
+
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+CMSIS DSP Software Library: arm_q31_to_float.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q15_8c.html
new file mode 100644
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+
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+CMSIS DSP Software Library: arm_q31_to_q15.c File Reference
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q31_to_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q31_to_q15 (q31_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q15_8c_source.html
new file mode 100644
index 000000000..7c717aa9f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q15_8c_source.html
@@ -0,0 +1,159 @@
+
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+CMSIS DSP Software Library: arm_q31_to_q15.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q7_8c.html
new file mode 100644
index 000000000..6bc04e71f
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+
+
+
+
+CMSIS DSP Software Library: arm_q31_to_q7.c File Reference
+
+
+
+
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+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q31_to_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q31_to_q7 (q31_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    
+
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+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q7_8c_source.html
new file mode 100644
index 000000000..123304a98
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q31__to__q7_8c_source.html
@@ -0,0 +1,159 @@
+
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+CMSIS DSP Software Library: arm_q31_to_q7.c Source File
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+
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+
    
+
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__float_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__float_8c.html
new file mode 100644
index 000000000..cdecd2284
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__float_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_q7_to_float.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q7_to_float.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q7_to_float (q7_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__float_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__float_8c_source.html
new file mode 100644
index 000000000..c1a91ebbc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__float_8c_source.html
@@ -0,0 +1,159 @@
+
+
+
+
+CMSIS DSP Software Library: arm_q7_to_float.c Source File
+
+
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+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q15_8c.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_q7_to_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q7_to_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q7_to_q15 (q7_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q15_8c_source.html
new file mode 100644
index 000000000..6cad6a62d
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q15_8c_source.html
@@ -0,0 +1,159 @@
+
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+
+
+CMSIS DSP Software Library: arm_q7_to_q15.c Source File
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+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q31_8c.html
new file mode 100644
index 000000000..39c1986e8
--- /dev/null
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@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_q7_to_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_q7_to_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_q7_to_q31 (q7_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__q7__to__q31_8c_source.html
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+
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+CMSIS DSP Software Library: arm_q7_to_q31.c Source File
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+
    
+
+
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__f32_8c.html
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@@ -0,0 +1,221 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_rfft_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    void arm_split_rfft_f32 (float32_t *pSrc, uint32_t fftLen, float32_t *pATable, float32_t *pBTable, float32_t *pDst, uint32_t modifier)
    void arm_split_rifft_f32 (float32_t *pSrc, uint32_t fftLen, float32_t *pATable, float32_t *pBTable, float32_t *pDst, uint32_t modifier)
    void arm_rfft_f32 (const arm_rfft_instance_f32 *S, float32_t *pSrc, float32_t *pDst)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_split_rfft_f32 (float32_t *  pSrc, 
    uint32_t  fftLen, 
    float32_t *  pATable, 
    float32_t *  pBTable, 
    float32_t *  pDst, 
    uint32_t  modifier 
    )
    
+
    
+
    
+
+
    Core Real FFT process. 
    
+
    end of RFFT_RIFFT group 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer. 
    [in]fftLenlength of FFT. 
    [in]*pATablepoints to the twiddle Coef A buffer. 
    [in]*pBTablepoints to the twiddle Coef B buffer. 
    [out]*pDstpoints to the output buffer. 
    [in]modifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 218 of file arm_rfft_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
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+        
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+        
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+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_split_rifft_f32 (float32_t *  pSrc, 
    uint32_t  fftLen, 
    float32_t *  pATable, 
    float32_t *  pBTable, 
    float32_t *  pDst, 
    uint32_t  modifier 
    )
    
+
    
+
    
+
+
    Core Real IFFT process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer. 
    [in]fftLenlength of FFT. 
    [in]*pATablepoints to the twiddle Coef A buffer. 
    [in]*pBTablepoints to the twiddle Coef B buffer. 
    [out]*pDstpoints to the output buffer. 
    [in]modifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 316 of file arm_rfft_f32.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__f32_8c_source.html
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index 000000000..ffd922b02
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@@ -0,0 +1,334 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_f32.c Source File
+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__f32_8c.html
new file mode 100644
index 000000000..87b07d60e
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__f32_8c.html
@@ -0,0 +1,88 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_init_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_rfft_init_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_rfft_init_f32 (arm_rfft_instance_f32 *S, arm_cfft_radix4_instance_f32 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    
+Variables
    static const float32_t realCoefA [2048]
    static const float32_t realCoefB [2048]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__f32_8c_source.html
new file mode 100644
index 000000000..ebb0ad6ee
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__f32_8c_source.html
@@ -0,0 +1,1720 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_init_f32.c Source File
+
+
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+
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+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q15_8c.html
new file mode 100644
index 000000000..bbdf7e7f0
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q15_8c.html
@@ -0,0 +1,88 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_init_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_rfft_init_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_rfft_init_q15 (arm_rfft_instance_q15 *S, arm_cfft_radix4_instance_q15 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    
+Variables
    static const q15_t realCoefAQ15 [2048]
    static const q15_t realCoefBQ15 [2048]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q15_8c_source.html
new file mode 100644
index 000000000..db98a1f11
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@@ -0,0 +1,693 @@
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+CMSIS DSP Software Library: arm_rfft_init_q15.c Source File
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+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q31_8c.html
new file mode 100644
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+CMSIS DSP Software Library: arm_rfft_init_q31.c File Reference
+
+
+
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+
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+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_rfft_init_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_rfft_init_q31 (arm_rfft_instance_q31 *S, arm_cfft_radix4_instance_q31 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    
+Variables
    const q31_t realCoefAQ31 [1024]
    const q31_t realCoefBQ31 [1024]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q31_8c_source.html
new file mode 100644
index 000000000..4191d96b0
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__init__q31_8c_source.html
@@ -0,0 +1,688 @@
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+
+CMSIS DSP Software Library: arm_rfft_init_q31.c Source File
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+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q15_8c.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,221 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_rfft_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    void arm_split_rfft_q15 (q15_t *pSrc, uint32_t fftLen, q15_t *pATable, q15_t *pBTable, q15_t *pDst, uint32_t modifier)
    void arm_split_rifft_q15 (q15_t *pSrc, uint32_t fftLen, q15_t *pATable, q15_t *pBTable, q15_t *pDst, uint32_t modifier)
    void arm_rfft_q15 (const arm_rfft_instance_q15 *S, q15_t *pSrc, q15_t *pDst)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
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+        
+        
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+          
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+        
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_split_rfft_q15 (q15_t *  pSrc, 
    uint32_t  fftLen, 
    q15_t *  pATable, 
    q15_t *  pBTable, 
    q15_t *  pDst, 
    uint32_t  modifier 
    )
    
+
    
+
    
+
+
    Core Real FFT process. 
    
+
    end of RFFT_RIFFT group 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    *pSrcpoints to the input buffer. 
    fftLenlength of FFT. 
    *pATablepoints to the A twiddle Coef buffer. 
    *pBTablepoints to the B twiddle Coef buffer. 
    *pDstpoints to the output buffer. 
    modifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. The function implements a Real FFT 
    
+
+
    Definition at line 143 of file arm_rfft_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
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+        
+        
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+        
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_split_rifft_q15 (q15_t *  pSrc, 
    uint32_t  fftLen, 
    q15_t *  pATable, 
    q15_t *  pBTable, 
    q15_t *  pDst, 
    uint32_t  modifier 
    )
    
+
    
+
    
+
+
    Core Real IFFT process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer. 
    [in]fftLenlength of FFT. 
    [in]*pATablepoints to the twiddle Coef A buffer. 
    [in]*pBTablepoints to the twiddle Coef B buffer. 
    [out]*pDstpoints to the output buffer. 
    [in]modifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. The function implements a Real IFFT 
    
+
+
    Definition at line 312 of file arm_rfft_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q15_8c_source.html
new file mode 100644
index 000000000..02fd37aed
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@@ -0,0 +1,480 @@
+
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+
+
+CMSIS DSP Software Library: arm_rfft_q15.c Source File
+
+
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+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q31_8c.html
new file mode 100644
index 000000000..7fb5a637c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q31_8c.html
@@ -0,0 +1,221 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_rfft_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    void arm_split_rfft_q31 (q31_t *pSrc, uint32_t fftLen, q31_t *pATable, q31_t *pBTable, q31_t *pDst, uint32_t modifier)
    void arm_split_rifft_q31 (q31_t *pSrc, uint32_t fftLen, q31_t *pATable, q31_t *pBTable, q31_t *pDst, uint32_t modifier)
    void arm_rfft_q31 (const arm_rfft_instance_q31 *S, q31_t *pSrc, q31_t *pDst)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_split_rfft_q31 (q31_t *  pSrc, 
    uint32_t  fftLen, 
    q31_t *  pATable, 
    q31_t *  pBTable, 
    q31_t *  pDst, 
    uint32_t  modifier 
    )
    
+
    
+
    
+
+
    Core Real FFT process. 
    
+
    end of RFFT_RIFFT group 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer. 
    [in]fftLenlength of FFT. 
    [in]*pATablepoints to the twiddle Coef A buffer. 
    [in]*pBTablepoints to the twiddle Coef B buffer. 
    [out]*pDstpoints to the output buffer. 
    [in]modifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 143 of file arm_rfft_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_split_rifft_q31 (q31_t *  pSrc, 
    uint32_t  fftLen, 
    q31_t *  pATable, 
    q31_t *  pBTable, 
    q31_t *  pDst, 
    uint32_t  modifier 
    )
    
+
    
+
    
+
+
    Core Real IFFT process. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer. 
    [in]fftLenlength of FFT. 
    [in]*pATablepoints to the twiddle Coef A buffer. 
    [in]*pBTablepoints to the twiddle Coef B buffer. 
    [out]*pDstpoints to the output buffer. 
    [in]modifiertwiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 249 of file arm_rfft_q31.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rfft__q31_8c_source.html
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+CMSIS DSP Software Library: arm_rfft_q31.c Source File
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+
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__f32_8c.html
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+
+
+
+
+CMSIS DSP Software Library: arm_rms_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_rms_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_rms_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__f32_8c_source.html
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+
+
+
+
+CMSIS DSP Software Library: arm_rms_f32.c Source File
+
+
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+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__q15_8c.html
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+
+
+
+
+CMSIS DSP Software Library: arm_rms_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_rms_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_rms_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__q15_8c_source.html
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+CMSIS DSP Software Library: arm_rms_q15.c Source File
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+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__q31_8c.html
new file mode 100644
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+CMSIS DSP Software Library: arm_rms_q31.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_rms_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_rms_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    
+
    
+
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+
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__rms__q31_8c_source.html
new file mode 100644
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+CMSIS DSP Software Library: arm_rms_q31.c Source File
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__f32_8c.html
new file mode 100644
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+CMSIS DSP Software Library: arm_scale_f32.c File Reference
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_scale_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_scale_f32 (float32_t *pSrc, float32_t scale, float32_t *pDst, uint32_t blockSize)
    
+
    
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    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__f32_8c_source.html
new file mode 100644
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+CMSIS DSP Software Library: arm_scale_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q15_8c.html
new file mode 100644
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+
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+CMSIS DSP Software Library: arm_scale_q15.c File Reference
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_scale_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_scale_q15 (q15_t *pSrc, q15_t scaleFract, int8_t shift, q15_t *pDst, uint32_t blockSize)
    
+
    
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q15_8c_source.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q15_8c_source.html
@@ -0,0 +1,207 @@
+
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+CMSIS DSP Software Library: arm_scale_q15.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q31_8c.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q31_8c.html
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+
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+
+CMSIS DSP Software Library: arm_scale_q31.c File Reference
+
+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_scale_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_scale_q31 (q31_t *pSrc, q31_t scaleFract, int8_t shift, q31_t *pDst, uint32_t blockSize)
    
+
    
+
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q31_8c_source.html
new file mode 100644
index 000000000..ee8e195b5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q31_8c_source.html
@@ -0,0 +1,163 @@
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+CMSIS DSP Software Library: arm_scale_q31.c Source File
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q7_8c.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_scale_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_scale_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_scale_q7 (q7_t *pSrc, q7_t scaleFract, int8_t shift, q7_t *pDst, uint32_t blockSize)
    
+
    
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__scale__q7_8c_source.html
new file mode 100644
index 000000000..cfcb293fa
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+CMSIS DSP Software Library: arm_scale_q7.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q15_8c.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_shift_q15.c File Reference
+
+
+
+
+
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+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_shift_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_shift_q15 (q15_t *pSrc, int8_t shiftBits, q15_t *pDst, uint32_t blockSize)
    
+
    
+
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q15_8c_source.html
new file mode 100644
index 000000000..276dd7ac9
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q15_8c_source.html
@@ -0,0 +1,286 @@
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+
+CMSIS DSP Software Library: arm_shift_q15.c Source File
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+
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q31_8c.html
new file mode 100644
index 000000000..741ee906b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_shift_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_shift_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_shift_q31 (q31_t *pSrc, int8_t shiftBits, q31_t *pDst, uint32_t blockSize)
    
+
    
+
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q31_8c_source.html
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+CMSIS DSP Software Library: arm_shift_q31.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q7_8c.html
new file mode 100644
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+
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+
+
+CMSIS DSP Software Library: arm_shift_q7.c File Reference
+
+
+
+
+
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+
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+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_shift_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_shift_q7 (q7_t *pSrc, int8_t shiftBits, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
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+
+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__shift__q7_8c_source.html
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+CMSIS DSP Software Library: arm_shift_q7.c Source File
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__signal__converge__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__signal__converge__example__f32_8c.html
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+CMSIS DSP Software Library: arm_signal_converge_example_f32.c File Reference
+
+
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+
+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_signal_converge_example_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "math_helper.h"
    
+
+
    Go to the source code of this file.
    
+
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+Defines
    #define TEST_LENGTH_SAMPLES   1536
    #define NUMTAPS   32
    #define BLOCKSIZE   32
    #define DELTA_ERROR   0.000001f
    #define DELTA_COEFF   0.0001f
    #define MU   0.5f
    #define NUMFRAMES   (TEST_LENGTH_SAMPLES / BLOCKSIZE)
    
+Functions
    arm_status test_signal_converge_example (void)
    arm_status test_signal_converge (float32_t *err_signal, uint32_t blockSize)
    void getinput (float32_t *input, uint32_t fr_cnt, uint32_t blockSize)
    int32_t main (void)
    
+Variables
    float32_t firStateF32 [NUMTAPS+BLOCKSIZE]
    arm_fir_instance_f32 LPF_instance
    float32_t lmsStateF32 [NUMTAPS+BLOCKSIZE]
    float32_t errOutput [TEST_LENGTH_SAMPLES]
    arm_lms_norm_instance_f32 lmsNorm_instance
    float32_t testInput_f32 [TEST_LENGTH_SAMPLES]
    float32_t lmsNormCoeff_f32 [32]
    const float32_t FIRCoeff_f32 [32]
    float32_t wire1 [BLOCKSIZE]
    float32_t wire2 [BLOCKSIZE]
    float32_t wire3 [BLOCKSIZE]
    float32_t err_signal [BLOCKSIZE]
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define TEST_LENGTH_SAMPLES   1536
    
+
    
+
    
+
+
    Definition at line 100 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define NUMTAPS   32
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 101 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
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+
    
+
    
+      
+        
+          
+        
+      
    #define BLOCKSIZE   32
    
+
    
+
    
+
+
    Definition at line 102 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define DELTA_ERROR   0.000001f
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 103 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
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+
    
+      
+        
+          
+        
+      
    #define DELTA_COEFF   0.0001f
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 104 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define MU   0.5f
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 105 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define NUMFRAMES   (TEST_LENGTH_SAMPLES / BLOCKSIZE)
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 107 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    arm_status test_signal_converge_example (void  )
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    
+
    
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+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
+        
+      
    arm_status test_signal_converge (float32_t *  err_signal, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    
+
    
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+
    
+      
+        
+          
+          
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void getinput (float32_t *  input, 
    uint32_t  fr_cnt, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 163 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t firStateF32[NUMTAPS+BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_fir_example_f32.c, and arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 113 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_fir_instance_f32 LPF_instance
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 114 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t lmsStateF32[NUMTAPS+BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 120 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t errOutput[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 121 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
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+
    
+      
+        
+          
+        
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    arm_lms_norm_instance_f32 lmsNorm_instance
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 122 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
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+
    
+      
+        
+          
+        
+      
    float32_t testInput_f32[TEST_LENGTH_SAMPLES]
    
+
    
+
    
+
+
    Definition at line 83 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
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+
    
+      
+        
+          
+        
+      
    float32_t lmsNormCoeff_f32[32]
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t FIRCoeff_f32[32]
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t wire1[BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 154 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t wire2[BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 155 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t wire3[BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 156 of file arm_signal_converge_example_f32.c.
    
+
+
    
+
    
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+
    
+
    
+      
+        
+          
+        
+      
    float32_t err_signal[BLOCKSIZE]
    
+
    
+
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 157 of file arm_signal_converge_example_f32.c.
    
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+
    
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__signal__converge__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__signal__converge__example__f32_8c_source.html
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+CMSIS DSP Software Library: arm_signal_converge_example_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__example__f32_8c.html
new file mode 100644
index 000000000..02c93c0d7
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__example__f32_8c.html
@@ -0,0 +1,301 @@
+
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+
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+CMSIS DSP Software Library: arm_sin_cos_example_f32.c File Reference
+
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+
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+
+
+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_sin_cos_example_f32.c File Reference
      
    
+
    
+
    
+#include <math.h>
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
+
+
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+
+
+
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+
    
+Defines
    #define MAX_BLOCKSIZE   32
    #define DELTA   (0.000001f)
    
+Functions
    int32_t main (void)
    
+Variables
    const float32_t testInput_f32 [MAX_BLOCKSIZE]
    const float32_t testRefOutput_f32 = 1.000000000
    uint32_t blockSize = 32
    float32_t testOutput
    float32_t cosOutput
    float32_t sinOutput
    float32_t cosSquareOutput
    float32_t sinSquareOutput
    arm_status status
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define MAX_BLOCKSIZE   32
    
+
    
+
    
+
+
    Definition at line 74 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define DELTA   (0.000001f)
    
+
    
+
    
+
+
    Definition at line 75 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 111 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t testInput_f32[MAX_BLOCKSIZE]
    
+
    
+
    
+Initial value:
      
+{    
+    -1.244916875853235400,  -4.793533929171324800,  0.360705030233248850,   0.827929644170887320,   -3.299532218312426900,  3.427441903227623800,   3.422401784294607700,   -0.108308165334010680,   
+    0.941943896490312180,   0.502609575000365850,   -0.537345278736373500,  2.088817392965764500,   -1.693168684143455700,  6.283185307179590700,   -0.392545884746175080,  0.327893095115825040,    
+    3.070147440456292300,   0.170611405884662230,   -0.275275082396073010,  -2.395492805446796300,  0.847311163536506600,   -3.845517018083148800,  2.055818378415868300,   4.672594161978930800,    
+    -1.990923030266425800,  2.469305197656249500,   3.609002606064021000,   -4.586736582331667500,  -4.147080139136136300,  1.643756718868359500,   -1.150866392366494800,  1.985805026477433800 
+ 
+ 
+}
+
    
+
    Definition at line 83 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t testRefOutput_f32 = 1.000000000
    
+
    
+
    
+
+
    Definition at line 93 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t blockSize = 32
    
+
    
+
    
+
+
    Definition at line 98 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t testOutput
    
+
    
+
    
+
+
    Definition at line 99 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t cosOutput
    
+
    
+
    
+
    Examples: 
    arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 100 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t sinOutput
    
+
    
+
    
+
    Examples: 
    arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 101 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t cosSquareOutput
    
+
    
+
    
+
    Examples: 
    arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 102 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t sinSquareOutput
    
+
    
+
    
+
    Examples: 
    arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 103 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_status status
    
+
    
+
    
+
+
    Definition at line 109 of file arm_sin_cos_example_f32.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__example__f32_8c_source.html
new file mode 100644
index 000000000..75e7e6e2d
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__example__f32_8c_source.html
@@ -0,0 +1,172 @@
+
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+
+
+CMSIS DSP Software Library: arm_sin_cos_example_f32.c Source File
+
+
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+
+
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+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__f32_8c.html
new file mode 100644
index 000000000..fa0eb7212
--- /dev/null
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@@ -0,0 +1,88 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sin_cos_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_sin_cos_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
    
+Functions
    void arm_sin_cos_f32 (float32_t theta, float32_t *pSinVal, float32_t *pCosVal)
    
+Variables
    static const float32_t cosTable [360]
    static const float32_t sinTable [360]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__f32_8c_source.html
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@@ -0,0 +1,420 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sin_cos_f32.c Source File
+
+
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+
    
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__q31_8c.html
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+
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+
+CMSIS DSP Software Library: arm_sin_cos_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_sin_cos_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
+
    
+Functions
    void arm_sin_cos_q31 (q31_t theta, q31_t *pSinVal, q31_t *pCosVal)
    
+Variables
    static const int32_t sinTableQ31 [360]
    static const int32_t cosTableQ31 [360]
    
+
    
+
+
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+
    
+
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+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__cos__q31_8c_source.html
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+CMSIS DSP Software Library: arm_sin_cos_q31.c Source File
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__f32_8c.html
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+
+
+
+
+CMSIS DSP Software Library: arm_sin_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_sin_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    float32_t arm_sin_f32 (float32_t x)
    
+Variables
    static const float32_t sinTable [259]
    
+
    
+
+
+
+
+
    
+
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+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__f32_8c_source.html
new file mode 100644
index 000000000..0d93ef7f1
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@@ -0,0 +1,265 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sin_f32.c Source File
+
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+
    
+
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+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q15_8c.html
new file mode 100644
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@@ -0,0 +1,87 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sin_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_sin_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    q15_t arm_sin_q15 (q15_t x)
    
+Variables
    static const q15_t sinTableQ15 [259]
    
+
    
+
+
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+
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+
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+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q15_8c_source.html
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index 000000000..9ac80e073
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q15_8c_source.html
@@ -0,0 +1,225 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sin_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q31_8c.html
new file mode 100644
index 000000000..dfab7f6d3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q31_8c.html
@@ -0,0 +1,87 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sin_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    arm_sin_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
+
    
+Functions
    q31_t arm_sin_q31 (q31_t x)
    
+Variables
    static const q31_t sinTableQ31 [259]
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q31_8c_source.html
new file mode 100644
index 000000000..c33376ab8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sin__q31_8c_source.html
@@ -0,0 +1,262 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sin_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q15_8c.html
new file mode 100644
index 000000000..fdeba4cfd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q15_8c.html
@@ -0,0 +1,84 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sqrt_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_sqrt_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "arm_common_tables.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_sqrt_q15 (q15_t in, q15_t *pOut)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q15_8c_source.html
new file mode 100644
index 000000000..f126b141e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q15_8c_source.html
@@ -0,0 +1,231 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sqrt_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q31_8c.html
new file mode 100644
index 000000000..bdefc691c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q31_8c.html
@@ -0,0 +1,84 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sqrt_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_sqrt_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+#include "arm_common_tables.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    arm_status arm_sqrt_q31 (q31_t in, q31_t *pOut)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q31_8c_source.html
new file mode 100644
index 000000000..0ab402062
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sqrt__q31_8c_source.html
@@ -0,0 +1,252 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sqrt_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__f32_8c.html
new file mode 100644
index 000000000..9ad6b75b1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_std_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_std_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_std_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__f32_8c_source.html
new file mode 100644
index 000000000..ed803ccfb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__f32_8c_source.html
@@ -0,0 +1,255 @@
+
+
+
+
+CMSIS DSP Software Library: arm_std_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q15_8c.html
new file mode 100644
index 000000000..96695992a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_std_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_std_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_std_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q15_8c_source.html
new file mode 100644
index 000000000..c6a6e5442
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q15_8c_source.html
@@ -0,0 +1,269 @@
+
+
+
+
+CMSIS DSP Software Library: arm_std_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q31_8c.html
new file mode 100644
index 000000000..b988fbb29
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_std_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_std_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_std_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q31_8c_source.html
new file mode 100644
index 000000000..d8b7665f4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__std__q31_8c_source.html
@@ -0,0 +1,255 @@
+
+
+
+
+CMSIS DSP Software Library: arm_std_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__f32_8c.html
new file mode 100644
index 000000000..ddd54ddd5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sub_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_sub_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_sub_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__f32_8c_source.html
new file mode 100644
index 000000000..eaa168348
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__f32_8c_source.html
@@ -0,0 +1,161 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sub_f32.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q15_8c.html
new file mode 100644
index 000000000..a21d71163
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q15_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sub_q15.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_sub_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_sub_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q15_8c_source.html
new file mode 100644
index 000000000..a86898595
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q15_8c_source.html
@@ -0,0 +1,171 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sub_q15.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q31_8c.html
new file mode 100644
index 000000000..5eb6a74dc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q31_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sub_q31.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_sub_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_sub_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q31_8c_source.html
new file mode 100644
index 000000000..942eaf97d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q31_8c_source.html
@@ -0,0 +1,172 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sub_q31.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q7_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q7_8c.html
new file mode 100644
index 000000000..65b05025b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q7_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sub_q7.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_sub_q7.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_sub_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q7_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q7_8c_source.html
new file mode 100644
index 000000000..5ea204404
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__sub__q7_8c_source.html
@@ -0,0 +1,170 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sub_q7.c Source File
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__f32_8c.html
new file mode 100644
index 000000000..083bb9343
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__f32_8c.html
@@ -0,0 +1,83 @@
+
+
+
+
+CMSIS DSP Software Library: arm_var_f32.c File Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    arm_var_f32.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_var_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__f32_8c_source.html
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+CMSIS DSP Software Library: arm_var_f32.c Source File
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__q15_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__q15_8c.html
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+CMSIS DSP Software Library: arm_var_q15.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_var_q15.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_var_q15 (q15_t *pSrc, uint32_t blockSize, q31_t *pResult)
    
+
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__q15_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__q15_8c_source.html
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+CMSIS DSP Software Library: arm_var_q15.c Source File
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__q31_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__q31_8c.html
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+CMSIS DSP Software Library: arm_var_q31.c File Reference
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+
    
+  
    
+Functions  
    
+  
    
+
    arm_var_q31.c File Reference
      
    
+
    
+
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
    
+Functions
    void arm_var_q31 (q31_t *pSrc, uint32_t blockSize, q63_t *pResult)
    
+
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__q31_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__var__q31_8c_source.html
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+CMSIS DSP Software Library: arm_var_q31.c Source File
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    Generated on Fri Jul 15 2011 13:16:17 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__variance__example__f32_8c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__variance__example__f32_8c.html
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+CMSIS DSP Software Library: arm_variance_example_f32.c File Reference
+
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+
    
+  
    
+Defines |
+Functions |
+Variables  
    
+  
    
+
    arm_variance_example_f32.c File Reference
      
    
+
    
+
    
+#include <math.h>
    
+#include "arm_math.h"
    
+
+
    Go to the source code of this file.
    
+
+
+
+
+
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+
    
+Defines
    #define MAX_BLOCKSIZE   32
    #define DELTA   (0.000001f)
    
+Functions
    int32_t main (void)
    
+Variables
    float32_t wire1 [MAX_BLOCKSIZE]
    float32_t wire2 [MAX_BLOCKSIZE]
    float32_t wire3 [MAX_BLOCKSIZE]
    float32_t testInput_f32 [32]
    uint32_t blockSize = 32
    float32_t refVarianceOut = 0.903941793931839
    
+
    Define Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define MAX_BLOCKSIZE   32
    
+
    
+
    
+
+
    Definition at line 83 of file arm_variance_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    #define DELTA   (0.000001f)
    
+
    
+
    
+
+
    Definition at line 84 of file arm_variance_example_f32.c.
    
+
+
    
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    int32_t main (void  )
    
+
    
+
    
+
+
    Definition at line 122 of file arm_variance_example_f32.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t wire1[MAX_BLOCKSIZE]
    
+
    
+
    
+
+
    Definition at line 90 of file arm_variance_example_f32.c.
    
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+      
+        
+          
+        
+      
    float32_t wire2[MAX_BLOCKSIZE]
    
+
    
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    Definition at line 91 of file arm_variance_example_f32.c.
    
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+      
+        
+          
+        
+      
    float32_t wire3[MAX_BLOCKSIZE]
    
+
    
+
    
+
+
    Definition at line 92 of file arm_variance_example_f32.c.
    
+
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+
    
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+
    
+
    
+      
+        
+          
+        
+      
    float32_t testInput_f32[32]
    
+
    
+
    
+Initial value:
     
+{ 
+-0.432564811528221,     -1.665584378238097,     0.125332306474831,      0.287676420358549,  
+-1.146471350681464,     1.190915465642999,      1.189164201652103,      -0.037633276593318,     
+0.327292361408654,      0.174639142820925,      -0.186708577681439,     0.725790548293303,  
+-0.588316543014189,     2.183185818197101,      -0.136395883086596,     0.113931313520810,  
+1.066768211359189,      0.059281460523605,      -0.095648405483669,     -0.832349463650022,     
+0.294410816392640,      -1.336181857937804,     0.714324551818952,      1.623562064446271,  
+-0.691775701702287,     0.857996672828263,      1.254001421602532,      -1.593729576447477,     
+-1.440964431901020,     0.571147623658178,      -0.399885577715363,     0.689997375464345
+  
+}
+
    
+
    Definition at line 99 of file arm_variance_example_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t blockSize = 32
    
+
    
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+
    Definition at line 115 of file arm_variance_example_f32.c.
    
+
+
    
+
    
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+
    
+
    
+      
+        
+          
+        
+      
    float32_t refVarianceOut = 0.903941793931839
    
+
    
+
    
+
    Examples: 
    arm_variance_example_f32.c.
    
+
    
+
    Definition at line 116 of file arm_variance_example_f32.c.
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__variance__example__f32_8c_source.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm__variance__example__f32_8c_source.html
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+CMSIS DSP Software Library: arm_variance_example_f32.c Source File
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+doxygen 1.7.2 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_class_marks_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_class_marks_example_f32_8c-example.html
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+CMSIS DSP Software Library: arm_class_marks_example_f32.c
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+
    arm_class_marks_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3 
+*  
+* Project:      CMSIS DSP Library  
+* Title:        arm_class_marks_example_f32.c         
+*  
+* Description:  Example code to calculate Minimum, Maximum 
+*               Mean, std and variance of marks obtained in a class 
+* 
+* Target Processor: Cortex-M4/Cortex-M3
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+*  
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include "arm_math.h" 
+ 
+#define USE_STATIC_INIT 
+ 
+ /* ---------------------------------------------------------------------- 
+** Global defines  
+** ------------------------------------------------------------------- */ 
+ 
+#define TEST_LENGTH_SAMPLES     (20*4) 
+ 
+/* ---------------------------------------------------------------------- 
+** List of Marks scored by 20 students for 4 subjects 
+** ------------------------------------------------------------------- */  
+const float32_t testMarks_f32[TEST_LENGTH_SAMPLES] =  
+{    
+    42.000000,  37.000000,  81.000000,  28.000000,   
+    83.000000,  72.000000,  36.000000,  38.000000,   
+    32.000000,  51.000000,  63.000000,  64.000000,   
+    97.000000,  82.000000,  95.000000,  90.000000,   
+    66.000000,  51.000000,  54.000000,  42.000000,   
+    67.000000,  56.000000,  45.000000,  57.000000,   
+    67.000000,  69.000000,  35.000000,  52.000000,   
+    29.000000,  81.000000,  58.000000,  47.000000,   
+    38.000000,  76.000000,  100.000000, 29.000000,   
+    33.000000,  47.000000,  29.000000,  50.000000,   
+    34.000000,  41.000000,  61.000000,  46.000000,   
+    52.000000,  50.000000,  48.000000,  36.000000,   
+    47.000000,  55.000000,  44.000000,  40.000000,   
+    100.000000, 94.000000,  84.000000,  37.000000,   
+    32.000000,  71.000000,  47.000000,  77.000000,   
+    31.000000,  50.000000,  49.000000,  35.000000,   
+    63.000000,  67.000000,  40.000000,  31.000000,   
+    29.000000,  68.000000,  61.000000,  38.000000,   
+    31.000000,  28.000000,  28.000000,  76.000000,   
+    55.000000,  33.000000,  29.000000,  39.000000 
+};  
+ 
+ 
+/* ---------------------------------------------------------------------- 
+* Number of subjects X 1  
+* ------------------------------------------------------------------- */  
+const float32_t testUnity_f32[4] =  
+{    
+    1.000,  1.000,  1.000,  1.000 
+}; 
+ 
+ 
+/* ---------------------------------------------------------------------- 
+** f32 Output buffer 
+** ------------------------------------------------------------------- */  
+static float32_t testOutput[TEST_LENGTH_SAMPLES]; 
+ 
+ 
+/* ------------------------------------------------------------------ 
+* Global defines  
+*------------------------------------------------------------------- */ 
+#define     NUMSTUDENTS  20 
+#define     NUMSUBJECTS  4 
+ 
+/* ------------------------------------------------------------------ 
+* Global variables  
+*------------------------------------------------------------------- */ 
+ 
+uint32_t    numStudents = 20; 
+uint32_t    numSubjects = 4;  
+float32_t   max_marks, min_marks, mean, std, var; 
+uint32_t    student_num;    
+ 
+/* ---------------------------------------------------------------------------------- 
+* Main f32 test function.  It returns maximum marks secured and student number 
+* ------------------------------------------------------------------------------- */ 
+ 
+int32_t main() 
+{ 
+ 
+#ifndef  USE_STATIC_INIT 
+ 
+    arm_matrix_instance_f32 srcA; 
+    arm_matrix_instance_f32 srcB; 
+    arm_matrix_instance_f32 dstC;  
+ 
+    /* Input and output matrices initializations */  
+    arm_mat_init_f32(&srcA, numStudents, numSubjects, (float32_t *)testMarks_f32);  
+    arm_mat_init_f32(&srcB, numSubjects, 1, (float32_t *)testUnity_f32);  
+    arm_mat_init_f32(&dstC, numStudents, 1, testOutput);  
+ 
+#else 
+ 
+    /* Static Initializations of Input and output matrix sizes and array */ 
+    arm_matrix_instance_f32 srcA = {NUMSTUDENTS, NUMSUBJECTS, (float32_t *)testMarks_f32}; 
+    arm_matrix_instance_f32 srcB = {NUMSUBJECTS, 1, (float32_t *)testUnity_f32}; 
+    arm_matrix_instance_f32 dstC = {NUMSTUDENTS, 1, testOutput}; 
+ 
+#endif 
+ 
+     
+    /* ---------------------------------------------------------------------- 
+    *Call the Matrix multiplication process function   
+    * ------------------------------------------------------------------- */ 
+    arm_mat_mult_f32(&srcA, &srcB, &dstC); 
+     
+    /* ---------------------------------------------------------------------- 
+    ** Call the Max function to calculate max marks among numStudents 
+    ** ------------------------------------------------------------------- */ 
+    arm_max_f32(testOutput, numStudents, &max_marks, &student_num);  
+ 
+    /* ---------------------------------------------------------------------- 
+    ** Call the Min function to calculate min marks among numStudents 
+    ** ------------------------------------------------------------------- */ 
+    arm_min_f32(testOutput, numStudents, &min_marks, &student_num);  
+ 
+    /* ---------------------------------------------------------------------- 
+    ** Call the Mean function to calculate mean 
+    ** ------------------------------------------------------------------- */ 
+    arm_mean_f32(testOutput, numStudents, &mean); 
+ 
+    /* ---------------------------------------------------------------------- 
+    ** Call the std function to calculate standard deviation 
+    ** ------------------------------------------------------------------- */ 
+    arm_std_f32(testOutput, numStudents, &std); 
+ 
+    /* ---------------------------------------------------------------------- 
+    ** Call the var function to calculate variance 
+    ** ------------------------------------------------------------------- */ 
+    arm_var_f32(testOutput, numStudents, &var); 
+ 
+} 
+ 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_convolution_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_convolution_example_f32_8c-example.html
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+
+
+
+
+CMSIS DSP Software Library: arm_convolution_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_convolution_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3 
+*  
+* Project:      CMSIS DSP Library  
+* Title:        arm_convolution_example_f32.c         
+*  
+* Description:  Example code demonstrating Convolution of two input signals using fft. 
+* 
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include "arm_math.h" 
+#include "math_helper.h"                 
+ 
+/* ---------------------------------------------------------------------- 
+* Defines each of the tests performed 
+* ------------------------------------------------------------------- */ 
+#define MAX_BLOCKSIZE   128 
+#define DELTA           (0.000001f) 
+#define SNR_THRESHOLD   90 
+ 
+/* ---------------------------------------------------------------------- 
+* Declare I/O buffers  
+* ------------------------------------------------------------------- */ 
+float32_t Ak[MAX_BLOCKSIZE];        /* Input A */ 
+float32_t Bk[MAX_BLOCKSIZE];        /* Input B */ 
+float32_t AxB[MAX_BLOCKSIZE * 2];   /* Output */ 
+ 
+/* ---------------------------------------------------------------------- 
+* Test input data for Floating point Convolution example for 32-blockSize 
+* Generated by the MATLAB randn() function 
+* ------------------------------------------------------------------- */ 
+float32_t testInputA_f32[64] =  
+{  
+-0.808920,  1.357369,   1.180861,   -0.504544,  1.762637,   -0.703285,   
+1.696966,   0.620571,   -0.151093,  -0.100235,  -0.872382,  -0.403579,   
+-0.860749,  -0.382648,  -1.052338,  0.128113,   -0.646269,  1.093377,    
+-2.209198,  0.471706,   0.408901,   1.266242,   0.598252,   1.176827,    
+-0.203421,  0.213596,   -0.851964,  -0.466958,  0.021841,   -0.698938,   
+-0.604107,  0.461778,   -0.318219,  0.942520,   0.577585,   0.417619,    
+0.614665,   0.563679,   -1.295073,  -0.764437,  0.952194,   -0.859222,   
+-0.618554,  -2.268542,  -1.210592,  1.655853,   -2.627219,  -0.994249,   
+-1.374704,  0.343799,   0.025619,   1.227481,   -0.708031,  0.069355,    
+-1.845228,  -1.570886,  1.010668,   -1.802084,  1.630088,   1.286090,    
+-0.161050,  -0.940794,  0.367961,   0.291907 
+         
+};  
+  
+float32_t testInputB_f32[64] =  
+{  
+0.933724,   0.046881,   1.316470,   0.438345,   0.332682,   2.094885,    
+0.512081,   0.035546,   0.050894,   -2.320371,  0.168711,   -1.830493,   
+-0.444834,  -1.003242,  -0.531494,  -1.365600,  -0.155420,  -0.757692,   
+-0.431880,  -0.380021,  0.096243,   -0.695835,  0.558850,   -1.648962,   
+0.020369,   -0.363630,  0.887146,   0.845503,   -0.252864,  -0.330397,   
+1.269131,   -1.109295,  -1.027876,  0.135940,   0.116721,   -0.293399,   
+-1.349799,  0.166078,   -0.802201,  0.369367,   -0.964568,  -2.266011,   
+0.465178,   0.651222,   -0.325426,  0.320245,   -0.784178,  -0.579456,   
+0.093374,   0.604778,   -0.048225,  0.376297,   -0.394412,  0.578182,    
+-1.218141,  -1.387326,  0.692462,   -0.631297,  0.153137,   -0.638952,   
+0.635474,   -0.970468,  1.334057,   -0.111370 
+};  
+  
+const float testRefOutput_f32[126] =   
+{  
+-0.818943,  1.229484,   -0.533664,  1.016604,   0.341875,   -1.963656,   
+5.171476,   3.478033,   7.616361,   6.648384,   0.479069,   1.792012,    
+-1.295591,  -7.447818,  0.315830,   -10.657445, -2.483469,  -6.524236,   
+-7.380591,  -3.739005,  -8.388957,  0.184147,   -1.554888,  3.786508,    
+-1.684421,  5.400610,   -1.578126,  7.403361,   8.315999,   2.080267,    
+11.077776,  2.749673,   7.138962,   2.748762,   0.660363,   0.981552,    
+1.442275,   0.552721,   -2.576892,  4.703989,   0.989156,   8.759344,    
+-0.564825,  -3.994680,  0.954710,   -5.014144,  6.592329,   1.599488,    
+-13.979146, -0.391891,  -4.453369,  -2.311242,  -2.948764,  1.761415,    
+-0.138322,  10.433007,  -2.309103,  4.297153,   8.535523,   3.209462,    
+8.695819,   5.569919,   2.514304,   5.582029,   2.060199,   0.642280,    
+7.024616,   1.686615,   -6.481756,  1.343084,   -3.526451,  1.099073,    
+-2.965764,  -0.173723,  -4.111484,  6.528384,   -6.965658,  1.726291,    
+1.535172,   11.023435,  2.338401,   -4.690188,  1.298210,   3.943885,    
+8.407885,   5.168365,   0.684131,   1.559181,   1.859998,   2.852417,    
+8.574070,   -6.369078,  6.023458,   11.837963,  -6.027632,  4.469678,    
+-6.799093,  -2.674048,  6.250367,   -6.809971,  -3.459360,  9.112410,    
+-2.711621,  -1.336678,  1.564249,   -1.564297,  -1.296760,  8.904013,    
+-3.230109,  6.878013,   -7.819823,  3.369909,   -1.657410,  -2.007358,   
+-4.112825,  1.370685,   -3.420525,  -6.276605,  3.244873,   -3.352638,   
+1.545372,   0.902211,   0.197489,   -1.408732,  0.523390,   0.348440 
+}; 
+ 
+ 
+/* ---------------------------------------------------------------------- 
+* Declare Global variables  
+* ------------------------------------------------------------------- */ 
+uint32_t srcALen = 64;   /* Length of Input A */ 
+uint32_t srcBLen = 64;   /* Length of Input B */ 
+uint32_t outLen;         /* Length of convolution output */ 
+float32_t snr;           /* output SNR */ 
+ 
+int32_t main(void) 
+{ 
+    arm_status status;     /* Status of the example */ 
+    arm_cfft_radix4_instance_f32 cfft_instance; /* CFFT Structure instance */ 
+ 
+    /* CFFT Structure instance pointer */ 
+    arm_cfft_radix4_instance_f32 *cfft_instance_ptr =  
+            (arm_cfft_radix4_instance_f32*) &cfft_instance; 
+ 
+    /* output length of convolution */ 
+    outLen = srcALen + srcBLen - 1; 
+ 
+    /* Initialise the fft input buffers with all zeros */ 
+    arm_fill_f32(0.0,  Ak, MAX_BLOCKSIZE); 
+    arm_fill_f32(0.0,  Bk, MAX_BLOCKSIZE); 
+ 
+    /* Copy the input values to the fft input buffers */ 
+    arm_copy_f32(testInputA_f32,  Ak, MAX_BLOCKSIZE/2); 
+    arm_copy_f32(testInputB_f32,  Bk, MAX_BLOCKSIZE/2); 
+     
+    /* Initialize the CFFT function to compute 64 point fft */  
+    status = arm_cfft_radix4_init_f32(cfft_instance_ptr, 64, 0, 1); 
+ 
+    /* Transform input a[n] from time domain to frequency domain A[k] */ 
+    arm_cfft_radix4_f32(cfft_instance_ptr, Ak); 
+    /* Transform input b[n] from time domain to frequency domain B[k] */ 
+    arm_cfft_radix4_f32(cfft_instance_ptr, Bk); 
+     
+    /* Complex Multiplication of the two input buffers in frequency domain */ 
+    arm_cmplx_mult_cmplx_f32(Ak, Bk, AxB, MAX_BLOCKSIZE/2);  
+ 
+    /* Initialize the CIFFT function to compute 64 point ifft */  
+    status = arm_cfft_radix4_init_f32(cfft_instance_ptr, 64, 1, 1); 
+ 
+    /* Transform the multiplication output from frequency domain to time domain, 
+       that gives the convolved output  */ 
+    arm_cfft_radix4_f32(cfft_instance_ptr, AxB); 
+ 
+    /* SNR Calculation */ 
+    snr = arm_snr_f32((float32_t *)testRefOutput_f32, AxB, srcALen + srcBLen - 1); 
+     
+    /* Compare the SNR with threshold to test whether the  
+       computed output is matched with the reference output values. */ 
+    if( snr > SNR_THRESHOLD) 
+    { 
+        status = ARM_MATH_SUCCESS; 
+    } 
+         
+    if( status != ARM_MATH_SUCCESS) 
+    { 
+      while(1); 
+    } 
+} 
+                                  
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_dotproduct_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_dotproduct_example_f32_8c-example.html
new file mode 100644
index 000000000..2dbc754f1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_dotproduct_example_f32_8c-example.html
@@ -0,0 +1,182 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dotproduct_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_dotproduct_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3 
+*  
+* Project:      CMSIS DSP Library  
+* Title:        arm_dotproduct_example_f32.c          
+*  
+* Description:  Example code computing dot product of two vectors. 
+* 
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include <math.h>     
+#include "arm_math.h" 
+ 
+/* ---------------------------------------------------------------------- 
+* Defines each of the tests performed 
+* ------------------------------------------------------------------- */ 
+#define MAX_BLOCKSIZE   32 
+#define DELTA           (0.000001f) 
+ 
+/* ---------------------------------------------------------------------- 
+* Test input data for Floating point Dot Product example for 32-blockSize 
+* Generated by the MATLAB randn() function 
+* ------------------------------------------------------------------- */  
+/* ----------------------------------------------------------------------  
+** Test input data of srcA for blockSize 32   
+** ------------------------------------------------------------------- */  
+float32_t srcA_buf_f32[MAX_BLOCKSIZE] =   
+{   
+-0.4325648115282207,    -1.6655843782380970,    0.1253323064748307,  
+ 0.2876764203585489,    -1.1464713506814637,    1.1909154656429988,  
+ 1.1891642016521031,    -0.0376332765933176,    0.3272923614086541,  
+ 0.1746391428209245,    -0.1867085776814394,    0.7257905482933027,  
+-0.5883165430141887,     2.1831858181971011,   -0.1363958830865957,  
+ 0.1139313135208096,     1.0667682113591888,    0.0592814605236053,  
+-0.0956484054836690,    -0.8323494636500225,    0.2944108163926404,  
+-1.3361818579378040,     0.7143245518189522,    1.6235620644462707,  
+-0.6917757017022868,     0.8579966728282626,    1.2540014216025324,  
+-1.5937295764474768,    -1.4409644319010200,    0.5711476236581780,  
+-0.3998855777153632,     0.6899973754643451 
+};   
+  
+/* ----------------------------------------------------------------------  
+** Test input data of srcB for blockSize 32   
+** ------------------------------------------------------------------- */   
+float32_t srcB_buf_f32[MAX_BLOCKSIZE] =   
+{   
+ 1.7491401329284098,    0.1325982188803279,  0.3252281811989881,     
+-0.7938091410349637,    0.3149236145048914, -0.5272704888029532,     
+ 0.9322666565031119,    1.1646643544607362, -2.0456694357357357,     
+-0.6443728590041911,    1.7410657940825480,  0.4867684246821860,     
+ 1.0488288293660140,    1.4885752747099299,  1.2705014969484090,     
+-1.8561241921210170,    2.1343209047321410,  1.4358467535865909,     
+-0.9173023332875400,   -1.1060770780029008,  0.8105708062681296,     
+ 0.6985430696369063,   -0.4015827425012831,  1.2687512030669628,     
+-0.7836083053674872,    0.2132664971465569,  0.7878984786088954,     
+ 0.8966819356782295,   -0.1869172943544062,  1.0131816724341454,     
+ 0.2484350696132857,    0.0596083377937976 
+};   
+ 
+/* Reference dot product output */ 
+float32_t  refDotProdOut = 5.9273644806352142;   
+ 
+/* ---------------------------------------------------------------------- 
+* Declare Global variables  
+* ------------------------------------------------------------------- */ 
+float32_t multOutput[MAX_BLOCKSIZE];  /* Intermediate output */ 
+float32_t testOutput;  /* Final ouput */ 
+ 
+arm_status status;   /* Status of the example */ 
+
+int32_t main(void) 
+{ 
+    uint32_t i;          /* Loop counter */ 
+    float32_t diff;      /* Difference between reference and test outputs */ 
+ 
+    /* Multiplication of two input buffers */ 
+    arm_mult_f32(srcA_buf_f32, srcB_buf_f32, multOutput, MAX_BLOCKSIZE); 
+     
+    /* Accumulate the multiplication output values to  
+       get the dot product of the two inputs */ 
+    for(i=0; i< MAX_BLOCKSIZE; i++) 
+    {          
+        arm_add_f32(&testOutput, &multOutput[i], &testOutput, 1);    
+    } 
+ 
+    /* absolute value of difference between ref and test */ 
+    diff = fabsf(refDotProdOut - testOutput); 
+     
+    /* Comparison of dot product value with reference */ 
+    if(diff > DELTA) 
+    { 
+        status = ARM_MATH_TEST_FAILURE; 
+    } 
+         
+    if( status == ARM_MATH_TEST_FAILURE) 
+    { 
+      while(1); 
+    } 
+} 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_fft_bin_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_fft_bin_example_f32_8c-example.html
new file mode 100644
index 000000000..9441daeb8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_fft_bin_example_f32_8c-example.html
@@ -0,0 +1,158 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fft_bin_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_fft_bin_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3  
+*  
+* Project:      CMSIS DSP Library  
+* Title:        arm_fft_bin_example_f32.c         
+*  
+* Description:  Example code demonstrating calculation of Max energy bin of  
+*               frequency domain of input signal. 
+* 
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include "arm_math.h" 
+ 
+#define TEST_LENGTH_SAMPLES 2048 
+ 
+/* ------------------------------------------------------------------- 
+* External Input and Output buffer Declarations for FFT Bin Example 
+* ------------------------------------------------------------------- */ 
+extern float32_t testInput_f32_10khz[TEST_LENGTH_SAMPLES]; 
+static float32_t testOutput[TEST_LENGTH_SAMPLES/2]; 
+ 
+/* ------------------------------------------------------------------ 
+* Global variables for FFT Bin Example 
+* ------------------------------------------------------------------- */ 
+uint32_t fftSize = 1024; 
+uint32_t ifftFlag = 0; 
+uint32_t doBitReverse = 1; 
+ 
+/* Reference index at which max energy of bin ocuurs */ 
+uint32_t refIndex = 213, testIndex = 0; 
+ 
+/* ---------------------------------------------------------------------- 
+* Max magnitude FFT Bin test 
+* ------------------------------------------------------------------- */ 
+ 
+int32_t main(void) 
+{ 
+   
+    arm_status status; 
+    arm_cfft_radix4_instance_f32 S; 
+    float32_t maxValue; 
+     
+    status = ARM_MATH_SUCCESS; 
+     
+    /* Initialize the CFFT/CIFFT module */  
+    status = arm_cfft_radix4_init_f32(&S, fftSize,  
+                                    ifftFlag, doBitReverse); 
+     
+    /* Process the data through the CFFT/CIFFT module */ 
+    arm_cfft_radix4_f32(&S, testInput_f32_10khz); 
+     
+     
+    /* Process the data through the Complex Magnitude Module for  
+    calculating the magnitude at each bin */ 
+    arm_cmplx_mag_f32(testInput_f32_10khz, testOutput,  
+                    fftSize);  
+     
+    /* Calculates maxValue and returns corresponding BIN value */ 
+    arm_max_f32(testOutput, fftSize, &maxValue, &testIndex); 
+     
+    if(testIndex !=  refIndex) 
+    { 
+        status = ARM_MATH_TEST_FAILURE; 
+    } 
+     
+    /* ---------------------------------------------------------------------- 
+    ** Loop here if the signals fail the PASS check. 
+    ** This denotes a test failure 
+    ** ------------------------------------------------------------------- */ 
+     
+    if( status != ARM_MATH_SUCCESS) 
+    { 
+        while(1); 
+    } 
+} 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_fir_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_fir_example_f32_8c-example.html
new file mode 100644
index 000000000..77c118aab
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_fir_example_f32_8c-example.html
@@ -0,0 +1,203 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_fir_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+ * Copyright (C) 2010 ARM Limited. All rights reserved.   
+ *  
+ * $Date:           29. November 2010  
+ * $Revision:       V1.0.3  
+ *  
+ * Project:         CMSIS DSP Library  
+ * Title:           arm_fir_example_f32.c         
+ *  
+ * Description: Example code demonstrating how an FIR filter can be used
+ *               as a low pass filter.
+ * 
+ * Target Processor: Cortex-M4/Cortex-M3  
+ *
+ *
+ * Version 1.0.3 2010/11/29 
+ *    Re-organized the CMSIS folders and updated documentation. 
+ * 
+ * Version 1.0.1 2010/10/05 KK 
+ *    Production release and review comments incorporated.  
+ *
+ * Version 1.0.0 2010/09/20 KK
+ *    Production release and review comments incorporated.
+ * ------------------------------------------------------------------- */ 
+ 
+/* ---------------------------------------------------------------------- 
+** Include Files  
+** ------------------------------------------------------------------- */ 
+
+#include "arm_math.h" 
+#include "math_helper.h" 
+ 
+/* ---------------------------------------------------------------------- 
+** Macro Defines  
+** ------------------------------------------------------------------- */ 
+
+#define TEST_LENGTH_SAMPLES 320 
+#define SNR_THRESHOLD_F32   140.0f 
+#define BLOCK_SIZE          32 
+#define NUM_TAPS            29 
+ 
+/* ------------------------------------------------------------------- 
+ * The input signal and reference output (computed with MATLAB)
+ * are defined externally in arm_fir_lpf_data.c.
+ * ------------------------------------------------------------------- */ 
+
+extern float32_t testInput_f32_1kHz_15kHz[TEST_LENGTH_SAMPLES]; 
+extern float32_t refOutput[TEST_LENGTH_SAMPLES]; 
+ 
+/* ------------------------------------------------------------------- 
+ * Declare Test output buffer 
+ * ------------------------------------------------------------------- */ 
+
+static float32_t testOutput[TEST_LENGTH_SAMPLES]; 
+ 
+/* ------------------------------------------------------------------- 
+ * Declare State buffer of size (numTaps + blockSize - 1) 
+ * ------------------------------------------------------------------- */ 
+
+static float32_t firStateF32[BLOCK_SIZE + NUM_TAPS - 1]; 
+ 
+/* ---------------------------------------------------------------------- 
+** FIR Coefficients buffer generated using fir1() MATLAB function. 
+** fir1(28, 6/24)
+** ------------------------------------------------------------------- */ 
+ 
+const float32_t firCoeffs32[NUM_TAPS] = { 
+-0.0018225230f, -0.0015879294f, +0.0000000000f, +0.0036977508f, +0.0080754303f, +0.0085302217f, -0.0000000000f, -0.0173976984f, 
+-0.0341458607f, -0.0333591565f, +0.0000000000f, +0.0676308395f, +0.1522061835f, +0.2229246956f, +0.2504960933f, +0.2229246956f, 
++0.1522061835f, +0.0676308395f, +0.0000000000f, -0.0333591565f, -0.0341458607f, -0.0173976984f, -0.0000000000f, +0.0085302217f, 
++0.0080754303f, +0.0036977508f, +0.0000000000f, -0.0015879294f, -0.0018225230f 
+}; 
+ 
+/* ------------------------------------------------------------------ 
+ * Global variables for FIR LPF Example 
+ * ------------------------------------------------------------------- */ 
+
+uint32_t blockSize = BLOCK_SIZE; 
+uint32_t numBlocks = TEST_LENGTH_SAMPLES/BLOCK_SIZE; 
+ 
+float32_t  snr; 
+ 
+/* ---------------------------------------------------------------------- 
+ * FIR LPF Example 
+ * ------------------------------------------------------------------- */ 
+ 
+int32_t main(void) 
+{ 
+  uint32_t i; 
+  arm_fir_instance_f32 S; 
+  arm_status status; 
+  float32_t  *inputF32, *outputF32; 
+ 
+  /* Initialize input and output buffer pointers */ 
+  inputF32 = &testInput_f32_1kHz_15kHz[0];   
+  outputF32 = &testOutput[0]; 
+
+  /* Call FIR init function to initialize the instance structure. */
+  arm_fir_init_f32(&S, NUM_TAPS, (float32_t *)&firCoeffs32[0], &firStateF32[0], blockSize); 
+ 
+  /* ---------------------------------------------------------------------- 
+  ** Call the FIR process function for every blockSize samples  
+  ** ------------------------------------------------------------------- */ 
+
+  for(i=0; i < numBlocks; i++)  
+    {    
+      arm_fir_f32(&S, inputF32 + (i * blockSize), outputF32 + (i * blockSize), blockSize);  
+    } 
+ 
+  /* ---------------------------------------------------------------------- 
+  ** Compare the generated output against the reference output computed
+  ** in MATLAB.
+  ** ------------------------------------------------------------------- */ 
+
+  snr = arm_snr_f32(&refOutput[0], &testOutput[0], TEST_LENGTH_SAMPLES); 
+ 
+  if (snr < SNR_THRESHOLD_F32) 
+    { 
+      status = ARM_MATH_TEST_FAILURE; 
+    } 
+  else
+    {
+      status = ARM_MATH_SUCCESS; 
+    }
+     
+  /* ---------------------------------------------------------------------- 
+  ** Loop here if the signal does not match the reference output.
+  ** ------------------------------------------------------------------- */ 
+     
+  if( status != ARM_MATH_SUCCESS) 
+    { 
+      while(1); 
+    } 
+} 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_graphic_equalizer_example_q31_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_graphic_equalizer_example_q31_8c-example.html
new file mode 100644
index 000000000..1789bb576
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_graphic_equalizer_example_q31_8c-example.html
@@ -0,0 +1,372 @@
+
+
+
+
+CMSIS DSP Software Library: arm_graphic_equalizer_example_q31.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_graphic_equalizer_example_q31.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:         29. November 2010  
+* $Revision:      V1.0.3 
+*  
+* Project:    CMSIS DSP Library  
+* Title:          arm_graphic_equalizer_example_q31.c         
+*  
+* Description:  Example showing an audio graphic equalizer constructed
+*              out of Biquad filters.
+* 
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include "arm_math.h" 
+#include "math_helper.h"
+
+/* Length of the overall data in the test */ 
+#define TESTLENGTH 320
+
+/* Block size for the underlying processing */
+#define BLOCKSIZE 32
+
+/* Total number of blocks to run */
+#define NUMBLOCKS (TESTLENGTH/BLOCKSIZE)
+
+/* Number of 2nd order Biquad stages per filter */
+#define NUMSTAGES 2
+
+#define SNR_THRESHOLD_F32  98
+ 
+/* ------------------------------------------------------------------- 
+ * External Declarations for Input and Output buffers 
+ * ------------------------------------------------------------------- */
+ 
+extern float32_t testInput_f32[TESTLENGTH]; 
+static float32_t testOutput[TESTLENGTH]; 
+
+extern float32_t testRefOutput_f32[TESTLENGTH];
+
+/* ----------------------------------------------------------------------  
+** Q31 state buffers for Band1, Band2, Band3, Band4, Band5  
+** ------------------------------------------------------------------- */  
+   
+static q63_t biquadStateBand1Q31[4 * 2];   
+static q63_t biquadStateBand2Q31[4 * 2];   
+static q31_t biquadStateBand3Q31[4 * 2];   
+static q31_t biquadStateBand4Q31[4 * 2];   
+static q31_t biquadStateBand5Q31[4 * 2];   
+ 
+/* ----------------------------------------------------------------------  
+** Q31 input and output buffers  
+** ------------------------------------------------------------------- */  
+
+q31_t inputQ31[BLOCKSIZE];   
+q31_t outputQ31[BLOCKSIZE];  
+ 
+/* ----------------------------------------------------------------------
+** Entire coefficient table.  There are 10 coefficients per 4th order Biquad
+** cascade filter.  The first 10 coefficients correspond to the -9 dB gain
+** setting of band 1; the next 10 coefficient correspond to the -8 dB gain
+** setting of band 1; and so on.  There are 10*19=190 coefficients in total
+** for band 1 (gains = -9, -8, -7, ..., 9).  After this come the 190 coefficients
+** for band 2.
+**
+** The coefficients are in Q29 format and require a postShift of 2.
+** ------------------------------------------------------------------- */
+
+const q31_t coeffTable[950] = {
+
+    /* Band 1, -9 dB gain */
+    535576962, -1071153923, 535576962, 1073741824, -536870912, 535576962, -1063501998, 527979313, 1060865294, -524146981, 
+    /* Band 1, -8 dB gain */
+    535723226, -1071446451, 535723226, 1073741824, -536870912, 535723226, -1063568947, 527903217, 1061230578, -524503778, 
+    535868593, -1071737186, 535868593, 1073741824, -536870912, 535868593, -1063627467, 527819780, 1061585502, -524850686, 
+    536013181, -1072026363, 536013181, 1073741824, -536870912, 536013181, -1063677598, 527728935, 1061930361, -525187972, 
+    536157109, -1072314217, 536157109, 1073741824, -536870912, 536157109, -1063719372, 527630607, 1062265438, -525515897, 
+    536300492, -1072600983, 536300492, 1073741824, -536870912, 536300492, -1063752815, 527524720, 1062591011, -525834716, 
+    536443447, -1072886894, 536443447, 1073741824, -536870912, 536443447, -1063777945, 527411186, 1062907350, -526144676, 
+    536586091, -1073172183, 536586091, 1073741824, -536870912, 536586091, -1063794775, 527289917, 1063214717, -526446017, 
+    536728541, -1073457082, 536728541, 1073741824, -536870912, 536728541, -1063803308, 527160815, 1063513366, -526738975, 
+    536870912, -1073741824, 536870912, 1073741824, -536870912, 536870912, -1063803543, 527023777, 1063803543, -527023777, 
+    537013321, -1074026642, 537013321, 1073741824, -536870912, 537013321, -1063795470, 526878696, 1064085490, -527300648, 
+    537155884, -1074311768, 537155884, 1073741824, -536870912, 537155884, -1063779073, 526725455, 1064359439, -527569803, 
+    537298718, -1074597435, 537298718, 1073741824, -536870912, 537298718, -1063754328, 526563934, 1064625617, -527831454, 
+    537441939, -1074883878, 537441939, 1073741824, -536870912, 537441939, -1063721205, 526394005, 1064884245, -528085806, 
+    537585666, -1075171331, 537585666, 1073741824, -536870912, 537585666, -1063679666, 526215534, 1065135536, -528333059, 
+    537730015, -1075460030, 537730015, 1073741824, -536870912, 537730015, -1063629666, 526028380, 1065379699, -528573409, 
+    537875106, -1075750212, 537875106, 1073741824, -536870912, 537875106, -1063571152, 525832396, 1065616936, -528807045, 
+    538021057, -1076042114, 538021057, 1073741824, -536870912, 538021057, -1063504065, 525627429, 1065847444, -529034151, 
+    538167989, -1076335977, 538167989, 1073741824, -536870912, 538167989, -1063428338, 525413317, 1066071412, -529254907, 
+    
+    /* Band 2, -9 dB gain */
+    531784976, -1055497692, 523873415, 1066213307, -529420241, 531784976, -1040357886, 509828014, 1028908252, -494627367,
+    /* Band 2, -8 dB gain */ 
+    532357636, -1056601982, 524400080, 1066115844, -529326645, 532357636, -1040623406, 509562600, 1030462237, -496062122, 
+    532927392, -1057707729, 524931110, 1066024274, -529239070, 532927392, -1040848253, 509262081, 1031969246, -497457090, 
+    533494678, -1058816094, 525467240, 1065939047, -529157961, 533494678, -1041032161, 508925950, 1033429976, -498812573, 
+    534059929, -1059928204, 526009170, 1065860582, -529083734, 534059929, -1041174868, 508553717, 1034845124, -500128887, 
+    534623580, -1061045148, 526557561, 1065789260, -529016764, 534623580, -1041276126, 508144920, 1036215393, -501406373, 
+    535186068, -1062167969, 527113032, 1065725420, -528957385, 535186068, -1041335703, 507699125, 1037541500, -502645399, 
+    535747827, -1063297666, 527676151, 1065669351, -528905879, 535747827, -1041353386, 507215934, 1038824183, -503846368, 
+    536309295, -1064435183, 528247436, 1065621289, -528862476, 536309295, -1041328990, 506694984, 1040064203, -505009724, 
+    536870912, -1065581413, 528827349, 1065581413, -528827349, 536870912, -1041262354, 506135953, 1041262354, -506135953, 
+    537433117, -1066737194, 529416295, 1065549847, -528800610, 537433117, -1041153346, 505538564, 1042419457, -507225588, 
+    537996352, -1067903307, 530014622, 1065526651, -528782316, 537996352, -1041001864, 504902578, 1043536370, -508279208, 
+    538561061, -1069080480, 530622620, 1065511830, -528772462, 538561061, -1040807833, 504227800, 1044613981, -509297437, 
+    539127690, -1070269387, 531240527, 1065505333, -528770987, 539127690, -1040571205, 503514074, 1045653211, -510280946, 
+    539696690, -1071470656, 531868525, 1065507054, -528777778, 539696690, -1040291951, 502761277, 1046655011, -511230450, 
+    540268512, -1072684867, 532506750, 1065516837, -528792672, 540268512, -1039970063, 501969320, 1047620358, -512146700, 
+    540843613, -1073912567, 533155297, 1065534483, -528815459, 540843613, -1039605542, 501138139, 1048550251, -513030484, 
+    541422451, -1075154268, 533814224, 1065559750, -528845892, 541422451, -1039198394, 500267687, 1049445708, -513882621, 
+    542005489, -1076410460, 534483561, 1065592362, -528883686, 542005489, -1038748624, 499357932, 1050307760, -514703956, 
+    518903861, -1001986830, 486725277, 1037235801, -502367695, 518903861, -945834422, 446371043, 902366163, -400700571, 
+    520899989, -1005630916, 488289126, 1036926846, -502147311, 520899989, -946490935, 445581846, 907921945, -404936158, 
+    522893209, -1009290002, 489869792, 1036650484, -501961419, 522893209, -947006359, 444685310, 913306106, -409075225, 
+    524884763, -1012968199, 491470256, 1036407567, -501810737, 524884763, -947377809, 443679533, 918521018, -413116221, 
+    526875910, -1016669649, 493093518, 1036198712, -501695739, 526875910, -947602324, 442562672, 923569247, -417057897, 
+    528867927, -1020398503, 494742575, 1036024293, -501616651, 528867927, -947676875, 441332970, 928453558, -420899319, 
+    530862111, -1024158905, 496420407, 1035884447, -501573457, 530862111, -947598385, 439988777, 933176909, -424639872, 
+    532859778, -1027954970, 498129955, 1035779077, -501565907, 532859778, -947363742, 438528571, 937742446, -428279254, 
+    534862260, -1031790763, 499874098, 1035707863, -501593525, 534862260, -946969823, 436950987, 942153486, -431817474, 
+    536870912, -1035670279, 501655630, 1035670279, -501655630, 536870912, -946413508, 435254839, 946413508, -435254839, 
+    538887107, -1039597419, 503477238, 1035665609, -501751354, 538887107, -945691703, 433439146, 950526127, -438591937, 
+    540912240, -1043575967, 505341475, 1035692963, -501879659, 540912240, -944801359, 431503152, 954495080, -441829621, 
+    542947726, -1047609569, 507250741, 1035751307, -502039364, 542947726, -943739490, 429446349, 958324201, -444968987, 
+    544995000, -1051701717, 509207261, 1035839473, -502229165, 544995000, -942503190, 427268492, 962017400, -448011351, 
+    547055523, -1055855728, 511213065, 1035956193, -502447657, 547055523, -941089647, 424969617, 965578640, -450958226, 
+    549130774, -1060074734, 513269973, 1036100110, -502693359, 549130774, -939496155, 422550049, 969011913, -453811298, 
+    551222259, -1064361672, 515379585, 1036269804, -502964731, 551222259, -937720119, 420010407, 972321228, -456572401, 
+    553331507, -1068719280, 517543273, 1036463810, -503260192, 553331507, -935759057, 417351601, 975510582, -459243495, 
+    555460072, -1073150100, 519762181, 1036680633, -503578144, 555460072, -933610600, 414574832, 978583948, -461826644, 
+    494084017, -851422604, 404056273, 930151631, -423619864, 494084017, -673714108, 339502486, 561843007, -265801750, 
+    498713542, -859177141, 406587077, 929211656, -423786402, 498713542, -673274906, 338185129, 573719128, -272222942, 
+    503369016, -867012190, 409148384, 928362985, -424054784, 503369016, -672533059, 336693984, 585290277, -278599028, 
+    508052536, -874935599, 411746438, 927604291, -424422151, 508052536, -671478538, 335026905, 596558312, -284920289, 
+    512766286, -882955583, 414387826, 926933782, -424885216, 512766286, -670100998, 333182045, 607525792, -291177811, 
+    517512534, -891080712, 417079474, 926349262, -425440318, 517512534, -668389789, 331157902, 618195914, -297363485, 
+    522293635, -899319903, 419828635, 925848177, -426083491, 522293635, -666333963, 328953368, 628572440, -303470012, 
+    527112032, -907682405, 422642886, 925427679, -426810526, 527112032, -663922286, 326567785, 638659631, -309490882, 
+    531970251, -916177781, 425530105, 925084675, -427617023, 531970251, -661143261, 324000998, 648462180, -315420352, 
+    536870912, -924815881, 428498454, 924815881, -428498454, 536870912, -657985147, 321253420, 657985147, -321253420, 
+    541816719, -933606817, 431556352, 924617870, -429450209, 541816719, -654435997, 318326093, 667233900, -326985786, 
+    546810467, -942560921, 434712438, 924487114, -430467639, 546810467, -650483688, 315220754, 676214053, -332613816, 
+    551855042, -951688708, 437975532, 924420027, -431546101, 551855042, -646115970, 311939896, 684931422, -338134495, 
+    556953421, -961000826, 441354588, 924413001, -432680993, 556953421, -641320513, 308486839, 693391970, -343545389, 
+    562108672, -970508005, 444858642, 924462435, -433867780, 562108672, -636084967, 304865786, 701601770, -348844597, 
+    567323959, -980220994, 448496743, 924564764, -435102022, 567323959, -630397020, 301081886, 709566963, -354030710, 
+    572602539, -990150500, 452277894, 924716482, -436379394, 572602539, -624244471, 297141281, 717293726, -359102767, 
+    577947763, -1000307125, 456210977, 924914158, -437695705, 577947763, -617615296, 293051155, 724788245, -364060214, 
+    583363084, -1010701292, 460304674, 925154455, -439046908, 583363084, -610497723, 288819761, 732056685, -368902865, 
+    387379495, -506912469, 196933274, 840112184, -347208270, 387379495, 506912469, 196933274, -840112184, -347208270, 
+    401658082, -532275898, 207149427, 833765363, -343175316, 401658082, 532275898, 207149427, -833765363, -343175316, 
+    416472483, -558722695, 217902617, 827270154, -339107319, 416472483, 558722695, 217902617, -827270154, -339107319, 
+    431841949, -586290861, 229212798, 820624988, -335007540, 431841949, 586290861, 229212798, -820624988, -335007540, 
+    447786335, -615019650, 241100489, 813828443, -330879528, 447786335, 615019650, 241100489, -813828443, -330879528, 
+    464326111, -644949597, 253586805, 806879270, -326727141, 464326111, 644949597, 253586805, -806879270, -326727141, 
+    481482377, -676122557, 266693475, 799776409, -322554559, 481482377, 676122557, 266693475, -799776409, -322554559, 
+    499276882, -708581728, 280442865, 792519013, -318366296, 499276882, 708581728, 280442865, -792519013, -318366296, 
+    517732032, -742371685, 294857996, 785106465, -314167221, 517732032, 742371685, 294857996, -785106465, -314167221, 
+    536870912, -777538408, 309962566, 777538408, -309962566, 536870912, 777538408, 309962566, -777538408, -309962566, 
+    556717294, -814129313, 325780968, 769814766, -305757943, 556717294, 814129313, 325780968, -769814766, -305757943, 
+    577295658, -852193284, 342338310, 761935777, -301559360, 577295658, 852193284, 342338310, -761935777, -301559360, 
+    598631206, -891780698, 359660433, 753902014, -297373230, 598631206, 891780698, 359660433, -753902014, -297373230, 
+    620749877, -932943463, 377773927, 745714425, -293206383, 620749877, 932943463, 377773927, -745714425, -293206383, 
+    643678365, -975735041, 396706151, 737374355, -289066077, 643678365, 975735041, 396706151, -737374355, -289066077, 
+    667444134, -1020210487, 416485252, 728883588, -284960004, 667444134, 1020210487, 416485252, -728883588, -284960004, 
+    692075438, -1066426476, 437140179, 720244375, -280896294, 692075438, 1066426476, 437140179, -720244375, -280896294, 
+    717601336, -1114441339, 458700704, 711459472, -276883515, 717601336, 1114441339, 458700704, -711459472, -276883515, 
+    744051710, -1164315096, 481197437, 702532174, -272930673, 744051710, 1164315096, 481197437, -702532174, -272930673 
+
+};
+
+/* ----------------------------------------------------------------------
+** Desired gains, in dB, per band
+** ------------------------------------------------------------------- */
+
+int gainDB[5] = {0, -3, 6, 4, -6};
+
+float32_t snr;
+
+
+/* ---------------------------------------------------------------------- 
+ * Graphic equalizer Example 
+ * ------------------------------------------------------------------- */ 
+ 
+int32_t main(void) 
+{ 
+  float32_t  *inputF32, *outputF32;  
+  arm_biquad_cas_df1_32x64_ins_q31 S1; 
+  arm_biquad_cas_df1_32x64_ins_q31 S2; 
+  arm_biquad_casd_df1_inst_q31 S3; 
+  arm_biquad_casd_df1_inst_q31 S4; 
+  arm_biquad_casd_df1_inst_q31 S5; 
+  int i;
+  int32_t status;
+     
+  inputF32 = &testInput_f32[0];  
+  outputF32 = &testOutput[0]; 
+     
+  /* Initialize the state and coefficient buffers for all Biquad sections */
+
+  arm_biquad_cas_df1_32x64_init_q31(&S1, NUMSTAGES, 
+                    (q31_t *) &coeffTable[190*0 + 10*(gainDB[0] + 9)],
+                    &biquadStateBand1Q31[0], 2);
+
+  arm_biquad_cas_df1_32x64_init_q31(&S2, NUMSTAGES, 
+                    (q31_t *) &coeffTable[190*1 + 10*(gainDB[1] + 9)],
+                    &biquadStateBand2Q31[0], 2);
+     
+  arm_biquad_cascade_df1_init_q31(&S3, NUMSTAGES, 
+                  (q31_t *) &coeffTable[190*2 + 10*(gainDB[2] + 9)],
+                  &biquadStateBand3Q31[0], 2);
+
+  arm_biquad_cascade_df1_init_q31(&S4, NUMSTAGES, 
+                  (q31_t *) &coeffTable[190*3 + 10*(gainDB[3] + 9)],
+                  &biquadStateBand4Q31[0], 2); 
+     
+  arm_biquad_cascade_df1_init_q31(&S5, NUMSTAGES, 
+                  (q31_t *) &coeffTable[190*4 + 10*(gainDB[4] + 9)],
+                  &biquadStateBand5Q31[0], 2); 
+     
+ 
+  /* Call the process functions and needs to change filter coefficients  
+     for varying the gain of each band */ 
+ 
+  for(i=0; i < NUMBLOCKS; i++) 
+    {    
+
+      /* ---------------------------------------------------------------------- 
+      ** Convert block of input data from float to Q31 
+      ** ------------------------------------------------------------------- */ 
+
+      arm_float_to_q31(inputF32 + (i*BLOCKSIZE), inputQ31, BLOCKSIZE);     
+         
+      /* ----------------------------------------------------------------------
+      ** Scale down by 1/8.  This provides additional headroom so that the
+      ** graphic EQ can apply gain.
+      ** ------------------------------------------------------------------- */
+
+      arm_scale_q31(inputQ31, 0x7FFFFFFF, -3, inputQ31, BLOCKSIZE);
+
+      /* ----------------------------------------------------------------------
+      ** Call the Q31 Biquad Cascade DF1 32x64 process function for band1, band2
+      ** ------------------------------------------------------------------- */
+
+      arm_biquad_cas_df1_32x64_q31(&S1, inputQ31, outputQ31, BLOCKSIZE); 
+      arm_biquad_cas_df1_32x64_q31(&S2, outputQ31, outputQ31, BLOCKSIZE); 
+
+      /* ---------------------------------------------------------------------- 
+      ** Call the Q31 Biquad Cascade DF1 process function for band3, band4, band5
+      ** ------------------------------------------------------------------- */        
+
+      arm_biquad_cascade_df1_q31(&S3, outputQ31, outputQ31, BLOCKSIZE); 
+      arm_biquad_cascade_df1_q31(&S4, outputQ31, outputQ31, BLOCKSIZE);  
+      arm_biquad_cascade_df1_q31(&S5, outputQ31, outputQ31, BLOCKSIZE); 
+ 
+      /* ---------------------------------------------------------------------- 
+      ** Convert Q31 result back to float 
+      ** ------------------------------------------------------------------- */ 
+
+      arm_q31_to_float(outputQ31, outputF32 + (i * BLOCKSIZE), BLOCKSIZE);
+
+      /* ---------------------------------------------------------------------- 
+      ** Scale back up
+      ** ------------------------------------------------------------------- */ 
+
+      arm_scale_f32(outputF32 + (i * BLOCKSIZE), 8.0f, outputF32 + (i * BLOCKSIZE), BLOCKSIZE);
+    }; 
+
+    snr = arm_snr_f32(testRefOutput_f32, testOutput, TESTLENGTH);
+
+    if (snr < SNR_THRESHOLD_F32) 
+    { 
+        status = ARM_MATH_TEST_FAILURE; 
+    } 
+    else
+    {
+        status = ARM_MATH_SUCCESS; 
+    }
+         
+  /* ---------------------------------------------------------------------- 
+  ** Loop here if the signal does not match the reference output.
+  ** ------------------------------------------------------------------- */ 
+     
+  if( status != ARM_MATH_SUCCESS) 
+    { 
+      while(1); 
+    } 
+
+
+} 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_linear_interp_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_linear_interp_example_f32_8c-example.html
new file mode 100644
index 000000000..544a5e7a6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_linear_interp_example_f32_8c-example.html
@@ -0,0 +1,202 @@
+
+
+
+
+CMSIS DSP Software Library: arm_linear_interp_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_linear_interp_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3 
+*  
+* Project:      CMSIS DSP Library  
+* Title:        arm_linear_interp_example_f32.c       
+*  
+* Description:  Example code demonstrating usage of sin function  
+*               and uses linear interpolation to get higher precision 
+*                
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include "arm_math.h" 
+#include "math_helper.h" 
+ 
+#define SNR_THRESHOLD           90 
+#define TEST_LENGTH_SAMPLES     10 
+#define XSPACING                (0.00005f)
+ 
+/* ---------------------------------------------------------------------- 
+* Test input data for F32 SIN function 
+* Generated by the MATLAB rand() function 
+* randn('state', 0)
+* xi = (((1/4.18318581819710)* randn(blockSize, 1) * 2* pi));
+* --------------------------------------------------------------------*/ 
+float32_t testInputSin_f32[TEST_LENGTH_SAMPLES] =  
+{
+    -0.649716504673081170,  -2.501723745497831200,  0.188250329003310100,   0.432092748487532540,   -1.722010988459680800,  1.788766476323060600,   1.786136060975809500,   -0.056525543169408797,  
+    0.491596272728153760,   0.262309671126153390   
+};  
+ 
+/*------------------------------------------------------------------------------ 
+*  Reference out of SIN F32 function for Block Size = 10  
+*  Calculated from sin(testInputSin_f32) 
+*------------------------------------------------------------------------------*/ 
+float32_t testRefSinOutput32_f32[TEST_LENGTH_SAMPLES] =   
+{
+    -0.604960695383043530,  -0.597090287967934840,  0.187140422442966500,   0.418772124875992690,   -0.988588831792106880,  0.976338412038794010,   0.976903856413481100,   -0.056495446835214236,  
+    0.472033731854734240,   0.259311907228582830
+}; 
+ 
+/*------------------------------------------------------------------------------ 
+*  Method 1: Test out Buffer Calculated from Cubic Interpolation 
+*------------------------------------------------------------------------------*/ 
+float32_t testOutput[TEST_LENGTH_SAMPLES]; 
+ 
+/*------------------------------------------------------------------------------ 
+*  Method 2: Test out buffer Calculated from Linear Interpolation 
+*------------------------------------------------------------------------------*/ 
+float32_t testLinIntOutput[TEST_LENGTH_SAMPLES]; 
+
+/*------------------------------------------------------------------------------ 
+*  External table used for linear interpolation 
+*------------------------------------------------------------------------------*/ 
+extern float32_t arm_linear_interep_table[188495];
+ 
+/* ---------------------------------------------------------------------- 
+* Global Variables for caluclating SNR's for Method1 & Method 2 
+* ------------------------------------------------------------------- */ 
+float32_t snr1; 
+float32_t snr2; 
+ 
+/* ---------------------------------------------------------------------------- 
+* Calculation of Sine values from Cubic Interpolation and Linear interpolation 
+* ---------------------------------------------------------------------------- */ 
+int32_t main(void) 
+{ 
+    uint32_t i; 
+    arm_status status; 
+            
+    arm_linear_interp_instance_f32 S = {188495, -3.141592653589793238, XSPACING, &arm_linear_interep_table[0]}; 
+
+    /*------------------------------------------------------------------------------ 
+    *  Method 1: Test out Calculated from Cubic Interpolation 
+    *------------------------------------------------------------------------------*/ 
+    for(i=0; i< TEST_LENGTH_SAMPLES; i++) 
+    { 
+        testOutput[i] = arm_sin_f32(testInputSin_f32[i]); 
+    } 
+     
+    /*------------------------------------------------------------------------------ 
+    *  Method 2: Test out Calculated from Cubic Interpolation and Linear interpolation 
+    *------------------------------------------------------------------------------*/
+    
+    for(i=0; i< TEST_LENGTH_SAMPLES; i++) 
+    { 
+        testLinIntOutput[i] = arm_linear_interp_f32(&S, testInputSin_f32[i]);
+    }
+ 
+    /*------------------------------------------------------------------------------ 
+    *                   SNR calculation for method 1 
+    *------------------------------------------------------------------------------*/   
+    snr1 = arm_snr_f32(testRefSinOutput32_f32, testOutput, 2); 
+ 
+    /*------------------------------------------------------------------------------ 
+    *                   SNR calculation for method 2 
+    *------------------------------------------------------------------------------*/   
+    snr2 = arm_snr_f32(testRefSinOutput32_f32, testLinIntOutput, 2); 
+     
+    /*------------------------------------------------------------------------------ 
+    *                   Initialise status depending on SNR calculations 
+    *------------------------------------------------------------------------------*/  
+    if( snr2 > snr1) 
+    { 
+        status = ARM_MATH_SUCCESS; 
+    } 
+    else 
+    { 
+        status = ARM_MATH_TEST_FAILURE; 
+    } 
+     
+    /* ---------------------------------------------------------------------- 
+    ** Loop here if the signals fail the PASS check. 
+    ** This denotes a test failure 
+    ** ------------------------------------------------------------------- */ 
+    if( status != ARM_MATH_SUCCESS) 
+    { 
+        while(1); 
+    } 
+} 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_matrix_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_matrix_example_f32_8c-example.html
new file mode 100644
index 000000000..428e48625
--- /dev/null
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@@ -0,0 +1,231 @@
+
+
+
+
+CMSIS DSP Software Library: arm_matrix_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_matrix_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3
+*  
+* Project:      CMSIS DSP Library  
+* Title:        arm_matrix_example_f32.c          
+*  
+* Description:  Example code demonstrating least square fit to data  
+*               using matrix functions  
+*                
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include "arm_math.h" 
+#include "math_helper.h" 
+ 
+#define SNR_THRESHOLD   90 
+ 
+/* -------------------------------------------------------------------------------- 
+* Test input data(Cycles) taken from FIR Q15 module for differant cases of blockSize  
+* and tapSize 
+* --------------------------------------------------------------------------------- */ 
+ 
+const float32_t B_f32[4] =  
+{    
+    782.0, 7577.0, 470.0, 4505.0 
+}; 
+ 
+/* -------------------------------------------------------------------------------- 
+* Formula to fit is  C1 + C2 * numTaps + C3 * blockSize + C4 * numTaps * blockSize 
+* -------------------------------------------------------------------------------- */ 
+ 
+const float32_t A_f32[16] =  
+{ 
+    /* Const,   numTaps,    blockSize,  numTaps*blockSize */    
+    1.0,        32.0,       4.0,        128.0,  
+    1.0,        32.0,       64.0,       2048.0, 
+    1.0,        16.0,       4.0,        64.0, 
+    1.0,        16.0,       64.0,       1024.0, 
+};  
+ 
+ 
+/* ---------------------------------------------------------------------- 
+* Temporary buffers  for storing intermediate values 
+* ------------------------------------------------------------------- */ 
+/* Transpose of A Buffer */ 
+float32_t AT_f32[16]; 
+/* (Transpose of A * A) Buffer */ 
+float32_t ATMA_f32[16]; 
+/* Inverse(Transpose of A * A)  Buffer */ 
+float32_t ATMAI_f32[16]; 
+/* Test Output Buffer */ 
+float32_t X_f32[4]; 
+ 
+/* ---------------------------------------------------------------------- 
+* Reference ouput buffer C1, C2, C3 and C4 taken from MATLAB  
+* ------------------------------------------------------------------- */ 
+const float32_t xRef_f32[4] = {73.0, 8.0, 21.25, 2.875}; 
+ 
+float32_t snr; 
+ 
+ 
+/* ---------------------------------------------------------------------- 
+* Max magnitude FFT Bin test 
+* ------------------------------------------------------------------- */ 
+ 
+int32_t main(void) 
+{ 
+ 
+    arm_matrix_instance_f32 A;      /* Matrix A Instance */ 
+    arm_matrix_instance_f32 AT;     /* Matrix AT(A transpose) instance */ 
+    arm_matrix_instance_f32 ATMA;   /* Matrix ATMA( AT multiply with A) instance */ 
+    arm_matrix_instance_f32 ATMAI;  /* Matrix ATMAI(Inverse of ATMA) instance */ 
+    arm_matrix_instance_f32 B;      /* Matrix B instance */ 
+    arm_matrix_instance_f32 X;      /* Matrix X(Unknown Matrix) instance */ 
+ 
+    uint32_t srcRows, srcColumns;   /* Temporary variables */
+    arm_status status; 
+ 
+    /* Initialise A Matrix Instance with numRows, numCols and data array(A_f32) */ 
+    srcRows = 4; 
+    srcColumns = 4; 
+    arm_mat_init_f32(&A, srcRows, srcColumns, (float32_t *)A_f32); 
+ 
+    /* Initialise Matrix Instance AT with numRows, numCols and data array(AT_f32) */ 
+    srcRows = 4; 
+    srcColumns = 4; 
+    arm_mat_init_f32(&AT, srcRows, srcColumns, AT_f32); 
+ 
+    /* calculation of A transpose */ 
+    status = arm_mat_trans_f32(&A, &AT); 
+     
+ 
+    /* Initialise ATMA Matrix Instance with numRows, numCols and data array(ATMA_f32) */ 
+    srcRows = 4; 
+    srcColumns = 4; 
+    arm_mat_init_f32(&ATMA, srcRows, srcColumns, ATMA_f32); 
+ 
+    /* calculation of AT Multiply with A */ 
+    status = arm_mat_mult_f32(&AT, &A, &ATMA); 
+ 
+    /* Initialise ATMAI Matrix Instance with numRows, numCols and data array(ATMAI_f32) */ 
+    srcRows = 4; 
+    srcColumns = 4; 
+    arm_mat_init_f32(&ATMAI, srcRows, srcColumns, ATMAI_f32); 
+ 
+    /* calculation of Inverse((Transpose(A) * A) */ 
+    status = arm_mat_inverse_f32(&ATMA, &ATMAI); 
+ 
+    /* calculation of (Inverse((Transpose(A) * A)) *  Transpose(A)) */ 
+    status = arm_mat_mult_f32(&ATMAI, &AT, &ATMA); 
+ 
+    /* Initialise B Matrix Instance with numRows, numCols and data array(B_f32) */ 
+    srcRows = 4; 
+    srcColumns = 1; 
+    arm_mat_init_f32(&B, srcRows, srcColumns, (float32_t *)B_f32);  
+ 
+    /* Initialise X Matrix Instance with numRows, numCols and data array(X_f32) */ 
+    srcRows = 4; 
+    srcColumns = 1; 
+    arm_mat_init_f32(&X, srcRows, srcColumns, X_f32); 
+ 
+    /* calculation ((Inverse((Transpose(A) * A)) *  Transpose(A)) * B) */ 
+    status = arm_mat_mult_f32(&ATMA, &B, &X); 
+     
+    /* Comparison of reference with test output */     
+    snr = arm_snr_f32((float32_t *)xRef_f32, X_f32, 4); 
+ 
+    /*------------------------------------------------------------------------------ 
+    *                   Initialise status depending on SNR calculations 
+    *------------------------------------------------------------------------------*/  
+    if( snr > SNR_THRESHOLD) 
+    { 
+        status = ARM_MATH_SUCCESS; 
+    } 
+    else 
+    { 
+        status = ARM_MATH_TEST_FAILURE; 
+    } 
+ 
+     
+    /* ---------------------------------------------------------------------- 
+    ** Loop here if the signals fail the PASS check. 
+    ** This denotes a test failure 
+    ** ------------------------------------------------------------------- */    
+    if( status != ARM_MATH_SUCCESS) 
+    { 
+      while(1); 
+    } 
+} 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_signal_converge_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_signal_converge_example_f32_8c-example.html
new file mode 100644
index 000000000..5898465db
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_signal_converge_example_f32_8c-example.html
@@ -0,0 +1,241 @@
+
+
+
+
+CMSIS DSP Software Library: arm_signal_converge_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_signal_converge_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3
+*  
+* Project:      CMSIS DSP Library  
+* Title:        arm_signal_converge_example_f32.c         
+*  
+* Description:  Example code demonstrating convergence of an adaptive 
+*               filter. 
+* 
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include "arm_math.h" 
+#include "math_helper.h" 
+ 
+/* ---------------------------------------------------------------------- 
+** Global defines for the simulation 
+* ------------------------------------------------------------------- */ 
+ 
+#define TEST_LENGTH_SAMPLES 1536 
+#define NUMTAPS             32 
+#define BLOCKSIZE           32 
+#define DELTA_ERROR         0.000001f 
+#define DELTA_COEFF         0.0001f 
+#define MU                  0.5f 
+ 
+#define NUMFRAMES (TEST_LENGTH_SAMPLES / BLOCKSIZE) 
+ 
+/* ---------------------------------------------------------------------- 
+* Declare FIR state buffers and structure  
+* ------------------------------------------------------------------- */ 
+  
+float32_t firStateF32[NUMTAPS + BLOCKSIZE];  
+arm_fir_instance_f32 LPF_instance; 
+ 
+/* ---------------------------------------------------------------------- 
+* Declare LMSNorm state buffers and structure  
+* ------------------------------------------------------------------- */ 
+  
+float32_t lmsStateF32[NUMTAPS + BLOCKSIZE];  
+float32_t errOutput[TEST_LENGTH_SAMPLES]; 
+arm_lms_norm_instance_f32 lmsNorm_instance; 
+ 
+ 
+/* ---------------------------------------------------------------------- 
+* Function Declarations for Signal Convergence Example  
+* ------------------------------------------------------------------- */ 
+ 
+arm_status test_signal_converge_example( void ); 
+ 
+ 
+/* ---------------------------------------------------------------------- 
+* Internal functions 
+* ------------------------------------------------------------------- */ 
+arm_status test_signal_converge(float32_t* err_signal, 
+                                 uint32_t blockSize); 
+ 
+void getinput(float32_t* input, 
+         uint32_t fr_cnt,  
+         uint32_t blockSize);  
+ 
+/* ---------------------------------------------------------------------- 
+* External Declarations for FIR F32 module Test 
+* ------------------------------------------------------------------- */ 
+extern float32_t testInput_f32[TEST_LENGTH_SAMPLES]; 
+extern float32_t lmsNormCoeff_f32[32]; 
+extern const float32_t FIRCoeff_f32[32]; 
+extern arm_lms_norm_instance_f32 lmsNorm_instance; 
+ 
+/* ---------------------------------------------------------------------- 
+* Declare I/O buffers  
+* ------------------------------------------------------------------- */ 
+ 
+float32_t wire1[BLOCKSIZE]; 
+float32_t wire2[BLOCKSIZE]; 
+float32_t wire3[BLOCKSIZE]; 
+float32_t err_signal[BLOCKSIZE]; 
+ 
+/* ---------------------------------------------------------------------- 
+* Signal converge test 
+* ------------------------------------------------------------------- */ 
+ 
+int32_t main(void) 
+{ 
+  uint32_t i; 
+  arm_status status; 
+  uint32_t index; 
+  float32_t minValue; 
+ 
+  /* Initialize the LMSNorm data structure */ 
+  arm_lms_norm_init_f32(&lmsNorm_instance, NUMTAPS, lmsNormCoeff_f32, lmsStateF32, MU, BLOCKSIZE); 
+ 
+  /* Initialize the FIR data structure */ 
+  arm_fir_init_f32(&LPF_instance, NUMTAPS, (float32_t *)FIRCoeff_f32, firStateF32, BLOCKSIZE); 
+ 
+  /* ---------------------------------------------------------------------- 
+  * Loop over the frames of data and execute each of the processing 
+  * functions in the system. 
+  * ------------------------------------------------------------------- */ 
+ 
+  for(i=0; i < NUMFRAMES; i++)  
+    { 
+      /* Read the input data - uniformly distributed random noise - into wire1 */  
+      arm_copy_f32(testInput_f32 + (i * BLOCKSIZE), wire1, BLOCKSIZE); 
+ 
+      /* Execute the FIR processing function.  Input wire1 and output wire2 */  
+      arm_fir_f32(&LPF_instance, wire1, wire2, BLOCKSIZE); 
+       
+      /* Execute the LMS Norm processing function*/  
+ 
+      arm_lms_norm_f32(&lmsNorm_instance, /* LMSNorm instance */ 
+               wire1,                     /* Input signal */  
+               wire2,                     /* Reference Signal */ 
+               wire3,                     /* Converged Signal */ 
+               err_signal,                /* Error Signal, this will become small as the signal converges */ 
+               BLOCKSIZE);                /* BlockSize */ 
+ 
+      /* apply overall gain */  
+      arm_scale_f32(wire3, 5, wire3, BLOCKSIZE);     /* in-place buffer */  
+    } 
+ 
+  status = ARM_MATH_SUCCESS; 
+ 
+  /* ------------------------------------------------------------------------------- 
+  * Test whether the error signal has reached towards 0. 
+  * ----------------------------------------------------------------------------- */ 
+ 
+  arm_abs_f32(err_signal, err_signal, BLOCKSIZE); 
+  arm_min_f32(err_signal, BLOCKSIZE, &minValue, &index); 
+ 
+  if (minValue > DELTA_ERROR) 
+  { 
+      status = ARM_MATH_TEST_FAILURE; 
+  } 
+ 
+  /* ---------------------------------------------------------------------- 
+  * Test whether the filter coefficients have converged. 
+  * ------------------------------------------------------------------- */ 
+ 
+  arm_sub_f32((float32_t *)FIRCoeff_f32, lmsNormCoeff_f32, lmsNormCoeff_f32, NUMTAPS); 
+ 
+  arm_abs_f32(lmsNormCoeff_f32, lmsNormCoeff_f32, NUMTAPS); 
+  arm_min_f32(lmsNormCoeff_f32, NUMTAPS, &minValue, &index); 
+ 
+  if (minValue > DELTA_COEFF) 
+  { 
+      status = ARM_MATH_TEST_FAILURE; 
+  } 
+ 
+  /* ---------------------------------------------------------------------- 
+  * Loop here if the signals did not pass the convergence check. 
+  * This denotes a test failure 
+  * ------------------------------------------------------------------- */ 
+ 
+  if( status != ARM_MATH_SUCCESS) 
+  { 
+      while(1); 
+  } 
+} 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_sin_cos_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_sin_cos_example_f32_8c-example.html
new file mode 100644
index 000000000..33721b76b
--- /dev/null
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@@ -0,0 +1,167 @@
+
+
+
+
+CMSIS DSP Software Library: arm_sin_cos_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_sin_cos_example_f32.c
      
    
+
    
+
    
+
    /* ---------------------------------------------------------------------- 
+* Copyright (C) 2010 ARM Limited. All rights reserved.   
+*  
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3
+*  
+* Project:      CMSIS DSP Library  
+* Title:        arm_sin_cos_example_f32.c         
+*  
+* Description:  Example code demonstrating sin and cos calculation of input signal. 
+* 
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */ 
+ 
+#include <math.h>     
+#include "arm_math.h" 
+ 
+/* ---------------------------------------------------------------------- 
+* Defines each of the tests performed 
+* ------------------------------------------------------------------- */ 
+#define MAX_BLOCKSIZE   32 
+#define DELTA           (0.000001f) 
+ 
+ 
+/* ---------------------------------------------------------------------- 
+* Test input data for Floating point sin_cos example for 32-blockSize 
+* Generated by the MATLAB randn() function 
+* ------------------------------------------------------------------- */ 
+ 
+const float32_t testInput_f32[MAX_BLOCKSIZE] =  
+{    
+    -1.244916875853235400,  -4.793533929171324800,  0.360705030233248850,   0.827929644170887320,   -3.299532218312426900,  3.427441903227623800,   3.422401784294607700,   -0.108308165334010680,   
+    0.941943896490312180,   0.502609575000365850,   -0.537345278736373500,  2.088817392965764500,   -1.693168684143455700,  6.283185307179590700,   -0.392545884746175080,  0.327893095115825040,    
+    3.070147440456292300,   0.170611405884662230,   -0.275275082396073010,  -2.395492805446796300,  0.847311163536506600,   -3.845517018083148800,  2.055818378415868300,   4.672594161978930800,    
+    -1.990923030266425800,  2.469305197656249500,   3.609002606064021000,   -4.586736582331667500,  -4.147080139136136300,  1.643756718868359500,   -1.150866392366494800,  1.985805026477433800 
+ 
+ 
+};  
+ 
+const float32_t testRefOutput_f32 = 1.000000000; 
+ 
+/* ---------------------------------------------------------------------- 
+* Declare Global variables  
+* ------------------------------------------------------------------- */ 
+uint32_t blockSize = 32; 
+float32_t  testOutput;  
+float32_t  cosOutput;  
+float32_t  sinOutput;  
+float32_t  cosSquareOutput;  
+float32_t  sinSquareOutput; 
+ 
+/* ---------------------------------------------------------------------- 
+* Max magnitude FFT Bin test 
+* ------------------------------------------------------------------- */ 
+
+arm_status status; 
+ 
+int32_t main(void) 
+{ 
+    float32_t diff; 
+    uint32_t i; 
+ 
+    for(i=0; i< blockSize; i++) 
+    { 
+        cosOutput = arm_cos_f32(testInput_f32[i]); 
+        sinOutput = arm_sin_f32(testInput_f32[i]); 
+ 
+        arm_mult_f32(&cosOutput, &cosOutput, &cosSquareOutput, 1); 
+        arm_mult_f32(&sinOutput, &sinOutput, &sinSquareOutput, 1); 
+ 
+        arm_add_f32(&cosSquareOutput, &sinSquareOutput, &testOutput, 1);
+ 
+        /* absolute value of difference between ref and test */ 
+        diff = fabsf(testRefOutput_f32 - testOutput); 
+     
+        /* Comparison of sin_cos value with reference */ 
+        if(diff > DELTA) 
+        { 
+           status = ARM_MATH_TEST_FAILURE; 
+        } 
+         
+        if( status == ARM_MATH_TEST_FAILURE) 
+        { 
+           while(1); 
+        } 
+ 
+    } 
+} 
+ 
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_variance_example_f32_8c-example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_variance_example_f32_8c-example.html
new file mode 100644
index 000000000..7df1dad7b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/arm_variance_example_f32_8c-example.html
@@ -0,0 +1,201 @@
+
+
+
+
+CMSIS DSP Software Library: arm_variance_example_f32.c
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    arm_variance_example_f32.c
      
    
+
    
+
    
+
    /* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.     
+*    
+* $Date:        29. November 2010  
+* $Revision:    V1.0.3
+*     
+* Project:      CMSIS DSP Library  
+* Title:        arm_variance_example_f32.c       
+* 
+* Description:  Example code demonstrating variance calculation of input sequence.
+*     
+* Target Processor: Cortex-M4/Cortex-M3  
+*
+*
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation. 
+* 
+* Version 1.0.1 2010/10/05 KK 
+*    Production release and review comments incorporated.  
+*
+* Version 1.0.0 2010/09/20 KK
+*    Production release and review comments incorporated.
+* ------------------------------------------------------------------- */
+
+#include <math.h>    
+#include "arm_math.h"
+
+/* ----------------------------------------------------------------------
+* Defines each of the tests performed
+* ------------------------------------------------------------------- */
+#define MAX_BLOCKSIZE   32
+#define DELTA           (0.000001f)
+
+
+/* ----------------------------------------------------------------------
+* Declare I/O buffers 
+* ------------------------------------------------------------------- */
+float32_t wire1[MAX_BLOCKSIZE];
+float32_t wire2[MAX_BLOCKSIZE];
+float32_t wire3[MAX_BLOCKSIZE];
+
+/* ----------------------------------------------------------------------
+* Test input data for Floating point Variance example for 32-blockSize
+* Generated by the MATLAB randn() function
+* ------------------------------------------------------------------- */
+
+float32_t testInput_f32[32] = 
+{ 
+-0.432564811528221,     -1.665584378238097,     0.125332306474831,      0.287676420358549,  
+-1.146471350681464,     1.190915465642999,      1.189164201652103,      -0.037633276593318,     
+0.327292361408654,      0.174639142820925,      -0.186708577681439,     0.725790548293303,  
+-0.588316543014189,     2.183185818197101,      -0.136395883086596,     0.113931313520810,  
+1.066768211359189,      0.059281460523605,      -0.095648405483669,     -0.832349463650022,     
+0.294410816392640,      -1.336181857937804,     0.714324551818952,      1.623562064446271,  
+-0.691775701702287,     0.857996672828263,      1.254001421602532,      -1.593729576447477,     
+-1.440964431901020,     0.571147623658178,      -0.399885577715363,     0.689997375464345
+  
+};
+
+/* ----------------------------------------------------------------------
+* Declare Global variables 
+* ------------------------------------------------------------------- */
+uint32_t blockSize = 32;
+float32_t  refVarianceOut = 0.903941793931839; 
+
+/* ----------------------------------------------------------------------
+* Variance calculation test
+* ------------------------------------------------------------------- */
+
+int32_t main(void)
+{
+    arm_status status;
+    float32_t mean, oneByBlockSize;
+    float32_t variance;
+    float32_t diff;
+    
+    status = ARM_MATH_SUCCESS;
+    
+    /* Calculation of mean value of input */
+    
+    /* x' = 1/blockSize * (x(0)* 1 + x(1) * 1 + ... + x(n-1) * 1) */
+    
+    /* Fill wire1 buffer with 1.0 value */
+    arm_fill_f32(1.0,  wire1, blockSize);
+    
+    /* Calculate the dot product of wire1 and wire2 */
+    /* (x(0)* 1 + x(1) * 1 + ...+ x(n-1) * 1) */
+    arm_dot_prod_f32(testInput_f32, wire1, blockSize, &mean);
+    
+    /* Calculation of 1/blockSize */
+    oneByBlockSize = 1.0 / (blockSize);
+    
+    /* 1/blockSize * (x(0)* 1 + x(1) * 1 + ... + x(n-1) * 1)  */
+    arm_mult_f32(&mean, &oneByBlockSize, &mean, 1);
+    
+    
+    /* Calculation of variance value of input */
+    
+    /* (1/blockSize) * (x(0) - x') * (x(0) - x') + (x(1) - x') * (x(1) - x') + ... + (x(n-1) - x') * (x(n-1) - x') */
+    
+    /* Fill wire2 with mean value x' */
+    arm_fill_f32(mean,  wire2, blockSize);
+    
+    /* wire3 contains (x-x') */     
+    arm_sub_f32(testInput_f32, wire2, wire3, blockSize);
+    
+    /* wire2 contains (x-x') */             
+    arm_copy_f32(wire3, wire2, blockSize);
+    
+    /* (x(0) - x') * (x(0) - x') + (x(1) - x') * (x(1) - x') + ... + (x(n-1) - x') * (x(n-1) - x') */
+    arm_dot_prod_f32(wire2, wire3, blockSize, &variance); 
+
+    /* Calculation of 1/blockSize */
+    oneByBlockSize = 1.0 / (blockSize - 1);
+
+    /* Calculation of variance */       
+    arm_mult_f32(&variance, &oneByBlockSize, &variance, 1);
+    
+    /* absolute value of difference between ref and test */
+    diff = fabsf(refVarianceOut - variance);
+    
+    /* Comparison of variance value with reference */
+    if(diff > DELTA)
+    {
+        status = ARM_MATH_TEST_FAILURE;
+    }
+        
+    if( status != ARM_MATH_SUCCESS)
+    {
+      while(1);
+    }
+}
+
+
     
    
+
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
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+
+
+
+CMSIS DSP Software Library: Alphabetical List
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Data Structure Index
      
    
+
    
+
    
+
    A
    
+
+
      A  
    
+    		arm_cfft_radix4_instance_q15   arm_fir_instance_q7   arm_fir_sparse_instance_q7   arm_lms_norm_instance_q31   
    arm_bilinear_interp_instance_f32   arm_cfft_radix4_instance_q31   arm_fir_interpolate_instance_f32   arm_iir_lattice_instance_f32   arm_matrix_instance_f32   
    arm_bilinear_interp_instance_q15   arm_dct4_instance_f32   arm_fir_interpolate_instance_q15   arm_iir_lattice_instance_q15   arm_matrix_instance_q15   
    arm_bilinear_interp_instance_q31   arm_dct4_instance_q15   arm_fir_interpolate_instance_q31   arm_iir_lattice_instance_q31   arm_matrix_instance_q31   
    arm_bilinear_interp_instance_q7   arm_dct4_instance_q31   arm_fir_lattice_instance_f32   arm_linear_interp_instance_f32   arm_pid_instance_f32   
    arm_biquad_cas_df1_32x64_ins_q31   arm_fir_decimate_instance_f32   arm_fir_lattice_instance_q15   arm_lms_instance_f32   arm_pid_instance_q15   
    arm_biquad_cascade_df2T_instance_f32   arm_fir_decimate_instance_q15   arm_fir_lattice_instance_q31   arm_lms_instance_q15   arm_pid_instance_q31   
    arm_biquad_casd_df1_inst_f32   arm_fir_decimate_instance_q31   arm_fir_sparse_instance_f32   arm_lms_instance_q31   arm_rfft_instance_f32   
    arm_biquad_casd_df1_inst_q15   arm_fir_instance_f32   arm_fir_sparse_instance_q15   arm_lms_norm_instance_f32   arm_rfft_instance_q15   
    arm_biquad_casd_df1_inst_q31   arm_fir_instance_q15   arm_fir_sparse_instance_q31   arm_lms_norm_instance_q15   arm_rfft_instance_q31   
    arm_cfft_radix4_instance_f32   arm_fir_instance_q31   
    A
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
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+}
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+h2 {
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+dt {
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+}
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+	-moz-column-count: 3;
+	-webkit-column-count: 3;
+}
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+p.endli {
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+}
+
+p.enddd {
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+}
+
+p.endtd {
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+}
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+/* @end */
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+caption {
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+}
+
+span.legend {
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+        text-align: center;
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+h3.version {
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+	font-size: 105%;
+}
+
+pre.fragment {
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+	background-color: #FBFCFD;
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+	margin: 4px 8px 4px 2px;
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+	word-wrap: break-word;
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+}
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+}
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+}
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+}
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+	color: black;
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+	vertical-align: middle;
+}
+
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+
+span.keyword {
+	color: #008000
+}
+
+span.keywordtype {
+	color: #604020
+}
+
+span.keywordflow {
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+}
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+}
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+}
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+}
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+}
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+}
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+}
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+	font-weight: bold;
+}
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+}
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+}
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+}
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+}
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+	border: none;
+	border-top: 1px solid #4A6AAA;
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
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+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
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+}
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+}
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+	margin: 2px;
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+	padding: 2px;
+}
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+	margin-bottom: 10px;
+}
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+        font-weight: bold;
+        margin-left: 6px;
+}
+
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+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
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+        color: #253555;
+        font-weight: bold;
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        /* opera specific markup */
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 8px;
+        border-top-left-radius: 8px;
+        /* firefox specific markup */
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        -moz-border-radius-topright: 8px;
+        -moz-border-radius-topleft: 8px;
+        /* webkit specific markup */
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        -webkit-border-top-right-radius: 8px;
+        -webkit-border-top-left-radius: 8px;
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+
+}
+
+.memdoc {
+        border-bottom: 1px solid #A8B8D9;      
+        border-left: 1px solid #A8B8D9;      
+        border-right: 1px solid #A8B8D9; 
+        padding: 2px 5px;
+        background-color: #FBFCFD;
+        border-top-width: 0;
+        /* opera specific markup */
+        border-bottom-left-radius: 8px;
+        border-bottom-right-radius: 8px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 8px;
+        -moz-border-radius-bottomright: 8px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        background-image: -moz-linear-gradient(center top, #FFFFFF 0%, #FFFFFF 60%, #F7F8FB 95%, #EEF1F7);
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 8px;
+        -webkit-border-bottom-right-radius: 8px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        background-image: -webkit-gradient(linear,center top,center bottom,from(#FFFFFF), color-stop(0.6,#FFFFFF), color-stop(0.60,#FFFFFF), color-stop(0.95,#F7F8FB), to(#EEF1F7));
+}
+
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+}
+
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+}
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+	white-space: nowrap;
+}
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+}
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+}       
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+}
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+}       
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+}
+
+
+
+
+/* @end */
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+
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+	margin: 0px;
+}
+
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+
+.directory {
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+	font-weight: bold;
+	margin: 5px;
+}
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+}
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+/*
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+
+/*
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+	background-image: url("yourimage.gif");
+}
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+}
+*/
+
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+	margin-top: 0;
+}
+
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+	white-space: nowrap;
+}
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+	margin: 0px;
+}
+
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+}
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+	font-weight: bold;
+}
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+}
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+}
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+	margin: 0px;
+}
+
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+}
+
+/* @end */
+
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+}
+
+address {
+	font-style: normal;
+	color: #2A3D61;
+}
+
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+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+	text-align:left;
+}
+
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+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: url('tab_b.png');
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
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+	font-size: 11px;
+	background-image:url('tab_b.png');
+	background-repeat:repeat-x;
+	height:30px;
+	line-height:30px;
+	color:#8AA0CC;
+	border:solid 1px #C2CDE4;
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right: 15px;
+	background-image:url('bc_s.png');
+	background-repeat:no-repeat;
+	background-position:right;
+	color:#364D7C;
+}
+
+.navpath a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+}
+
+.navpath a:hover
+{
+	color:#6884BD;
+}
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}       
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+div.header
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+        background-image:url('nav_h.png');
+        background-repeat:repeat-x;
+	background-color: #F9FAFC;
+	margin:  0px;
+	border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/doxygen.png b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/doxygen.png
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/examples.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/examples.html
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+CMSIS DSP Software Library: Examples
+
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+
    
+  
    
+
    Examples
      
    
+
    
+
    
+Here is a list of all examples:
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+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/files.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/files.html
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+
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+CMSIS DSP Software Library: File Index
+
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+
    
+  
    
+
    File List
      
    
+
    
+
    
+Here is a list of all files with brief descriptions:
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    arm_abs_f32.c [code]
    arm_abs_q15.c [code]
    arm_abs_q31.c [code]
    arm_abs_q7.c [code]
    arm_add_f32.c [code]
    arm_add_q15.c [code]
    arm_add_q31.c [code]
    arm_add_q7.c [code]
    arm_biquad_cascade_df1_32x64_init_q31.c [code]
    arm_biquad_cascade_df1_32x64_q31.c [code]
    arm_biquad_cascade_df1_f32.c [code]
    arm_biquad_cascade_df1_fast_q15.c [code]
    arm_biquad_cascade_df1_fast_q31.c [code]
    arm_biquad_cascade_df1_init_f32.c [code]
    arm_biquad_cascade_df1_init_q15.c [code]
    arm_biquad_cascade_df1_init_q31.c [code]
    arm_biquad_cascade_df1_q15.c [code]
    arm_biquad_cascade_df1_q31.c [code]
    arm_biquad_cascade_df2T_f32.c [code]
    arm_biquad_cascade_df2T_init_f32.c [code]
    arm_cfft_radix4_f32.c [code]
    arm_cfft_radix4_init_f32.c [code]
    arm_cfft_radix4_init_q15.c [code]
    arm_cfft_radix4_init_q31.c [code]
    arm_cfft_radix4_q15.c [code]
    arm_cfft_radix4_q31.c [code]
    arm_class_marks_example_f32.c [code]
    arm_cmplx_conj_f32.c [code]
    arm_cmplx_conj_q15.c [code]
    arm_cmplx_conj_q31.c [code]
    arm_cmplx_dot_prod_f32.c [code]
    arm_cmplx_dot_prod_q15.c [code]
    arm_cmplx_dot_prod_q31.c [code]
    arm_cmplx_mag_f32.c [code]
    arm_cmplx_mag_q15.c [code]
    arm_cmplx_mag_q31.c [code]
    arm_cmplx_mag_squared_f32.c [code]
    arm_cmplx_mag_squared_q15.c [code]
    arm_cmplx_mag_squared_q31.c [code]
    arm_cmplx_mult_cmplx_f32.c [code]
    arm_cmplx_mult_cmplx_q15.c [code]
    arm_cmplx_mult_cmplx_q31.c [code]
    arm_cmplx_mult_real_f32.c [code]
    arm_cmplx_mult_real_q15.c [code]
    arm_cmplx_mult_real_q31.c [code]
    arm_common_tables.c [code]
    arm_conv_f32.c [code]
    arm_conv_fast_q15.c [code]
    arm_conv_fast_q31.c [code]
    arm_conv_partial_f32.c [code]
    arm_conv_partial_fast_q15.c [code]
    arm_conv_partial_fast_q31.c [code]
    arm_conv_partial_q15.c [code]
    arm_conv_partial_q31.c [code]
    arm_conv_partial_q7.c [code]
    arm_conv_q15.c [code]
    arm_conv_q31.c [code]
    arm_conv_q7.c [code]
    arm_convolution_example_f32.c [code]
    arm_copy_f32.c [code]
    arm_copy_q15.c [code]
    arm_copy_q31.c [code]
    arm_copy_q7.c [code]
    arm_correlate_f32.c [code]
    arm_correlate_fast_q15.c [code]
    arm_correlate_fast_q31.c [code]
    arm_correlate_q15.c [code]
    arm_correlate_q31.c [code]
    arm_correlate_q7.c [code]
    arm_cos_f32.c [code]
    arm_cos_q15.c [code]
    arm_cos_q31.c [code]
    arm_dct4_f32.c [code]
    arm_dct4_init_f32.c [code]
    arm_dct4_init_q15.c [code]
    arm_dct4_init_q31.c [code]
    arm_dct4_q15.c [code]
    arm_dct4_q31.c [code]
    arm_dot_prod_f32.c [code]
    arm_dot_prod_q15.c [code]
    arm_dot_prod_q31.c [code]
    arm_dot_prod_q7.c [code]
    arm_dotproduct_example_f32.c [code]
    arm_fft_bin_example_f32.c [code]
    arm_fill_f32.c [code]
    arm_fill_q15.c [code]
    arm_fill_q31.c [code]
    arm_fill_q7.c [code]
    arm_fir_decimate_f32.c [code]
    arm_fir_decimate_fast_q15.c [code]
    arm_fir_decimate_fast_q31.c [code]
    arm_fir_decimate_init_f32.c [code]
    arm_fir_decimate_init_q15.c [code]
    arm_fir_decimate_init_q31.c [code]
    arm_fir_decimate_q15.c [code]
    arm_fir_decimate_q31.c [code]
    arm_fir_example_f32.c [code]
    arm_fir_f32.c [code]
    arm_fir_fast_q15.c [code]
    arm_fir_fast_q31.c [code]
    arm_fir_init_f32.c [code]
    arm_fir_init_q15.c [code]
    arm_fir_init_q31.c [code]
    arm_fir_init_q7.c [code]
    arm_fir_interpolate_f32.c [code]
    arm_fir_interpolate_init_f32.c [code]
    arm_fir_interpolate_init_q15.c [code]
    arm_fir_interpolate_init_q31.c [code]
    arm_fir_interpolate_q15.c [code]
    arm_fir_interpolate_q31.c [code]
    arm_fir_lattice_f32.c [code]
    arm_fir_lattice_init_f32.c [code]
    arm_fir_lattice_init_q15.c [code]
    arm_fir_lattice_init_q31.c [code]
    arm_fir_lattice_q15.c [code]
    arm_fir_lattice_q31.c [code]
    arm_fir_q15.c [code]
    arm_fir_q31.c [code]
    arm_fir_q7.c [code]
    arm_fir_sparse_f32.c [code]
    arm_fir_sparse_init_f32.c [code]
    arm_fir_sparse_init_q15.c [code]
    arm_fir_sparse_init_q31.c [code]
    arm_fir_sparse_init_q7.c [code]
    arm_fir_sparse_q15.c [code]
    arm_fir_sparse_q31.c [code]
    arm_fir_sparse_q7.c [code]
    arm_float_to_q15.c [code]
    arm_float_to_q31.c [code]
    arm_float_to_q7.c [code]
    arm_graphic_equalizer_example_q31.c [code]
    arm_iir_lattice_f32.c [code]
    arm_iir_lattice_init_f32.c [code]
    arm_iir_lattice_init_q15.c [code]
    arm_iir_lattice_init_q31.c [code]
    arm_iir_lattice_q15.c [code]
    arm_iir_lattice_q31.c [code]
    arm_linear_interp_example_f32.c [code]
    arm_lms_f32.c [code]
    arm_lms_init_f32.c [code]
    arm_lms_init_q15.c [code]
    arm_lms_init_q31.c [code]
    arm_lms_norm_f32.c [code]
    arm_lms_norm_init_f32.c [code]
    arm_lms_norm_init_q15.c [code]
    arm_lms_norm_init_q31.c [code]
    arm_lms_norm_q15.c [code]
    arm_lms_norm_q31.c [code]
    arm_lms_q15.c [code]
    arm_lms_q31.c [code]
    arm_mat_add_f32.c [code]
    arm_mat_add_q15.c [code]
    arm_mat_add_q31.c [code]
    arm_mat_init_f32.c [code]
    arm_mat_init_q15.c [code]
    arm_mat_init_q31.c [code]
    arm_mat_inverse_f32.c [code]
    arm_mat_mult_f32.c [code]
    arm_mat_mult_fast_q15.c [code]
    arm_mat_mult_fast_q31.c [code]
    arm_mat_mult_q15.c [code]
    arm_mat_mult_q31.c [code]
    arm_mat_scale_f32.c [code]
    arm_mat_scale_q15.c [code]
    arm_mat_scale_q31.c [code]
    arm_mat_sub_f32.c [code]
    arm_mat_sub_q15.c [code]
    arm_mat_sub_q31.c [code]
    arm_mat_trans_f32.c [code]
    arm_mat_trans_q15.c [code]
    arm_mat_trans_q31.c [code]
    arm_math.h [code]
    arm_matrix_example_f32.c [code]
    arm_max_f32.c [code]
    arm_max_q15.c [code]
    arm_max_q31.c [code]
    arm_max_q7.c [code]
    arm_mean_f32.c [code]
    arm_mean_q15.c [code]
    arm_mean_q31.c [code]
    arm_mean_q7.c [code]
    arm_min_f32.c [code]
    arm_min_q15.c [code]
    arm_min_q31.c [code]
    arm_min_q7.c [code]
    arm_mult_f32.c [code]
    arm_mult_q15.c [code]
    arm_mult_q31.c [code]
    arm_mult_q7.c [code]
    arm_negate_f32.c [code]
    arm_negate_q15.c [code]
    arm_negate_q31.c [code]
    arm_negate_q7.c [code]
    arm_offset_f32.c [code]
    arm_offset_q15.c [code]
    arm_offset_q31.c [code]
    arm_offset_q7.c [code]
    arm_pid_init_f32.c [code]
    arm_pid_init_q15.c [code]
    arm_pid_init_q31.c [code]
    arm_pid_reset_f32.c [code]
    arm_pid_reset_q15.c [code]
    arm_pid_reset_q31.c [code]
    arm_power_f32.c [code]
    arm_power_q15.c [code]
    arm_power_q31.c [code]
    arm_power_q7.c [code]
    arm_q15_to_float.c [code]
    arm_q15_to_q31.c [code]
    arm_q15_to_q7.c [code]
    arm_q31_to_float.c [code]
    arm_q31_to_q15.c [code]
    arm_q31_to_q7.c [code]
    arm_q7_to_float.c [code]
    arm_q7_to_q15.c [code]
    arm_q7_to_q31.c [code]
    arm_rfft_f32.c [code]
    arm_rfft_init_f32.c [code]
    arm_rfft_init_q15.c [code]
    arm_rfft_init_q31.c [code]
    arm_rfft_q15.c [code]
    arm_rfft_q31.c [code]
    arm_rms_f32.c [code]
    arm_rms_q15.c [code]
    arm_rms_q31.c [code]
    arm_scale_f32.c [code]
    arm_scale_q15.c [code]
    arm_scale_q31.c [code]
    arm_scale_q7.c [code]
    arm_shift_q15.c [code]
    arm_shift_q31.c [code]
    arm_shift_q7.c [code]
    arm_signal_converge_example_f32.c [code]
    arm_sin_cos_example_f32.c [code]
    arm_sin_cos_f32.c [code]
    arm_sin_cos_q31.c [code]
    arm_sin_f32.c [code]
    arm_sin_q15.c [code]
    arm_sin_q31.c [code]
    arm_sqrt_q15.c [code]
    arm_sqrt_q31.c [code]
    arm_std_f32.c [code]
    arm_std_q15.c [code]
    arm_std_q31.c [code]
    arm_sub_f32.c [code]
    arm_sub_q15.c [code]
    arm_sub_q31.c [code]
    arm_sub_q7.c [code]
    arm_var_f32.c [code]
    arm_var_q15.c [code]
    arm_var_q31.c [code]
    arm_variance_example_f32.c [code]
    
+
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions.html
new file mode 100644
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x62.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x62.html
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    - b -
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x65.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x65.html
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+
    - e -
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x66.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x66.html
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+
    - f -
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x69.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x69.html
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+
    - i -
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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+
    - k -
    
+
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all struct and union fields with links to the structures/unions they belong to:
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+
    - l -
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x6d.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x6d.html
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all struct and union fields with links to the structures/unions they belong to:
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+
    - m -
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x6e.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x6e.html
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+CMSIS DSP Software Library: Data Fields
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+
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+
+
    
+Here is a list of all struct and union fields with links to the structures/unions they belong to:
+
+
    - n -
    
+
    
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+
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x6f.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x6f.html
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+CMSIS DSP Software Library: Data Fields
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+
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+
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+Here is a list of all struct and union fields with links to the structures/unions they belong to:
+
+
    - o -
    
+
    
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+
    
+
+
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x70.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x70.html
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+CMSIS DSP Software Library: Data Fields
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+
    - p -
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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+
+CMSIS DSP Software Library: Data Fields
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+
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+
+
    
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+
+
    - r -
    
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+
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+
    
+
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x73.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x73.html
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x73.html
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+
+CMSIS DSP Software Library: Data Fields
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+
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+
    - s -
    
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+
+
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+
    
+
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+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x74.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x74.html
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x74.html
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+
+
+
+CMSIS DSP Software Library: Data Fields
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+
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+
+
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+
+
+
+
    
+Here is a list of all struct and union fields with links to the structures/unions they belong to:
+
+
    - t -
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x78.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x78.html
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_0x78.html
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+
+CMSIS DSP Software Library: Data Fields
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+
+
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+
+
+
+
    
+Here is a list of all struct and union fields with links to the structures/unions they belong to:
+
+
    - x -
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars.html
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+CMSIS DSP Software Library: Data Fields - Variables
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+
    
+ 
+
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    - a -
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x62.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x62.html
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x62.html
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+CMSIS DSP Software Library: Data Fields - Variables
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+ 
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x65.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x65.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x65.html
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+CMSIS DSP Software Library: Data Fields - Variables
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+ 
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x66.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x66.html
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+CMSIS DSP Software Library: Data Fields - Variables
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x69.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x69.html
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+CMSIS DSP Software Library: Data Fields - Variables
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6b.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6b.html
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+CMSIS DSP Software Library: Data Fields - Variables
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+ 
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6c.html
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+CMSIS DSP Software Library: Data Fields - Variables
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+ 
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6d.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6d.html
new file mode 100644
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6d.html
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+CMSIS DSP Software Library: Data Fields - Variables
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+
    
+ 
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+
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6e.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6e.html
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6e.html
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+CMSIS DSP Software Library: Data Fields - Variables
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+ 
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    - n -
    
+
    
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6f.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6f.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/functions_vars_0x6f.html
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+CMSIS DSP Software Library: Data Fields - Variables
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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    - c -
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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    - d -
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x65.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x65.html
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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+
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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    - g -
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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+
    - i -
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
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+
    - l -
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
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+
    - m -
    
+
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x6e.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x6e.html
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
+
+
    - n -
    
+
    
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+
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x6f.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x6f.html
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+CMSIS DSP Software Library: Data Fields
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+
    - o -
    
+
    
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+
+
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x70.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x70.html
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+CMSIS DSP Software Library: Data Fields
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+
+
    - p -
    
+
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x71.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x71.html
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+CMSIS DSP Software Library: Data Fields
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+
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
+
+
    - r -
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x73.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x73.html
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
+
+
    - s -
    
+
    
+
+
+
+
+
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x74.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x74.html
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
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+
    - t -
    
+
    
+
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+
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+
    
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
+
+
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+
    
+
+
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+
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    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
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+CMSIS DSP Software Library: Data Fields
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+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
+
+
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+
    
+
+
+
+
+
    
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+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x77.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x77.html
new file mode 100644
index 000000000..cc75df034
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x77.html
@@ -0,0 +1,149 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
+
+
    - w -
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x78.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x78.html
new file mode 100644
index 000000000..cb6f7da2c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_0x78.html
@@ -0,0 +1,119 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+Here is a list of all functions, variables, defines, enums, and typedefs with links to the files they belong to:
+
+
    - x -
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_defs.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_defs.html
new file mode 100644
index 000000000..b4733ba03
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_defs.html
@@ -0,0 +1,246 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+ 
+
+
    - _ -
    
+
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+
    
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+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_enum.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_enum.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_enum.html
@@ -0,0 +1,85 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+ 
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_eval.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_eval.html
new file mode 100644
index 000000000..b27676d51
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_eval.html
@@ -0,0 +1,103 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+ 
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func.html
new file mode 100644
index 000000000..654b085f9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func.html
@@ -0,0 +1,1185 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+ 
+
+
    - a -
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x63.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x63.html
new file mode 100644
index 000000000..39cf528f2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x63.html
@@ -0,0 +1,105 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+ 
+
+
    - c -
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x67.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x67.html
new file mode 100644
index 000000000..31e908dea
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x67.html
@@ -0,0 +1,96 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
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+
+
    
+ 
+
+
    - g -
    
+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x6d.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x6d.html
new file mode 100644
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--- /dev/null
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+
+
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+
+CMSIS DSP Software Library: Data Fields
+
+
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+
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+
    
+ 
+
+
    - m -
    
+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x74.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x74.html
new file mode 100644
index 000000000..c1f4c5e32
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_func_0x74.html
@@ -0,0 +1,99 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
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+
    
+ 
+
+
    - t -
    
+
    
+
+
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+
+
    
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+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_type.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_type.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_type.html
@@ -0,0 +1,100 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+ 
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_vars.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_vars.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/globals_vars.html
@@ -0,0 +1,535 @@
+
+
+
+
+CMSIS DSP Software Library: Data Fields
+
+
+
+
+
+
+
+
+
+
    
+ 
+
+
    - a -
    
+
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+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_abs.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_abs.html
new file mode 100644
index 000000000..f23be47b2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_abs.html
@@ -0,0 +1,277 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Absolute Value
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Absolute Value
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_abs_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_abs_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_abs_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_abs_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Computes the absolute value of a vector on an element-by-element basis.
    
+
       
+     pDst[n] = abs(pSrcA[n]),   0 <= n < blockSize.   
+ 
    The operation can be done in-place by setting the input and output pointers to the same buffer. There are separate functions for floating-point, Q7, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_abs_f32 (float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Floating-point vector absolute value. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer 
    [out]*pDstpoints to the output buffer 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 66 of file arm_abs_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_abs_q31 (q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q31 vector absolute value. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer 
    [out]*pDstpoints to the output buffer 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF. 
    
+
+
    Definition at line 58 of file arm_abs_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_abs_q15 (q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q15 vector absolute value. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer 
    [out]*pDstpoints to the output buffer 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF. 
    
+
+
    Definition at line 57 of file arm_abs_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_abs_q7 (q7_t *  pSrc, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q7 vector absolute value. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input buffer 
    [out]*pDstpoints to the output buffer 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F. 
    
+
+
    Definition at line 57 of file arm_abs_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_add.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_add.html
new file mode 100644
index 000000000..9d5f8d102
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_add.html
@@ -0,0 +1,305 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Addition
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Addition
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_add_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    void arm_add_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    void arm_add_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    void arm_add_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Element-by-element addition of two vectors.
    
+
       
+     pDst[n] = pSrcA[n] + pSrcB[n],   0 <= n < blockSize.   
+ 
    There are separate functions for floating-point, Q7, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_add_f32 (float32_t *  pSrcA, 
    float32_t *  pSrcB, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Floating-point vector addition. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_dotproduct_example_f32.c, and arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 65 of file arm_add_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_add_q31 (q31_t *  pSrcA, 
    q31_t *  pSrcB, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q31 vector addition. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated. 
    
+
+
    Definition at line 59 of file arm_add_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_add_q15 (q15_t *  pSrcA, 
    q15_t *  pSrcB, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q15 vector addition. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. 
    
+
+
    Definition at line 58 of file arm_add_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_add_q7 (q7_t *  pSrcA, 
    q7_t *  pSrcB, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q7 vector addition. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. 
    
+
+
    Definition at line 58 of file arm_add_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_mult.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_mult.html
new file mode 100644
index 000000000..f51ae33c1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_mult.html
@@ -0,0 +1,305 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Multiplication
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Multiplication
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_mult_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    void arm_mult_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    void arm_mult_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    void arm_mult_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Element-by-element multiplication of two vectors.
    
+
       
+     pDst[n] = pSrcA[n] * pSrcB[n],   0 <= n < blockSize.   
+ 
    There are separate functions for floating-point, Q7, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_mult_f32 (float32_t *  pSrcA, 
    float32_t *  pSrcB, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Floating-point vector multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_dotproduct_example_f32.c, arm_sin_cos_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 68 of file arm_mult_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
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+          
+          
+          
+        
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+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_mult_q31 (q31_t *  pSrcA, 
    q31_t *  pSrcB, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q31 vector multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated. 
    
+
+
    Definition at line 61 of file arm_mult_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
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+          
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_mult_q15 (q15_t *  pSrcA, 
    q15_t *  pSrcB, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q15 vector multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. 
    
+
+
    Definition at line 62 of file arm_mult_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_mult_q7 (q7_t *  pSrcA, 
    q7_t *  pSrcB, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q7 vector multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. 
    
+
+
    Definition at line 64 of file arm_mult_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_sub.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_sub.html
new file mode 100644
index 000000000..34d69aa7a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___basic_sub.html
@@ -0,0 +1,305 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Subtraction
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Subtraction
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_sub_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t blockSize)
    void arm_sub_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t blockSize)
    void arm_sub_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t blockSize)
    void arm_sub_q7 (q7_t *pSrcA, q7_t *pSrcB, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Element-by-element subtraction of two vectors.
    
+
       
+     pDst[n] = pSrcA[n] - pSrcB[n],   0 <= n < blockSize.   
+ 
    There are separate functions for floating-point, Q7, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_sub_f32 (float32_t *  pSrcA, 
    float32_t *  pSrcB, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Floating-point vector subtraction. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_signal_converge_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 66 of file arm_sub_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
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+          
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_sub_q31 (q31_t *  pSrcA, 
    q31_t *  pSrcB, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q31 vector subtraction. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated. 
    
+
+
    Definition at line 58 of file arm_sub_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_sub_q15 (q15_t *  pSrcA, 
    q15_t *  pSrcB, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q15 vector subtraction. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. 
    
+
+
    Definition at line 58 of file arm_sub_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
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+        
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_sub_q7 (q7_t *  pSrcA, 
    q7_t *  pSrcB, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Q7 vector subtraction. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. 
    
+
+
    Definition at line 58 of file arm_sub_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___bilinear_interpolate.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___bilinear_interpolate.html
new file mode 100644
index 000000000..110dac1ce
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___bilinear_interpolate.html
@@ -0,0 +1,288 @@
+
+
+
+
+CMSIS DSP Software Library: Bilinear Interpolation
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Bilinear Interpolation
    
+
+[Interpolation Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    static __INLINE float32_t arm_bilinear_interp_f32 (const arm_bilinear_interp_instance_f32 *S, float32_t X, float32_t Y)
    static __INLINE q31_t arm_bilinear_interp_q31 (arm_bilinear_interp_instance_q31 *S, q31_t X, q31_t Y)
    static __INLINE q15_t arm_bilinear_interp_q15 (arm_bilinear_interp_instance_q15 *S, q31_t X, q31_t Y)
    static __INLINE q7_t arm_bilinear_interp_q7 (arm_bilinear_interp_instance_q7 *S, q31_t X, q31_t Y)
    
+
    Detailed Description
    
+
    Bilinear interpolation is an extension of linear interpolation applied to a two dimensional grid. The underlying function f(x, y) is sampled on a regular grid and the interpolation process determines values between the grid points. Bilinear interpolation is equivalent to two step linear interpolation, first in the x-dimension and then in the y-dimension. Bilinear interpolation is often used in image processing to rescale images. The CMSIS DSP library provides bilinear interpolation functions for Q7, Q15, Q31, and floating-point data types.
    
+
    Algorithm 
    
+
    The instance structure used by the bilinear interpolation functions describes a two dimensional data table. For floating-point, the instance structure is defined as: 
    +   typedef struct
+   {
+     uint16_t numRows;
+     uint16_t numCols;
+     float32_t *pData;
+ } arm_bilinear_interp_instance_f32;
+ 
    
+
    where numRows specifies the number of rows in the table; numCols specifies the number of columns in the table; and pData points to an array of size numRows*numCols values. The data table pTable is organized in row order and the supplied data values fall on integer indexes. That is, table element (x,y) is located at pTable[x + y*numCols] where x and y are integers.
    
+
    Let (x, y) specify the desired interpolation point. Then define: 
    +     XF = floor(x)
+     YF = floor(y)
+ 
     
    
+
    The interpolated output point is computed as: 
    +  f(x, y) = f(XF, YF) * (1-(x-XF)) * (1-(y-YF))
+           + f(XF+1, YF) * (x-XF)*(1-(y-YF))
+           + f(XF, YF+1) * (1-(x-XF))*(y-YF)
+           + f(XF+1, YF+1) * (x-XF)*(y-YF)
+ 
     Note that the coordinates (x, y) contain integer and fractional components. The integer components specify which portion of the table to use while the fractional components control the interpolation processor.
    
+
    if (x,y) are outside of the table boundary, Bilinear interpolation returns zero output. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
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+        
+      
    static __INLINE float32_t arm_bilinear_interp_f32 (const arm_bilinear_interp_instance_f32 *  S, 
    float32_t  X, 
    float32_t  Y 
    ) [static]
    
+
    
+
    
+
+
    Floating-point bilinear interpolation. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the interpolation structure. 
    [in]Xinterpolation coordinate. 
    [in]Yinterpolation coordinate. 
    
+  
    
+
    
+
    Returns:
    out interpolated value. 
    
+
+
    Definition at line 6739 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
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+          
+          
+          
+        
+      
    static __INLINE q31_t arm_bilinear_interp_q31 (arm_bilinear_interp_instance_q31 *  S, 
    q31_t  X, 
    q31_t  Y 
    ) [static]
    
+
    
+
    
+
+
    Q31 bilinear interpolation. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the interpolation structure. 
    [in]Xinterpolation coordinate in 12.20 format. 
    [in]Yinterpolation coordinate in 12.20 format. 
    
+  
    
+
    
+
    Returns:
    out interpolated value. 
    
+
+
    Definition at line 6806 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
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+          
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+        
+        
+          
+          
+          
+        
+      
    static __INLINE q15_t arm_bilinear_interp_q15 (arm_bilinear_interp_instance_q15 *  S, 
    q31_t  X, 
    q31_t  Y 
    ) [static]
    
+
    
+
    
+
+
    Q15 bilinear interpolation. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the interpolation structure. 
    [in]Xinterpolation coordinate in 12.20 format. 
    [in]Yinterpolation coordinate in 12.20 format. 
    
+  
    
+
    
+
    Returns:
    out interpolated value. 
    
+
+
    Definition at line 6882 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
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+          
+          
+          
+        
+      
    static __INLINE q7_t arm_bilinear_interp_q7 (arm_bilinear_interp_instance_q7 *  S, 
    q31_t  X, 
    q31_t  Y 
    ) [static]
    
+
    
+
    
+
+
    Q7 bilinear interpolation. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the interpolation structure. 
    [in]Xinterpolation coordinate in 12.20 format. 
    [in]Yinterpolation coordinate in 12.20 format. 
    
+  
    
+
    
+
    Returns:
    out interpolated value. 
    
+
+
    Definition at line 6962 of file arm_math.h.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___biquad_cascade_d_f1.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___biquad_cascade_d_f1.html
new file mode 100644
index 000000000..30166fa76
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___biquad_cascade_d_f1.html
@@ -0,0 +1,605 @@
+
+
+
+
+CMSIS DSP Software Library: Biquad Cascade IIR Filters Using Direct Form I Structure
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Biquad Cascade IIR Filters Using Direct Form I Structure
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df1_init_f32 (arm_biquad_casd_df1_inst_f32 *S, uint8_t numStages, float32_t *pCoeffs, float32_t *pState)
    void arm_biquad_cascade_df1_f32 (const arm_biquad_casd_df1_inst_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_init_q31 (arm_biquad_casd_df1_inst_q31 *S, uint8_t numStages, q31_t *pCoeffs, q31_t *pState, int8_t postShift)
    void arm_biquad_cascade_df1_q31 (const arm_biquad_casd_df1_inst_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_fast_q31 (const arm_biquad_casd_df1_inst_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_init_q15 (arm_biquad_casd_df1_inst_q15 *S, uint8_t numStages, q15_t *pCoeffs, q15_t *pState, int8_t postShift)
    void arm_biquad_cascade_df1_q15 (const arm_biquad_casd_df1_inst_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_biquad_cascade_df1_fast_q15 (const arm_biquad_casd_df1_inst_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    This set of functions implements arbitrary order recursive (IIR) filters. The filters are implemented as a cascade of second order Biquad sections. The functions support Q15, Q31 and floating-point data types. Fast version of Q15 and Q31 also supported on CortexM4 and Cortex-M3.
    
+
    The functions operate on blocks of input and output data and each call to the function processes blockSize samples through the filter. pSrc points to the array of input data and pDst points to the array of output data. Both arrays contain blockSize values.
    
+
    Algorithm 
    Each Biquad stage implements a second order filter using the difference equation: 
       
+     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+ 
     A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage. 
    
+Biquad.gif
+
    Single Biquad filter stage
    
+ Coefficients b0, b1 and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients. Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients. Pay careful attention to the sign of the feedback coefficients. Some design tools use the difference equation 
       
+     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]   
+ 
     In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.
    
+
    Higher order filters are realized as a cascade of second order sections. numStages refers to the number of second order stages used. For example, an 8th order filter would be realized with numStages=4 second order stages. 
    
+BiquadCascade.gif
+
    8th order filter using a cascade of Biquad stages
    
+ A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).
    
+
    The pState points to state variables array. Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2]. The state variables are arranged in the pState array as: 
       
+     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ 
    
+
    The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on. The state array has a total length of 4*numStages values. The state variables are updated after each block of data is processed, the coefficients are untouched.
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient arrays may be shared among several instances while state variable arrays cannot be shared. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Init Functions 
    There is also an associated initialization function for each data type. The initialization function performs following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Set the values in the state buffer to zeros before static initialization. The code below statically initializes each of the 3 different data type filter instance structures 
       
+     arm_biquad_casd_df1_inst_f32 S1 = {numStages, pState, pCoeffs};   
+     arm_biquad_casd_df1_inst_q15 S2 = {numStages, pState, pCoeffs, postShift};   
+     arm_biquad_casd_df1_inst_q31 S3 = {numStages, pState, pCoeffs, postShift};   
+ 
     where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer; pCoeffs is the address of the coefficient buffer; postShift shift to be applied.
    
+
    Fixed-Point Behavior 
    Care must be taken when using the Q15 and Q31 versions of the Biquad Cascade filter functions. Following issues must be considered:
      
+
    • Scaling of coefficients
      • 
+
    • Filter gain
      • 
+
    • Overflow and saturation
      • 
+
    
+
    
+
    Scaling of coefficients:  Filter coefficients are represented as fractional values and coefficients are restricted to lie in the range [-1 +1). The fixed-point functions have an additional scaling parameter postShift which allow the filter coefficients to exceed the range [+1 -1). At the output of the filter's accumulator is a shift register which shifts the result by postShift bits. 
    
+BiquadPostshift.gif
+
    Fixed-point Biquad with shift by postShift bits after accumulator
    
+ This essentially scales the filter coefficients by 2^postShift. For example, to realize the coefficients 
       
+    {1.5, -0.8, 1.2, 1.6, -0.9}   
+ 
     set the pCoeffs array to: 
       
+    {0.75, -0.4, 0.6, 0.8, -0.45}   
+ 
     and set postShift=1
    
+
    Filter gain:  The frequency response of a Biquad filter is a function of its coefficients. It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies. This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter. To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.
    
+
    Overflow and saturation:  For Q15 and Q31 versions, it is described separately as part of the function specific documentation below. 
    
+
    Function Documentation
    
+
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    void arm_biquad_cascade_df1_init_f32 (arm_biquad_casd_df1_inst_f32 *  S, 
    uint8_t  numStages, 
    float32_t *  pCoeffs, 
    float32_t *  pState 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point Biquad cascade filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point Biquad cascade structure. 
    [in]numStagesnumber of 2nd order stages in the filter. 
    [in]*pCoeffspoints to the filter coefficients array. 
    [in]*pStatepoints to the state array. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Coefficient and State Ordering:
    
+
    The coefficients are stored in the array pCoeffs in the following order: 
       
+     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}   
+ 
    
+
    where b1x and a1x are the coefficients for the first stage, b2x and a2x are the coefficients for the second stage, and so on. The pCoeffs array contains a total of 5*numStages values.
    
+
    The pState is a pointer to state array. Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2]. The state variables are arranged in the pState array as: 
       
+     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ 
     The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on. The state array has a total length of 4*numStages values. The state variables are updated after each block of data is processed; the coefficients are untouched. 
    
+
+
    Definition at line 83 of file arm_biquad_cascade_df1_init_f32.c.
    
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    void arm_biquad_cascade_df1_f32 (const arm_biquad_casd_df1_inst_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point Biquad cascade filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point Biquad cascade structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 171 of file arm_biquad_cascade_df1_f32.c.
    
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    void arm_biquad_cascade_df1_init_q31 (arm_biquad_casd_df1_inst_q31 *  S, 
    uint8_t  numStages, 
    q31_t *  pCoeffs, 
    q31_t *  pState, 
    int8_t  postShift 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 Biquad cascade filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 Biquad cascade structure. 
    [in]numStagesnumber of 2nd order stages in the filter. 
    [in]*pCoeffspoints to the filter coefficients buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]postShiftShift to be applied after the accumulator. Varies according to the coefficients format 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Coefficient and State Ordering:
    
+
    The coefficients are stored in the array pCoeffs in the following order: 
       
+     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}   
+ 
     where b1x and a1x are the coefficients for the first stage, b2x and a2x are the coefficients for the second stage, and so on. The pCoeffs array contains a total of 5*numStages values.
    
+
    The pState points to state variables array. Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2]. The state variables are arranged in the pState array as: 
       
+     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ 
     The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on. The state array has a total length of 4*numStages values. The state variables are updated after each block of data is processed; the coefficients are untouched. 
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 81 of file arm_biquad_cascade_df1_init_q31.c.
    
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    void arm_biquad_cascade_df1_q31 (const arm_biquad_casd_df1_inst_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 Biquad cascade filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 Biquad cascade structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25). After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by postShift bits and the result truncated to 1.31 format by discarding the low 32 bits.
    
+
    Refer to the function arm_biquad_cascade_df1_fast_q31() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4. 
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 69 of file arm_biquad_cascade_df1_q31.c.
    
+
+
    
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    void arm_biquad_cascade_df1_fast_q31 (const arm_biquad_casd_df1_inst_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Fast but less precise processing function for the Q31 Biquad cascade filter for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 Biquad cascade structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    This function is optimized for speed at the expense of fixed-point precision and overflow protection. The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format. These intermediate results are added to a 2.30 accumulator. Finally, the accumulator is saturated and converted to a 1.31 result. The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result. In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25). Use the intialization function arm_biquad_cascade_df1_init_q31() to initialize filter structure.
    
+
    Refer to the function arm_biquad_cascade_df1_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision. Both the slow and the fast versions use the same instance structure. Use the function arm_biquad_cascade_df1_init_q31() to initialize the filter structure. 
    
+
+
    Definition at line 70 of file arm_biquad_cascade_df1_fast_q31.c.
    
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    void arm_biquad_cascade_df1_init_q15 (arm_biquad_casd_df1_inst_q15 *  S, 
    uint8_t  numStages, 
    q15_t *  pCoeffs, 
    q15_t *  pState, 
    int8_t  postShift 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 Biquad cascade filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 Biquad cascade structure. 
    [in]numStagesnumber of 2nd order stages in the filter. 
    [in]*pCoeffspoints to the filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]postShiftShift to be applied to the accumulator result. Varies according to the coefficients format 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Coefficient and State Ordering:
    
+
    The coefficients are stored in the array pCoeffs in the following order: 
       
+     {b10, 0, b11, b12, a11, a12, b20, 0, b21, b22, a21, a22, ...}   
+ 
     where b1x and a1x are the coefficients for the first stage, b2x and a2x are the coefficients for the second stage, and so on. The pCoeffs array contains a total of 6*numStages values. The zero coefficient between b1 and b2 facilities use of 16-bit SIMD instructions on the Cortex-M4.
    
+
    The state variables are stored in the array pState. Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2]. The state variables are arranged in the pState array as: 
       
+     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ 
     The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on. The state array has a total length of 4*numStages values. The state variables are updated after each block of data is processed; the coefficients are untouched. 
    
+
+
    Definition at line 81 of file arm_biquad_cascade_df1_init_q15.c.
    
+
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    void arm_biquad_cascade_df1_q15 (const arm_biquad_casd_df1_inst_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 Biquad cascade filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 Biquad cascade structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the location where the output result is written. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 64-bit internal accumulator. Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. The accumulator is then shifted by postShift bits to truncate the result to 1.15 format by discarding the low 16 bits. Finally, the result is saturated to 1.15 format.
    
+
    Refer to the function arm_biquad_cascade_df1_fast_q15() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 70 of file arm_biquad_cascade_df1_q15.c.
    
+
+
    
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    void arm_biquad_cascade_df1_fast_q15 (const arm_biquad_casd_df1_inst_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Fast but less precise processing function for the Q15 Biquad cascade filter for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 Biquad cascade structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    This fast version uses a 32-bit accumulator with 2.30 format. The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around and distorts the result. In order to avoid overflows completely the input signal must be scaled down by two bits and lie in the range [-0.25 +0.25). The 2.30 accumulator is then shifted by postShift bits and the result truncated to 1.15 format by discarding the low 16 bits.
    
+
    Refer to the function arm_biquad_cascade_df1_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion. Both the slow and the fast versions use the same instance structure. Use the function arm_biquad_cascade_df1_init_q15() to initialize the filter structure. 
    
+
+
    Definition at line 69 of file arm_biquad_cascade_df1_fast_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___biquad_cascade_d_f1__32x64.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___biquad_cascade_d_f1__32x64.html
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+
+
+
+
+CMSIS DSP Software Library: High Precision Q31 Biquad Cascade Filter
+
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+
    
+  
    
+Functions  
    
+  
    
+
    High Precision Q31 Biquad Cascade Filter
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
    
+Functions
    void arm_biquad_cas_df1_32x64_init_q31 (arm_biquad_cas_df1_32x64_ins_q31 *S, uint8_t numStages, q31_t *pCoeffs, q63_t *pState, uint8_t postShift)
    void arm_biquad_cas_df1_32x64_q31 (const arm_biquad_cas_df1_32x64_ins_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    This function implements a high precision Biquad cascade filter which operates on Q31 data values. The filter coefficients are in 1.31 format and the state variables are in 1.63 format. The double precision state variables reduce quantization noise in the filter and provide a cleaner output. These filters are particularly useful when implementing filters in which the singularities are close to the unit circle. This is common for low pass or high pass filters with very low cutoff frequencies.
    
+
    The function operates on blocks of input and output data and each call to the function processes blockSize samples through the filter. pSrc and pDst points to input and output arrays containing blockSize Q31 values.
    
+
    Algorithm 
    Each Biquad stage implements a second order filter using the difference equation: 
       
+     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] + a1 * y[n-1] + a2 * y[n-2]   
+ 
     A Direct Form I algorithm is used with 5 coefficients and 4 state variables per stage. 
    
+Biquad.gif
+
    Single Biquad filter stage
    
+ Coefficients b0, b1, and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients. Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients. Pay careful attention to the sign of the feedback coefficients. Some design tools use the difference equation 
       
+     y[n] = b0 * x[n] + b1 * x[n-1] + b2 * x[n-2] - a1 * y[n-1] - a2 * y[n-2]   
+ 
     In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.
    
+
    Higher order filters are realized as a cascade of second order sections. numStages refers to the number of second order stages used. For example, an 8th order filter would be realized with numStages=4 second order stages. 
    
+BiquadCascade.gif
+
    8th order filter using a cascade of Biquad stages
    
+ A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).
    
+
    The pState points to state variables array . Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2] and each state variable in 1.63 format to improve precision. The state variables are arranged in the array as: 
       
+     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ 
    
+
    The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on. The state array has a total length of 4*numStages values of data in 1.63 format. The state variables are updated after each block of data is processed; the coefficients are untouched.
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.
    
+
    Init Function 
    There is also an associated initialization function which performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer. 
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Set the values in the state buffer to zeros before static initialization. For example, to statically initialize the filter instance structure use 
       
+     arm_biquad_cas_df1_32x64_ins_q31 S1 = {numStages, pState, pCoeffs, postShift};   
+ 
     where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer; pCoeffs is the address of the coefficient buffer; postShift shift to be applied which is described in detail below. 
    
+
    Fixed-Point Behavior 
    Care must be taken while using Biquad Cascade 32x64 filter function. Following issues must be considered:
      
+
    • Scaling of coefficients
      • 
+
    • Filter gain
      • 
+
    • Overflow and saturation
      • 
+
    
+
    
+
    Filter coefficients are represented as fractional values and restricted to lie in the range [-1 +1). The processing function has an additional scaling parameter postShift which allows the filter coefficients to exceed the range [+1 -1). At the output of the filter's accumulator is a shift register which shifts the result by postShift bits. 
    
+BiquadPostshift.gif
+
    Fixed-point Biquad with shift by postShift bits after accumulator
    
+ This essentially scales the filter coefficients by 2^postShift. For example, to realize the coefficients 
       
+    {1.5, -0.8, 1.2, 1.6, -0.9}   
+ 
     set the Coefficient array to: 
       
+    {0.75, -0.4, 0.6, 0.8, -0.45}   
+ 
     and set postShift=1
    
+
    The second thing to keep in mind is the gain through the filter. The frequency response of a Biquad filter is a function of its coefficients. It is possible for the gain through the filter to exceed 1.0 meaning that the filter increases the amplitude of certain frequencies. This means that an input signal with amplitude < 1.0 may result in an output > 1.0 and these are saturated or overflowed based on the implementation of the filter. To avoid this behavior the filter needs to be scaled down such that its peak gain < 1.0 or the input signal must be scaled down so that the combination of input and filter are never overflowed.
    
+
    The third item to consider is the overflow and saturation behavior of the fixed-point Q31 version. This is described in the function specific documentation below. 
    
+
    Function Documentation
    
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    void arm_biquad_cas_df1_32x64_init_q31 (arm_biquad_cas_df1_32x64_ins_q31 *  S, 
    uint8_t  numStages, 
    q31_t *  pCoeffs, 
    q63_t *  pState, 
    uint8_t  postShift 
    )
    
+
    
+
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the high precision Q31 Biquad cascade filter structure. 
    [in]numStagesnumber of 2nd order stages in the filter. 
    [in]*pCoeffspoints to the filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]postShiftShift to be applied after the accumulator. Varies according to the coefficients format. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Coefficient and State Ordering:
    
+
    The coefficients are stored in the array pCoeffs in the following order: 
       
+     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}   
+ 
     where b1x and a1x are the coefficients for the first stage, b2x and a2x are the coefficients for the second stage, and so on. The pCoeffs array contains a total of 5*numStages values.
    
+
    The pState points to state variables array and size of each state variable is 1.63 format. Each Biquad stage has 4 state variables x[n-1], x[n-2], y[n-1], and y[n-2]. The state variables are arranged in the state array as: 
       
+     {x[n-1], x[n-2], y[n-1], y[n-2]}   
+ 
     The 4 state variables for stage 1 are first, then the 4 state variables for stage 2, and so on. The state array has a total length of 4*numStages values. The state variables are updated after each block of data is processed; the coefficients are untouched. 
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 77 of file arm_biquad_cascade_df1_32x64_init_q31.c.
    
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    void arm_biquad_cas_df1_32x64_q31 (const arm_biquad_cas_df1_32x64_ins_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the high precision Q31 Biquad cascade filter. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by 2 bits and lie in the range [-0.25 +0.25). After all 5 multiply-accumulates are performed, the 2.62 accumulator is shifted by postShift bits and the result truncated to 1.31 format by discarding the low 32 bits.
    
+
    Two related functions are provided in the CMSIS DSP library. arm_biquad_cascade_df1_q31() implements a Biquad cascade with 32-bit coefficients and state variables with a Q63 accumulator. arm_biquad_cascade_df1_fast_q31() implements a Biquad cascade with 32-bit coefficients and state variables with a Q31 accumulator. 
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 176 of file arm_biquad_cascade_df1_32x64_q31.c.
    
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+
    
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+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___biquad_cascade_d_f2_t.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___biquad_cascade_d_f2_t.html
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+
+
+
+
+CMSIS DSP Software Library: Biquad Cascade IIR Filters Using a Direct Form II Transposed Structure
+
+
+
+
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+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Biquad Cascade IIR Filters Using a Direct Form II Transposed Structure
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
    
+Functions
    void arm_biquad_cascade_df2T_init_f32 (arm_biquad_cascade_df2T_instance_f32 *S, uint8_t numStages, float32_t *pCoeffs, float32_t *pState)
    void arm_biquad_cascade_df2T_f32 (const arm_biquad_cascade_df2T_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    This set of functions implements arbitrary order recursive (IIR) filters using a transposed direct form II structure. The filters are implemented as a cascade of second order Biquad sections. These functions provide a slight memory savings as compared to the direct form I Biquad filter functions. Only floating-point data is supported.
    
+
    This function operate on blocks of input and output data and each call to the function processes blockSize samples through the filter. pSrc points to the array of input data and pDst points to the array of output data. Both arrays contain blockSize values.
    
+
    Algorithm 
    Each Biquad stage implements a second order filter using the difference equation: 
       
+    y[n] = b0 * x[n] + d1   
+    d1 = b1 * x[n] + a1 * y[n] + d2   
+    d2 = b2 * x[n] + a2 * y[n]   
+ 
     where d1 and d2 represent the two state values.
    
+
    A Biquad filter using a transposed Direct Form II structure is shown below. 
    
+BiquadDF2Transposed.gif
+
    Single transposed Direct Form II Biquad
    
+ Coefficients b0, b1, and b2  multiply the input signal x[n] and are referred to as the feedforward coefficients. Coefficients a1 and a2 multiply the output signal y[n] and are referred to as the feedback coefficients. Pay careful attention to the sign of the feedback coefficients. Some design tools flip the sign of the feedback coefficients: 
       
+    y[n] = b0 * x[n] + d1;   
+    d1 = b1 * x[n] - a1 * y[n] + d2;   
+    d2 = b2 * x[n] - a2 * y[n];   
+ 
     In this case the feedback coefficients a1 and a2 must be negated when used with the CMSIS DSP Library.
    
+
    Higher order filters are realized as a cascade of second order sections. numStages refers to the number of second order stages used. For example, an 8th order filter would be realized with numStages=4 second order stages. A 9th order filter would be realized with numStages=5 second order stages with the coefficients for one of the stages configured as a first order filter (b2=0 and a2=0).
    
+
    pState points to the state variable array. Each Biquad stage has 2 state variables d1 and d2. The state variables are arranged in the pState array as: 
       
+     {d11, d12, d21, d22, ...}   
+ 
     where d1x refers to the state variables for the first Biquad and d2x refers to the state variables for the second Biquad. The state array has a total length of 2*numStages values. The state variables are updated after each block of data is processed; the coefficients are untouched.
    
+
    The CMSIS library contains Biquad filters in both Direct Form I and transposed Direct Form II. The advantage of the Direct Form I structure is that it is numerically more robust for fixed-point data types. That is why the Direct Form I structure supports Q15 and Q31 data types. The transposed Direct Form II structure, on the other hand, requires a wide dynamic range for the state variables d1 and d2. Because of this, the CMSIS library only has a floating-point version of the Direct Form II Biquad. The advantage of the Direct Form II Biquad is that it requires half the number of state variables, 2 rather than 4, per Biquad stage.
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient arrays may be shared among several instances while state variable arrays cannot be shared.
    
+
    Init Functions 
    There is also an associated initialization function. The initialization function performs following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Set the values in the state buffer to zeros before static initialization. For example, to statically initialize the instance structure use 
       
+     arm_biquad_cascade_df2T_instance_f32 S1 = {numStages, pState, pCoeffs};   
+ 
     where numStages is the number of Biquad stages in the filter; pState is the address of the state buffer. pCoeffs is the address of the coefficient buffer; 
    
+
    Function Documentation
    
+
+
    
+
    
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    void arm_biquad_cascade_df2T_init_f32 (arm_biquad_cascade_df2T_instance_f32 *  S, 
    uint8_t  numStages, 
    float32_t *  pCoeffs, 
    float32_t *  pState 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point transposed direct form II Biquad cascade filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the filter data structure. 
    [in]numStagesnumber of 2nd order stages in the filter. 
    [in]*pCoeffspoints to the filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Coefficient and State Ordering: 
    
+
    The coefficients are stored in the array pCoeffs in the following order: 
       
+     {b10, b11, b12, a11, a12, b20, b21, b22, a21, a22, ...}   
+ 
    
+
    where b1x and a1x are the coefficients for the first stage, b2x and a2x are the coefficients for the second stage, and so on. The pCoeffs array contains a total of 5*numStages values.
    
+
    The pState is a pointer to state array. Each Biquad stage has 2 state variables d1, and d2. The 2 state variables for stage 1 are first, then the 2 state variables for stage 2, and so on. The state array has a total length of 2*numStages values. The state variables are updated after each block of data is processed; the coefficients are untouched. 
    
+
+
    Definition at line 73 of file arm_biquad_cascade_df2T_init_f32.c.
    
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    void arm_biquad_cascade_df2T_f32 (const arm_biquad_cascade_df2T_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point transposed direct form II Biquad cascade filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the filter data structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 143 of file arm_biquad_cascade_df2T_f32.c.
    
+
+
    
+
    
+
    
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+
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+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___c_f_f_t___c_i_f_f_t.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___c_f_f_t___c_i_f_f_t.html
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+
+
+
+CMSIS DSP Software Library: Complex FFT Functions
+
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+  
    
+Functions |
+Variables  
    
+  
    
+
    Complex FFT Functions
    
+
+[Transform Functions]
+
      
    
+
    
+
    
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+Functions
    arm_status arm_cfft_radix4_init_f32 (arm_cfft_radix4_instance_f32 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    void arm_cfft_radix4_f32 (const arm_cfft_radix4_instance_f32 *S, float32_t *pSrc)
    arm_status arm_cfft_radix4_init_q31 (arm_cfft_radix4_instance_q31 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    void arm_cfft_radix4_q31 (const arm_cfft_radix4_instance_q31 *S, q31_t *pSrc)
    arm_status arm_cfft_radix4_init_q15 (arm_cfft_radix4_instance_q15 *S, uint16_t fftLen, uint8_t ifftFlag, uint8_t bitReverseFlag)
    void arm_cfft_radix4_q15 (const arm_cfft_radix4_instance_q15 *S, q15_t *pSrc)
    
+Variables
    static const float32_t twiddleCoef [2048]
    static const q31_t twiddleCoefQ31 [2048]
    static const q15_t twiddleCoefQ15 [2048]
    const uint16_t armBitRevTable [256]
    
+
    Detailed Description
    
+
    Complex Fast Fourier Transform(CFFT) and Complex Inverse Fast Fourier Transform(CIFFT) is an efficient algorithm to compute Discrete Fourier Transform(DFT) and Inverse Discrete Fourier Transform(IDFT). Computational complexity of CFFT reduces drastically when compared to DFT. 
    
+
    This set of functions implements CFFT/CIFFT for Q15, Q31, and floating-point data types. The functions operates on in-place buffer which uses same buffer for input and output. Complex input is stored in input buffer in an interleaved fashion.
    
+
    The functions operate on blocks of input and output data and each call to the function processes 2*fftLen samples through the transform. pSrc points to In-place arrays containing 2*fftLen values. 
    
+
    The pSrc points to the array of in-place buffer of size 2*fftLen and inputs and outputs are stored in an interleaved fashion as shown below. 
     {real[0], imag[0], real[1], imag[1],..} 
    
+
    Lengths supported by the transform: 
    
+
    Internally, the function utilize a radix-4 decimation in frequency(DIF) algorithm and the size of the FFT supported are of the lengths [16, 64, 256, 1024].
    
+
    Algorithm: 
    
+
    Complex Fast Fourier Transform: 
    
+
    Input real and imaginary data: 
       
+ x(n) = xa + j * ya   
+ x(n+N/4 ) = xb + j * yb   
+ x(n+N/2 ) = xc + j * yc   
+ x(n+3N 4) = xd + j * yd   
+ 
     where N is length of FFT 
    
+
    Output real and imaginary data: 
       
+ X(4r) = xa'+ j * ya'   
+ X(4r+1) = xb'+ j * yb'   
+ X(4r+2) = xc'+ j * yc'   
+ X(4r+3) = xd'+ j * yd'   
+ 
     
    
+
    Twiddle factors for radix-4 FFT: 
       
+ Wn = co1 + j * (- si1)   
+ W2n = co2 + j * (- si2)   
+ W3n = co3 + j * (- si3)   
+ 
    
+
    
+CFFT.gif
+
    Radix-4 Decimation-in Frequency Complex Fast Fourier Transform
    
+
    
+
    Output from Radix-4 CFFT Results in Digit reversal order. Interchange middle two branches of every butterfly results in Bit reversed output. 
    
+
     Butterfly CFFT equations: 
       
+ xa' = xa + xb + xc + xd   
+ ya' = ya + yb + yc + yd   
+ xc' = (xa+yb-xc-yd)* co1 + (ya-xb-yc+xd)* (si1)   
+ yc' = (ya-xb-yc+xd)* co1 - (xa+yb-xc-yd)* (si1)   
+ xb' = (xa-xb+xc-xd)* co2 + (ya-yb+yc-yd)* (si2)   
+ yb' = (ya-yb+yc-yd)* co2 - (xa-xb+xc-xd)* (si2)   
+ xd' = (xa-yb-xc+yd)* co3 + (ya+xb-yc-xd)* (si3)   
+ yd' = (ya+xb-yc-xd)* co3 - (xa-yb-xc+yd)* (si3)   
+ 
    
+
    Complex Inverse Fast Fourier Transform: 
    
+
    CIFFT uses same twiddle factor table as CFFT with modifications in the design equation as shown below.
    
+
     Modified Butterfly CIFFT equations: 
       
+ xa' = xa + xb + xc + xd   
+ ya' = ya + yb + yc + yd   
+ xc' = (xa-yb-xc+yd)* co1 - (ya+xb-yc-xd)* (si1)   
+ yc' = (ya+xb-yc-xd)* co1 + (xa-yb-xc+yd)* (si1)   
+ xb' = (xa-xb+xc-xd)* co2 - (ya-yb+yc-yd)* (si2)   
+ yb' = (ya-yb+yc-yd)* co2 + (xa-xb+xc-xd)* (si2)   
+ xd' = (xa+yb-xc-yd)* co3 - (ya-xb-yc+xd)* (si3)   
+ yd' = (ya-xb-yc+xd)* co3 + (xa+yb-xc-yd)* (si3)   
+ 
    
+
    Instance Structure 
    A separate instance structure must be defined for each Instance but the twiddle factors and bit reversal tables can be reused. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Initializes twiddle factor table and bit reversal table pointers 
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Manually initialize the instance structure as follows: 
       
+arm_cfft_radix4_instance_f32 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor, onebyfftLen};   
+arm_cfft_radix4_instance_q31 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   
+arm_cfft_radix4_instance_q15 S = {fftLen, ifftFlag, bitReverseFlag, pTwiddle, pBitRevTable, twidCoefModifier, bitRevFactor};   
+ 
     
    
+
    where fftLen length of CFFT/CIFFT; ifftFlag Flag for selection of CFFT or CIFFT(Set ifftFlag to calculate CIFFT otherwise calculates CFFT); bitReverseFlag Flag for selection of output order(Set bitReverseFlag to output in normal order otherwise output in bit reversed order); pTwiddlepoints to array of twiddle coefficients; pBitRevTable points to the array of bit reversal table. twidCoefModifier modifier for twiddle factor table which supports all FFT lengths with same table; pBitRevTable modifier for bit reversal table which supports all FFT lengths with same table. onebyfftLen value of 1/fftLen to calculate CIFFT;
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the CFFT/CIFFT function. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
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+      
    arm_status arm_cfft_radix4_init_f32 (arm_cfft_radix4_instance_f32 *  S, 
    uint16_t  fftLen, 
    uint8_t  ifftFlag, 
    uint8_t  bitReverseFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point CFFT/CIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point CFFT/CIFFT structure. 
    [in]fftLenlength of the FFT. 
    [in]ifftFlagflag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. 
    [in]bitReverseFlagflag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
    
+
    Description: 
    
+
    The parameter ifftFlag controls whether a forward or inverse transform is computed. Set(=1) ifftFlag for calculation of CIFFT otherwise CFFT is calculated 
    
+
    The parameter bitReverseFlag controls whether output is in normal order or bit reversed order. Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order. 
    
+
    The parameter fftLen Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024. 
    
+
    This Function also initializes Twiddle factor table pointer and Bit reversal table pointer. 
    
+
    Examples: 
    arm_convolution_example_f32.c, and arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 1118 of file arm_cfft_radix4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
+      
    void arm_cfft_radix4_f32 (const arm_cfft_radix4_instance_f32 *  S, 
    float32_t *  pSrc 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point CFFT/CIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]*Spoints to an instance of the floating-point CFFT/CIFFT structure. 
    [in,out]*pSrcpoints to the complex data buffer of size 2*fftLen. Processing occurs in-place. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_convolution_example_f32.c, and arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 177 of file arm_cfft_radix4_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
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+          
+          
+        
+      
    arm_status arm_cfft_radix4_init_q31 (arm_cfft_radix4_instance_q31 *  S, 
    uint16_t  fftLen, 
    uint8_t  ifftFlag, 
    uint8_t  bitReverseFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 CFFT/CIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 CFFT/CIFFT structure. 
    [in]fftLenlength of the FFT. 
    [in]ifftFlagflag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. 
    [in]bitReverseFlagflag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
    
+
    Description: 
    
+
    The parameter ifftFlag controls whether a forward or inverse transform is computed. Set(=1) ifftFlag for calculation of CIFFT otherwise CFFT is calculated 
    
+
    The parameter bitReverseFlag controls whether output is in normal order or bit reversed order. Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order. 
    
+
    The parameter fftLen Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024. 
    
+
    This Function also initializes Twiddle factor table pointer and Bit reversal table pointer. 
    
+
+
    Definition at line 608 of file arm_cfft_radix4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
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+        
+        
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+          
+          
+        
+      
    void arm_cfft_radix4_q31 (const arm_cfft_radix4_instance_q31 *  S, 
    q31_t *  pSrc 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 CFFT/CIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]*Spoints to an instance of the Q31 CFFT/CIFFT structure. 
    [in,out]*pSrcpoints to the complex data buffer of size 2*fftLen. Processing occurs in-place. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Input and output formats: 
    
+
    Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process. Hence the output format is different for different FFT sizes. The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT: 
    
+
    
+CFFTQ31.gif
+
    Input and Output Formats for Q31 CFFT
    
+ 
    
+CIFFTQ31.gif
+
    Input and Output Formats for Q31 CIFFT
    
+ 
    
+
+
    Definition at line 66 of file arm_cfft_radix4_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+          
+          
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+        
+        
+          
+          
+          
+        
+      
    arm_status arm_cfft_radix4_init_q15 (arm_cfft_radix4_instance_q15 *  S, 
    uint16_t  fftLen, 
    uint8_t  ifftFlag, 
    uint8_t  bitReverseFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 CFFT/CIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 CFFT/CIFFT structure. 
    [in]fftLenlength of the FFT. 
    [in]ifftFlagflag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. 
    [in]bitReverseFlagflag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLen is not a supported value.
    
+
    Description: 
    
+
    The parameter ifftFlag controls whether a forward or inverse transform is computed. Set(=1) ifftFlag for calculation of CIFFT otherwise CFFT is calculated 
    
+
    The parameter bitReverseFlag controls whether output is in normal order or bit reversed order. Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order. 
    
+
    The parameter fftLen Specifies length of CFFT/CIFFT process. Supported FFT Lengths are 16, 64, 256, 1024. 
    
+
    This Function also initializes Twiddle factor table pointer and Bit reversal table pointer. 
    
+
+
    Definition at line 353 of file arm_cfft_radix4_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
+      
    void arm_cfft_radix4_q15 (const arm_cfft_radix4_instance_q15 *  S, 
    q15_t *  pSrc 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 CFFT/CIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]*Spoints to an instance of the Q15 CFFT/CIFFT structure. 
    [in,out]*pSrcpoints to the complex data buffer. Processing occurs in-place. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Input and output formats: 
    
+
    Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process. Hence the output format is different for different FFT sizes. The input and output formats for different FFT sizes and number of bits to upscale are mentioned in the tables below for CFFT and CIFFT: 
    
+
    
+CFFTQ15.gif
+
    Input and Output Formats for Q15 CFFT
    
+ 
    
+CIFFTQ15.gif
+
    Input and Output Formats for Q15 CIFFT
    
+ 
    
+
+
    Definition at line 66 of file arm_cfft_radix4_q15.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t twiddleCoef[2048] [static]
    
+
    
+
    
+
    Example code for Floating-point Twiddle factors Generation: 
    
+
    for(i = 0; i< N; i++)   
+ {   
+	twiddleCoef[2*i]= cos(i * 2*PI/(float)N);   
+	twiddleCoef[2*i+1]= sin(i * 2*PI/(float)N);   
+ } 
     
    
+
    where N = 1024 and PI = 3.14159265358979 
    
+
    Cos and Sin values are in interleaved fashion 
    
+
+
    Definition at line 70 of file arm_cfft_radix4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t twiddleCoefQ31[2048] [static]
    
+
    
+
    
+
    Example code for Q31 Twiddle factors Generation:: 
    
+
    for(i = 0; i< N; i++)   
+ {   
+    twiddleCoefQ31[2*i]= cos(i * 2*PI/(float)N);   
+    twiddleCoefQ31[2*i+1]= sin(i * 2*PI/(float)N);   
+ } 
     
    
+
    where N = 1024 and PI = 3.14159265358979 
    
+
    Cos and Sin values are interleaved fashion 
    
+
    Convert Floating point to Q31(Fixed point 1.31): round(twiddleCoefQ31(i) * pow(2, 31)) 
    
+
+
    Definition at line 71 of file arm_cfft_radix4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t twiddleCoefQ15[2048] [static]
    
+
    
+
    
+
    Example code for Q15 Twiddle factors Generation:: 
    
+
    for(i = 0; i< N; i++)   
+ {   
+	twiddleCoefQ15[2*i]= cos(i * 2*PI/(float)N);   
+	twiddleCoefQ15[2*i+1]= sin(i * 2*PI/(float)N);   
+ } 
     
    
+
    where N = 1024 and PI = 3.14159265358979 
    
+
    Cos and Sin values are interleaved fashion 
    
+
    Convert Floating point to Q15(Fixed point 1.15): round(twiddleCoefQ15(i) * pow(2, 15)) 
    
+
+
    Definition at line 72 of file arm_cfft_radix4_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const uint16_t armBitRevTable[256]
    
+
    
+
    
+
    Pseudo code for Generation of Bit reversal Table is 
    
+
    for(l=1;l <= N/4;l++)   
+ {   
+   for(i=0;i<logN2;i++)   
+   {    
+     a[i]=l&(1<<i);   
+   }   
+   for(j=0; j<logN2; j++)   
+   {   
+     if (a[j]!=0)   
+     y[l]+=(1<<((logN2-1)-j));   
+   }   
+   y[l] = y[l] >> 1;   
+  } 
     
    
+
    where N = 1024 logN2 = 10 
    
+
    N is the maximum FFT Size supported 
    
+
+
    Definition at line 68 of file arm_common_tables.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___class_marks.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___class_marks.html
new file mode 100644
index 000000000..f9cc050a7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___class_marks.html
@@ -0,0 +1,98 @@
+
+
+
+
+CMSIS DSP Software Library: Class Marks Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Class Marks Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description: 
    
+
    Demonstrates the use the Maximum, Minimum, Mean, Standard Deviation, Variance and Matrix functions to calculate statistical values of marks obtained in a class.
    
+
    Note:
    This example also demonstrates the usage of static initialization.
    
+
    Variables Description:
    
+
      
+
    • testMarks_f32 points to the marks scored by 20 students in 4 subjects 
      • 
+
    • max_marks Maximum of all marks 
      • 
+
    • min_marks Minimum of all marks 
      • 
+
    • mean Mean of all marks 
      • 
+
    • var Variance of the marks 
      • 
+
    • std Standard deviation of the marks 
      • 
+
    • numStudents Total number of students in the class
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_class_marks_example_f32.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___cmplx_by_cmplx_mult.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___cmplx_by_cmplx_mult.html
new file mode 100644
index 000000000..6b7fb8918
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___cmplx_by_cmplx_mult.html
@@ -0,0 +1,253 @@
+
+
+
+
+CMSIS DSP Software Library: Complex-by-Complex Multiplication
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Complex-by-Complex Multiplication
    
+
+[Complex Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_cmplx_mult_cmplx_f32 (float32_t *pSrcA, float32_t *pSrcB, float32_t *pDst, uint32_t numSamples)
    void arm_cmplx_mult_cmplx_q31 (q31_t *pSrcA, q31_t *pSrcB, q31_t *pDst, uint32_t numSamples)
    void arm_cmplx_mult_cmplx_q15 (q15_t *pSrcA, q15_t *pSrcB, q15_t *pDst, uint32_t numSamples)
    
+
    Detailed Description
    
+
    Multiplies a complex vector by another complex vector and generates a complex result. The data in the complex arrays is stored in an interleaved fashion (real, imag, real, imag, ...). The parameter numSamples represents the number of complex samples processed. The complex arrays have a total of 2*numSamples real values.
    
+
    The underlying algorithm is used:
    
+
       
+ for(n=0; n<numSamples; n++) {   
+     pDst[(2*n)+0] = pSrcA[(2*n)+0] * pSrcB[(2*n)+0] - pSrcA[(2*n)+1] * pSrcB[(2*n)+1];   
+     pDst[(2*n)+1] = pSrcA[(2*n)+0] * pSrcB[(2*n)+1] + pSrcA[(2*n)+1] * pSrcB[(2*n)+0];   
+ }   
+ 
    There are separate functions for floating-point, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
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+      
    void arm_cmplx_mult_cmplx_f32 (float32_t *  pSrcA, 
    float32_t *  pSrcB, 
    float32_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Floating-point complex-by-complex multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]numSamplesnumber of complex samples in each vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_convolution_example_f32.c.
    
+
    
+
    Definition at line 73 of file arm_cmplx_mult_cmplx_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+        
+      
    void arm_cmplx_mult_cmplx_q31 (q31_t *  pSrcA, 
    q31_t *  pSrcB, 
    q31_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q31 complex-by-complex multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]numSamplesnumber of complex samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format. Input down scaling is not required. 
    
+
+
    Definition at line 56 of file arm_cmplx_mult_cmplx_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
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+        
+      
    void arm_cmplx_mult_cmplx_q15 (q15_t *  pSrcA, 
    q15_t *  pSrcB, 
    q15_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q15 complex-by-complex multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [out]*pDstpoints to the output vector 
    [in]numSamplesnumber of complex samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format. 
    
+
+
    Definition at line 54 of file arm_cmplx_mult_cmplx_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___cmplx_by_real_mult.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___cmplx_by_real_mult.html
new file mode 100644
index 000000000..c2c76f684
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___cmplx_by_real_mult.html
@@ -0,0 +1,252 @@
+
+
+
+
+CMSIS DSP Software Library: Complex-by-Real Multiplication
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Complex-by-Real Multiplication
    
+
+[Complex Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_cmplx_mult_real_f32 (float32_t *pSrcCmplx, float32_t *pSrcReal, float32_t *pCmplxDst, uint32_t numSamples)
    void arm_cmplx_mult_real_q31 (q31_t *pSrcCmplx, q31_t *pSrcReal, q31_t *pCmplxDst, uint32_t numSamples)
    void arm_cmplx_mult_real_q15 (q15_t *pSrcCmplx, q15_t *pSrcReal, q15_t *pCmplxDst, uint32_t numSamples)
    
+
    Detailed Description
    
+
    Multiplies a complex vector by a real vector and generates a complex result. The data in the complex arrays is stored in an interleaved fashion (real, imag, real, imag, ...). The parameter numSamples represents the number of complex samples processed. The complex arrays have a total of 2*numSamples real values while the real array has a total of numSamples real values.
    
+
    The underlying algorithm is used:
    
+
       
+ for(n=0; n<numSamples; n++) {   
+     pCmplxDst[(2*n)+0] = pSrcCmplx[(2*n)+0] * pSrcReal[n];   
+     pCmplxDst[(2*n)+1] = pSrcCmplx[(2*n)+1] * pSrcReal[n];   
+ }   
+ 
    There are separate functions for floating-point, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
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+          
+          
+          
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+        
+      
    void arm_cmplx_mult_real_f32 (float32_t *  pSrcCmplx, 
    float32_t *  pSrcReal, 
    float32_t *  pCmplxDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Floating-point complex-by-real multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcCmplxpoints to the complex input vector 
    [in]*pSrcRealpoints to the real input vector 
    [out]*pCmplxDstpoints to the complex output vector 
    [in]numSamplesnumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 74 of file arm_cmplx_mult_real_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
+      
    void arm_cmplx_mult_real_q31 (q31_t *  pSrcCmplx, 
    q31_t *  pSrcReal, 
    q31_t *  pCmplxDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q31 complex-by-real multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcCmplxpoints to the complex input vector 
    [in]*pSrcRealpoints to the real input vector 
    [out]*pCmplxDstpoints to the complex output vector 
    [in]numSamplesnumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated. 
    
+
+
    Definition at line 56 of file arm_cmplx_mult_real_q31.c.
    
+
+
    
+
    
+
+
    
+
    
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+        
+      
    void arm_cmplx_mult_real_q15 (q15_t *  pSrcCmplx, 
    q15_t *  pSrcReal, 
    q15_t *  pCmplxDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q15 complex-by-real multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcCmplxpoints to the complex input vector 
    [in]*pSrcRealpoints to the real input vector 
    [out]*pCmplxDstpoints to the complex output vector 
    [in]numSamplesnumber of samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. 
    
+
+
    Definition at line 56 of file arm_cmplx_mult_real_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___conv.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___conv.html
new file mode 100644
index 000000000..3a1f922ba
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___conv.html
@@ -0,0 +1,475 @@
+
+
+
+
+CMSIS DSP Software Library: Convolution
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Convolution
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_conv_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst)
    void arm_conv_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    void arm_conv_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    void arm_conv_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    void arm_conv_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    void arm_conv_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst)
    
+
    Detailed Description
    
+
    Convolution is a mathematical operation that operates on two finite length vectors to generate a finite length output vector. Convolution is similar to correlation and is frequently used in filtering and data analysis. The CMSIS DSP library contains functions for convolving Q7, Q15, Q31, and floating-point data types. The library also provides fast versions of the Q15 and Q31 functions on Cortex-M4 and Cortex-M3.
    
+
    Algorithm 
    Let a[n] and b[n] be sequences of length srcALen and srcBLen samples respectively. Then the convolution
    
+
       
+                   c[n] = a[n] * b[n]   
+ 
    is defined as 
    
+ConvolutionEquation.gif
+
    
+ 
    
+
    Note that c[n] is of length srcALen + srcBLen - 1 and is defined over the interval n=0, 1, 2, ..., srcALen + srcBLen - 2. pSrcA points to the first input vector of length srcALen and pSrcB points to the second input vector of length srcBLen. The output result is written to pDst and the calling function must allocate srcALen+srcBLen-1 words for the result.
    
+
    Conceptually, when two signals a[n] and b[n] are convolved, the signal b[n] slides over a[n]. For each offset n, the overlapping portions of a[n] and b[n] are multiplied and summed together.
    
+
    Note that convolution is a commutative operation:
    
+
       
+                   a[n] * b[n] = b[n] * a[n].   
+ 
    This means that switching the A and B arguments to the convolution functions has no effect.
    
+
    Fixed-Point Behavior
    
+
    Convolution requires summing up a large number of intermediate products. As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation. Refer to the function specific documentation below for further details of the particular algorithm used. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
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    void arm_conv_f32 (float32_t *  pSrcA, 
    uint32_t  srcALen, 
    float32_t *  pSrcB, 
    uint32_t  srcBLen, 
    float32_t *  pDst 
    )
    
+
    
+
    
+
+
    Convolution of floating-point sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length srcALen+srcBLen-1. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 103 of file arm_conv_f32.c.
    
+
+
    
+
    
+
+
    
+
    
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+      
    void arm_conv_q31 (q31_t *  pSrcA, 
    uint32_t  srcALen, 
    q31_t *  pSrcB, 
    uint32_t  srcBLen, 
    q31_t *  pDst 
    )
    
+
    
+
    
+
+
    Convolution of Q31 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length srcALen+srcBLen-1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. There is no saturation on intermediate additions. Thus, if the accumulator overflows it wraps around and distorts the result. The input signals should be scaled down to avoid intermediate overflows. Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows, as maximum of min(srcALen, srcBLen) number of additions are carried internally. The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
    
+
    See arm_conv_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 71 of file arm_conv_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+      
    void arm_conv_fast_q31 (q31_t *  pSrcA, 
    uint32_t  srcALen, 
    q31_t *  pSrcB, 
    uint32_t  srcBLen, 
    q31_t *  pDst 
    )
    
+
    
+
    
+
+
    Convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length srcALen+srcBLen-1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    This function is optimized for speed at the expense of fixed-point precision and overflow protection. The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30 format. Finally, the accumulator is saturated and converted to a 1.31 result.
    
+
    The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result. In order to avoid overflows completely the input signals must be scaled down. Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows, as maximum of min(srcALen, srcBLen) number of additions are carried internally.
    
+
    See arm_conv_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision. 
    
+
+
    Definition at line 68 of file arm_conv_fast_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+      
    void arm_conv_q15 (q15_t *  pSrcA, 
    uint32_t  srcALen, 
    q15_t *  pSrcB, 
    uint32_t  srcBLen, 
    q15_t *  pDst 
    )
    
+
    
+
    
+
+
    Convolution of Q15 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length srcALen+srcBLen-1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 64-bit internal accumulator. Both inputs are in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. This approach provides 33 guard bits and there is no risk of overflow. The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.
    
+
    Refer to arm_conv_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 68 of file arm_conv_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+      
    void arm_conv_fast_q15 (q15_t *  pSrcA, 
    uint32_t  srcALen, 
    q15_t *  pSrcB, 
    uint32_t  srcBLen, 
    q15_t *  pDst 
    )
    
+
    
+
    
+
+
    Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length srcALen+srcBLen-1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    This fast version uses a 32-bit accumulator with 2.30 format. The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit. There is no saturation on intermediate additions. Thus, if the accumulator overflows it wraps around and distorts the result. The input signals should be scaled down to avoid intermediate overflows. Scale down the inputs by log2(min(srcALen, srcBLen)) (log2 is read as log to the base 2) times to avoid overflows, as maximum of min(srcALen, srcBLen) number of additions are carried internally. The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.
    
+
    See arm_conv_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion. 
    
+
+
    Definition at line 66 of file arm_conv_fast_q15.c.
    
+
+
    
+
    
+
+
    
+
    
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+      
    void arm_conv_q7 (q7_t *  pSrcA, 
    uint32_t  srcALen, 
    q7_t *  pSrcB, 
    uint32_t  srcBLen, 
    q7_t *  pDst 
    )
    
+
    
+
    
+
+
    Convolution of Q7 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length srcALen+srcBLen-1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 32-bit internal accumulator. Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result. The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format. This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072. The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and then saturated to 1.7 format. 
    
+
+
    Definition at line 65 of file arm_conv_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___convolution_example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___convolution_example.html
new file mode 100644
index 000000000..5e00fd1c0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___convolution_example.html
@@ -0,0 +1,105 @@
+
+
+
+
+CMSIS DSP Software Library: Convolution Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Convolution Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description: 
    
+
    Demonstrates the convolution theorem with the use of the Complex FFT, Complex-by-Complex Multiplication, and Support Functions.
    
+
    Algorithm:
    
+
    The convolution theorem states that convolution in the time domain corresponds to multiplication in the frequency domain. Therefore, the Fourier transform of the convoution of two signals is equal to the product of their individual Fourier transforms. The Fourier transform of a signal can be evaluated efficiently using the Fast Fourier Transform (FFT). 
    
+
    Two input signals, a[n] and b[n], with lengths n1 and n2 respectively, are zero padded so that their lengths become N, which is greater than or equal to (n1+n2-1) and is a power of 4 as FFT implementation is radix-4. The convolution of a[n] and b[n] is obtained by taking the FFT of the input signals, multiplying the Fourier transforms of the two signals, and taking the inverse FFT of the multiplied result. 
    
+
    This is denoted by the following equations: 
     A[k] = FFT(a[n],N)
+ B[k] = FFT(b[n],N)
+ conv(a[n], b[n]) = IFFT(A[k] * B[k], N)
     where A[k] and B[k] are the N-point FFTs of the signals a[n] and b[n] respectively. The length of the convolved signal is (n1+n2-1).
    
+
    Block Diagram:
    
+
    
+Convolution.gif
+
    
+
    
+
    Variables Description:
    
+
      
+
    • testInputA_f32 points to the first input sequence 
      • 
+
    • srcALen length of the first input sequence 
      • 
+
    • testInputB_f32 points to the second input sequence 
      • 
+
    • srcBLen length of the second input sequence 
      • 
+
    • outLen length of convolution output sequence, (srcALen + srcBLen - 1) 
      • 
+
    • AxB points to the output array where the product of individual FFTs of inputs is stored.
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_convolution_example_f32.c 
    
+
    
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+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___corr.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___corr.html
new file mode 100644
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+
+
+
+
+CMSIS DSP Software Library: Correlation
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Correlation
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
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+
    
+Functions
    void arm_correlate_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst)
    void arm_correlate_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    void arm_correlate_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst)
    void arm_correlate_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    void arm_correlate_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst)
    void arm_correlate_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst)
    
+
    Detailed Description
    
+
    Correlation is a mathematical operation that is similar to convolution. As with convolution, correlation uses two signals to produce a third signal. The underlying algorithms in correlation and convolution are identical except that one of the inputs is flipped in convolution. Correlation is commonly used to measure the similarity between two signals. It has applications in pattern recognition, cryptanalysis, and searching. The CMSIS library provides correlation functions for Q7, Q15, Q31 and floating-point data types. Fast versions of the Q15 and Q31 functions are also provided.
    
+
    Algorithm 
    Let a[n] and b[n] be sequences of length srcALen and srcBLen samples respectively. The convolution of the two signals is denoted by 
       
+                   c[n] = a[n] * b[n]   
+ 
     In correlation, one of the signals is flipped in time 
       
+                   c[n] = a[n] * b[-n]   
+ 
    
+
    and this is mathematically defined as 
    
+CorrelateEquation.gif
+
    
+ 
    
+
    The pSrcA points to the first input vector of length srcALen and pSrcB points to the second input vector of length srcBLen. The result c[n] is of length 2 * max(srcALen, srcBLen) - 1 and is defined over the interval n=0, 1, 2, ..., (2 * max(srcALen, srcBLen) - 2). The output result is written to pDst and the calling function must allocate 2 * max(srcALen, srcBLen) - 1 words for the result.
    
+
    Note 
    
+
    The pDst should be initialized to all zeros before being used.
    
+
    Fixed-Point Behavior 
    
+
    Correlation requires summing up a large number of intermediate products. As such, the Q7, Q15, and Q31 functions run a risk of overflow and saturation. Refer to the function specific documentation below for further details of the particular algorithm used. 
    
+
    Function Documentation
    
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    void arm_correlate_f32 (float32_t *  pSrcA, 
    uint32_t  srcALen, 
    float32_t *  pSrcB, 
    uint32_t  srcBLen, 
    float32_t *  pDst 
    )
    
+
    
+
    
+
+
    Correlation of floating-point sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length 2 * max(srcALen, srcBLen) - 1. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 95 of file arm_correlate_f32.c.
    
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    void arm_correlate_q31 (q31_t *  pSrcA, 
    uint32_t  srcALen, 
    q31_t *  pSrcB, 
    uint32_t  srcBLen, 
    q31_t *  pDst 
    )
    
+
    
+
    
+
+
    Correlation of Q31 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length 2 * max(srcALen, srcBLen) - 1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. There is no saturation on intermediate additions. Thus, if the accumulator overflows it wraps around and distorts the result. The input signals should be scaled down to avoid intermediate overflows. Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a maximum of min(srcALen, srcBLen) number of additions is carried internally. The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
    
+
    See arm_correlate_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 71 of file arm_correlate_q31.c.
    
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    void arm_correlate_fast_q31 (q31_t *  pSrcA, 
    uint32_t  srcALen, 
    q31_t *  pSrcB, 
    uint32_t  srcBLen, 
    q31_t *  pDst 
    )
    
+
    
+
    
+
+
    Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length 2 * max(srcALen, srcBLen) - 1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    This function is optimized for speed at the expense of fixed-point precision and overflow protection. The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30 format. Finally, the accumulator is saturated and converted to a 1.31 result.
    
+
    The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result. In order to avoid overflows completely the input signals must be scaled down. The input signals should be scaled down to avoid intermediate overflows. Scale down one of the inputs by 1/min(srcALen, srcBLen)to avoid overflows since a maximum of min(srcALen, srcBLen) number of additions is carried internally.
    
+
    See arm_correlate_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision. 
    
+
+
    Definition at line 70 of file arm_correlate_fast_q31.c.
    
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    void arm_correlate_q15 (q15_t *  pSrcA, 
    uint32_t  srcALen, 
    q15_t *  pSrcB, 
    uint32_t  srcBLen, 
    q15_t *  pDst 
    )
    
+
    
+
    
+
+
    Correlation of Q15 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length 2 * max(srcALen, srcBLen) - 1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 64-bit internal accumulator. Both inputs are in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. This approach provides 33 guard bits and there is no risk of overflow. The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.
    
+
    Refer to arm_correlate_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 68 of file arm_correlate_q15.c.
    
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    void arm_correlate_fast_q15 (q15_t *  pSrcA, 
    uint32_t  srcALen, 
    q15_t *  pSrcB, 
    uint32_t  srcBLen, 
    q15_t *  pDst 
    )
    
+
    
+
    
+
+
    Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length 2 * max(srcALen, srcBLen) - 1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    This fast version uses a 32-bit accumulator with 2.30 format. The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit. There is no saturation on intermediate additions. Thus, if the accumulator overflows it wraps around and distorts the result. The input signals should be scaled down to avoid intermediate overflows. Scale down one of the inputs by 1/min(srcALen, srcBLen) to avoid overflow since a maximum of min(srcALen, srcBLen) number of additions is carried internally. The 2.30 accumulator is right shifted by 15 bits and then saturated to 1.15 format to yield the final result.
    
+
    See arm_correlate_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion. 
    
+
+
    Definition at line 66 of file arm_correlate_fast_q15.c.
    
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    void arm_correlate_q7 (q7_t *  pSrcA, 
    uint32_t  srcALen, 
    q7_t *  pSrcB, 
    uint32_t  srcBLen, 
    q7_t *  pDst 
    )
    
+
    
+
    
+
+
    Correlation of Q7 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. Length 2 * max(srcALen, srcBLen) - 1. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 32-bit internal accumulator. Both the inputs are represented in 1.7 format and multiplications yield a 2.14 result. The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format. This approach provides 17 guard bits and there is no risk of overflow as long as max(srcALen, srcBLen)<131072. The 18.14 result is then truncated to 18.7 format by discarding the low 7 bits and saturated to 1.7 format. 
    
+
+
    Definition at line 65 of file arm_correlate_q7.c.
    
+
+
    
+
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___d_c_t4___i_d_c_t4.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___d_c_t4___i_d_c_t4.html
new file mode 100644
index 000000000..8a777ed0d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___d_c_t4___i_d_c_t4.html
@@ -0,0 +1,839 @@
+
+
+
+
+CMSIS DSP Software Library: DCT Type IV Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    DCT Type IV Functions
    
+
+[Transform Functions]
+
      
    
+
    
+
    
+
+
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+Functions
    arm_status arm_dct4_init_f32 (arm_dct4_instance_f32 *S, arm_rfft_instance_f32 *S_RFFT, arm_cfft_radix4_instance_f32 *S_CFFT, uint16_t N, uint16_t Nby2, float32_t normalize)
    void arm_dct4_f32 (const arm_dct4_instance_f32 *S, float32_t *pState, float32_t *pInlineBuffer)
    arm_status arm_dct4_init_q31 (arm_dct4_instance_q31 *S, arm_rfft_instance_q31 *S_RFFT, arm_cfft_radix4_instance_q31 *S_CFFT, uint16_t N, uint16_t Nby2, q31_t normalize)
    void arm_dct4_q31 (const arm_dct4_instance_q31 *S, q31_t *pState, q31_t *pInlineBuffer)
    arm_status arm_dct4_init_q15 (arm_dct4_instance_q15 *S, arm_rfft_instance_q15 *S_RFFT, arm_cfft_radix4_instance_q15 *S_CFFT, uint16_t N, uint16_t Nby2, q15_t normalize)
    void arm_dct4_q15 (const arm_dct4_instance_q15 *S, q15_t *pState, q15_t *pInlineBuffer)
    
+Variables
    static const float32_t Weights_128 [256]
    static const float32_t Weights_512 [1024]
    static const float32_t Weights_2048 [4096]
    static const float32_t cos_factors_128 [128]
    static const float32_t cos_factors_512 [512]
    static const float32_t cos_factors_2048 [2048]
    static const q31_t WeightsQ31_128 [256]
    static const q31_t WeightsQ31_512 [1024]
    static const q31_t WeightsQ31_2048 [4096]
    static const q31_t cos_factorsQ31_128 [128]
    static const q31_t cos_factorsQ31_512 [512]
    static const q31_t cos_factorsQ31_2048 [2048]
    static const q15_t WeightsQ15_128 [256]
    static const q15_t WeightsQ15_512 [1024]
    static const q15_t WeightsQ15_2048 [4096]
    static const q15_t cos_factorsQ15_128 [128]
    static const q15_t cos_factorsQ15_512 [512]
    static const q15_t cos_factorsQ15_2048 [2048]
    
+
    Detailed Description
    
+
    Representation of signals by minimum number of values is important for storage and transmission. The possibility of large discontinuity between the beginning and end of a period of a signal in DFT can be avoided by extending the signal so that it is even-symmetric. Discrete Cosine Transform (DCT) is constructed such that its energy is heavily concentrated in the lower part of the spectrum and is very widely used in signal and image coding applications. The family of DCTs (DCT type- 1,2,3,4) is the outcome of different combinations of homogeneous boundary conditions. DCT has an excellent energy-packing capability, hence has many applications and in data compression in particular.
    
+
    DCT is essentially the Discrete Fourier Transform(DFT) of an even-extended real signal. Reordering of the input data makes the computation of DCT just a problem of computing the DFT of a real signal with a few additional operations. This approach provides regular, simple, and very efficient DCT algorithms for practical hardware and software implementations.
    
+
    DCT type-II can be implemented using Fast fourier transform (FFT) internally, as the transform is applied on real values, Real FFT can be used. DCT4 is implemented using DCT2 as their implementations are similar except with some added pre-processing and post-processing. DCT2 implementation can be described in the following steps:
    
+
      
+
    • Re-ordering input
      • 
+
    • Calculating Real FFT
      • 
+
    • Multiplication of weights and Real FFT output and getting real part from the product.
      • 
+
    
+
    This process is explained by the block diagram below: 
    
+
    
+DCT4.gif
+
    Discrete Cosine Transform - type-IV
    
+
    Algorithm: 
    The N-point type-IV DCT is defined as a real, linear transformation by the formula: 
    
+DCT4Equation.gif
+
    
+ where k = 0,1,2,.....N-1 
    
+
    Its inverse is defined as follows: 
    
+IDCT4Equation.gif
+
    
+ where n = 0,1,2,.....N-1 
    
+
    The DCT4 matrices become involutory (i.e. they are self-inverse) by multiplying with an overall scale factor of sqrt(2/N). The symmetry of the transform matrix indicates that the fast algorithms for the forward and inverse transform computation are identical. Note that the implementation of Inverse DCT4 and DCT4 is same, hence same process function can be used for both.
    
+
    Lengths supported by the transform: 
    As DCT4 internally uses Real FFT, it supports all the lengths supported by arm_rfft_f32(). The library provides separate functions for Q15, Q31, and floating-point data types. 
    
+
    Instance Structure 
    The instances for Real FFT and FFT, cosine values table and twiddle factor table are stored in an instance data structure. A separate instance structure must be defined for each transform. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Initializes Real FFT as its process function is used internally in DCT4, by calling arm_rfft_init_f32(). 
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Manually initialize the instance structure as follows: 
       
+arm_dct4_instance_f32 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};   
+arm_dct4_instance_q31 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};  
+arm_dct4_instance_q15 S = {N, Nby2, normalize, pTwiddle, pCosFactor, pRfft, pCfft};  
+ 
     where N is the length of the DCT4; Nby2 is half of the length of the DCT4; normalize is normalizing factor used and is equal to sqrt(2/N); pTwiddle points to the twiddle factor table; pCosFactor points to the cosFactor table; pRfft points to the real FFT instance; pCfft points to the complex FFT instance; The CFFT and RFFT structures also needs to be initialized, refer to arm_cfft_radix4_f32() and arm_rfft_f32() respectively for details regarding static initialization.
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the DCT4 transform functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
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    arm_status arm_dct4_init_f32 (arm_dct4_instance_f32 *  S, 
    arm_rfft_instance_f32 *  S_RFFT, 
    arm_cfft_radix4_instance_f32 *  S_CFFT, 
    uint16_t  N, 
    uint16_t  Nby2, 
    float32_t  normalize 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point DCT4/IDCT4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of floating-point DCT4/IDCT4 structure. 
    [in]*S_RFFTpoints to an instance of floating-point RFFT/RIFFT structure. 
    [in]*S_CFFTpoints to an instance of floating-point CFFT/CIFFT structure. 
    [in]Nlength of the DCT4. 
    [in]Nby2half of the length of the DCT4. 
    [in]normalizenormalizing factor. 
    
+  
    
+
    
+
    Returns:
    arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported transform length. 
    
+
    Normalizing factor: 
    The normalizing factor is sqrt(2/N), which depends on the size of transform N. Floating-point normalizing factors are mentioned in the table below for different DCT sizes: 
    
+dct4NormalizingF32Table.gif
+
    
+ 
    
+
+
    Definition at line 4142 of file arm_dct4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_dct4_f32 (const arm_dct4_instance_f32 *  S, 
    float32_t *  pState, 
    float32_t *  pInlineBuffer 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point DCT4/IDCT4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point DCT4/IDCT4 structure. 
    [in]*pStatepoints to state buffer. 
    [in,out]*pInlineBufferpoints to the in-place input and output buffer. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 126 of file arm_dct4_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    arm_status arm_dct4_init_q31 (arm_dct4_instance_q31 *  S, 
    arm_rfft_instance_q31 *  S_RFFT, 
    arm_cfft_radix4_instance_q31 *  S_CFFT, 
    uint16_t  N, 
    uint16_t  Nby2, 
    q31_t  normalize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 DCT4/IDCT4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of Q31 DCT4/IDCT4 structure. 
    [in]*S_RFFTpoints to an instance of Q31 RFFT/RIFFT structure 
    [in]*S_CFFTpoints to an instance of Q31 CFFT/CIFFT structure 
    [in]Nlength of the DCT4. 
    [in]Nby2half of the length of the DCT4. 
    [in]normalizenormalizing factor. 
    
+  
    
+
    
+
    Returns:
    arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length. 
    
+
    Normalizing factor: 
    The normalizing factor is sqrt(2/N), which depends on the size of transform N. Normalizing factors in 1.31 format are mentioned in the table below for different DCT sizes: 
    
+dct4NormalizingQ31Table.gif
+
    
+ 
    
+
+
    Definition at line 2133 of file arm_dct4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_dct4_q31 (const arm_dct4_instance_q31 *  S, 
    q31_t *  pState, 
    q31_t *  pInlineBuffer 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 DCT4/IDCT4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 DCT4 structure. 
    [in]*pStatepoints to state buffer. 
    [in,out]*pInlineBufferpoints to the in-place input and output buffer. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Input an output formats: 
    Input samples need to be downscaled by 1 bit to avoid saturations in the Q31 DCT process, as the conversion from DCT2 to DCT4 involves one subtraction. Internally inputs are downscaled in the RFFT process function to avoid overflows. Number of bits downscaled, depends on the size of the transform. The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:
    
+
    
+dct4FormatsQ31Table.gif
+
    
+ 
+
    Definition at line 53 of file arm_dct4_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    arm_status arm_dct4_init_q15 (arm_dct4_instance_q15 *  S, 
    arm_rfft_instance_q15 *  S_RFFT, 
    arm_cfft_radix4_instance_q15 *  S_CFFT, 
    uint16_t  N, 
    uint16_t  Nby2, 
    q15_t  normalize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 DCT4/IDCT4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of Q15 DCT4/IDCT4 structure. 
    [in]*S_RFFTpoints to an instance of Q15 RFFT/RIFFT structure. 
    [in]*S_CFFTpoints to an instance of Q15 CFFT/CIFFT structure. 
    [in]Nlength of the DCT4. 
    [in]Nby2half of the length of the DCT4. 
    [in]normalizenormalizing factor. 
    
+  
    
+
    
+
    Returns:
    arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length. 
    
+
    Normalizing factor: 
    The normalizing factor is sqrt(2/N), which depends on the size of transform N. Normalizing factors in 1.15 format are mentioned in the table below for different DCT sizes: 
    
+dct4NormalizingQ15Table.gif
+
    
+ 
    
+
+
    Definition at line 1125 of file arm_dct4_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_dct4_q15 (const arm_dct4_instance_q15 *  S, 
    q15_t *  pState, 
    q15_t *  pInlineBuffer 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 DCT4/IDCT4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 DCT4 structure. 
    [in]*pStatepoints to state buffer. 
    [in,out]*pInlineBufferpoints to the in-place input and output buffer. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Input an output formats: 
    Internally inputs are downscaled in the RFFT process function to avoid overflows. Number of bits downscaled, depends on the size of the transform. The input and output formats for different DCT sizes and number of bits to upscale are mentioned in the table below:
    
+
    
+dct4FormatsQ15Table.gif
+
    
+ 
+
    Definition at line 52 of file arm_dct4_q15.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t Weights_128[256] [static]
    
+
    
+
    
+
    Weights tables are generated using the formula : 
    weights[n] = e^(-j*n*pi/(2*N))
     
    
+
    C command to generate the table 
       
+ for(i = 0; i< N; i++)   
+ {   
+    weights[2*i]= cos(i*c);   
+    weights[(2*i)+1]= -sin(i * c);   
+ } 
     
    
+
    Where N is the Number of weights to be calculated and c is pi/(2*N) 
    
+
    In the tables below the real and imaginary values are placed alternatively, hence the array length is 2*N. 
    
+
+
    Definition at line 64 of file arm_dct4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t Weights_512[1024] [static]
    
+
    
+
    
+
+
    Definition at line 195 of file arm_dct4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t Weights_2048[4096] [static]
    
+
    
+
    
+
+
    Definition at line 710 of file arm_dct4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t cos_factors_128[128] [static]
    
+
    
+
    
+
    cosFactor tables are generated using the formula : 
    cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
     
    
+
    C command to generate the table 
    
+
     for(i = 0; i< N; i++)   
+ {   
+    cos_factors[i]= 2 * cos((2*i+1)*c/2);   
+ } 
     
    
+
    where N is the number of factors to generate and c is pi/(2*N) 
    
+
+
    Definition at line 2774 of file arm_dct4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t cos_factors_512[512] [static]
    
+
    
+
    
+
+
    Definition at line 2841 of file arm_dct4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t cos_factors_2048[2048] [static]
    
+
    
+
    
+
+
    Definition at line 3100 of file arm_dct4_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t WeightsQ31_128[256] [static]
    
+
    
+
    
+
    Weights tables are generated using the formula : 
    weights[n] = e^(-j*n*pi/(2*N))
     
    
+
    C command to generate the table 
       
+ for(i = 0; i< N; i++)   
+ {   
+   weights[2*i]= cos(i*c);   
+   weights[(2*i)+1]= -sin(i * c);   
+ } 
     
    
+
    where N is the Number of weights to be calculated and c is pi/(2*N) 
    
+
    Convert the output to q31 format by multiplying with 2^31 and saturated if required. 
    
+
    In the tables below the real and imaginary values are placed alternatively, hence the array length is 2*N. 
    
+
+
    Definition at line 66 of file arm_dct4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t WeightsQ31_512[1024] [static]
    
+
    
+
    
+
+
    Definition at line 133 of file arm_dct4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t WeightsQ31_2048[4096] [static]
    
+
    
+
    
+
+
    Definition at line 392 of file arm_dct4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t cos_factorsQ31_128[128] [static]
    
+
    
+
    
+
    cosFactor tables are generated using the formula : 
    cos_factors[n] = 2 * cos((2n+1)*pi/(4*N))
     
    
+
    C command to generate the table 
       
+ for(i = 0; i< N; i++)   
+ {   
+   cos_factors[i]= 2 * cos((2*i+1)*c/2);   
+ } 
     
    
+
    where N is the number of factors to generate and c is pi/(2*N) 
    
+
    Then converted to q31 format by multiplying with 2^31 and saturated if required. 
    
+
+
    Definition at line 1436 of file arm_dct4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t cos_factorsQ31_512[512] [static]
    
+
    
+
    
+
+
    Definition at line 1471 of file arm_dct4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t cos_factorsQ31_2048[2048] [static]
    
+
    
+
    
+
+
    Definition at line 1602 of file arm_dct4_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t WeightsQ15_128[256] [static]
    
+
    
+
    
+
    Weights tables are generated using the formula : 
    weights[n] = e^(-j*n*pi/(2*N))
     
    
+
    C command to generate the table 
       
+ for(i = 0; i< N; i++)   
+ {   
+   weights[2*i]= cos(i*c);   
+   weights[(2*i)+1]= -sin(i * c);   
+ } 
     
    
+
    where N is the Number of weights to be calculated and c is pi/(2*N) 
    
+
    Converted the output to q15 format by multiplying with 2^31 and saturated if required. 
    
+
    In the tables below the real and imaginary values are placed alternatively, hence the array length is 2*N. 
    
+
+
    Definition at line 66 of file arm_dct4_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t WeightsQ15_512[1024] [static]
    
+
    
+
    
+
+
    Definition at line 101 of file arm_dct4_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t WeightsQ15_2048[4096] [static]
    
+
    
+
    
+
+
    Definition at line 232 of file arm_dct4_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t cos_factorsQ15_128[128] [static]
    
+
    
+
    
+Initial value:
     {
+  0x7fff, 0x7ffa, 0x7ff0, 0x7fe1, 0x7fce, 0x7fb5, 0x7f97, 0x7f75,
+  0x7f4d, 0x7f21, 0x7ef0, 0x7eba, 0x7e7f, 0x7e3f, 0x7dfa, 0x7db0,
+  0x7d62, 0x7d0f, 0x7cb7, 0x7c5a, 0x7bf8, 0x7b92, 0x7b26, 0x7ab6,
+  0x7a42, 0x79c8, 0x794a, 0x78c7, 0x7840, 0x77b4, 0x7723, 0x768e,
+  0x75f4, 0x7555, 0x74b2, 0x740b, 0x735f, 0x72af, 0x71fa, 0x7141,
+  0x7083, 0x6fc1, 0x6efb, 0x6e30, 0x6d62, 0x6c8f, 0x6bb8, 0x6adc,
+  0x69fd, 0x6919, 0x6832, 0x6746, 0x6657, 0x6563, 0x646c, 0x6371,
+  0x6271, 0x616f, 0x6068, 0x5f5e, 0x5e50, 0x5d3e, 0x5c29, 0x5b10,
+  0x59f3, 0x58d4, 0x57b0, 0x568a, 0x5560, 0x5433, 0x5302, 0x51ce,
+  0x5097, 0x4f5e, 0x4e21, 0x4ce1, 0x4b9e, 0x4a58, 0x490f, 0x47c3,
+  0x4675, 0x4524, 0x43d0, 0x427a, 0x4121, 0x3fc5, 0x3e68, 0x3d07,
+  0x3ba5, 0x3a40, 0x38d8, 0x376f, 0x3604, 0x3496, 0x3326, 0x31b5,
+  0x3041, 0x2ecc, 0x2d55, 0x2bdc, 0x2a61, 0x28e5, 0x2767, 0x25e8,
+  0x2467, 0x22e5, 0x2161, 0x1fdc, 0x1e56, 0x1ccf, 0x1b47, 0x19bd,
+  0x1833, 0x16a8, 0x151b, 0x138e, 0x1201, 0x1072, 0xee3, 0xd53,
+  0xbc3, 0xa33, 0x8a2, 0x710, 0x57f, 0x3ed, 0x25b, 0xc9
+}
+
    cosFactor tables are generated using the formula : 
     cos_factors[n] = 2 * cos((2n+1)*pi/(4*N)) 
     
    
+
    C command to generate the table 
       
+ for(i = 0; i< N; i++)   
+ {   
+   cos_factors[i]= 2 * cos((2*i+1)*c/2);   
+ } 
     
    
+
    where N is the number of factors to generate and c is pi/(2*N) 
    
+
    Then converted to q15 format by multiplying with 2^31 and saturated if required. 
    
+
+
    Definition at line 764 of file arm_dct4_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t cos_factorsQ15_512[512] [static]
    
+
    
+
    
+
+
    Definition at line 783 of file arm_dct4_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t cos_factorsQ15_2048[2048] [static]
    
+
    
+
    
+
+
    Definition at line 850 of file arm_dct4_init_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___dotproduct_example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___dotproduct_example.html
new file mode 100644
index 000000000..3c4a96a63
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___dotproduct_example.html
@@ -0,0 +1,96 @@
+
+
+
+
+CMSIS DSP Software Library: Dot Product Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Dot Product Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description: 
    
+
    Demonstrates the use of the Multiply and Add functions to perform the dot product. The dot product of two vectors is obtained by multiplying corresponding elements and summing the products.
    
+
    Algorithm:
    
+
    The two input vectors A and B with length n, are multiplied element-by-element and then added to obtain dot product. 
    
+
    This is denoted by the following equation: 
      dotProduct = A[0] * B[0] + A[1] * B[1] + ... + A[n-1] * B[n-1]
    
+
    Block Diagram:
    
+
    
+dotProduct.gif
+
    
+
    
+
    Variables Description:
    
+
      
+
    • srcA_buf_f32 points to first input vector 
      • 
+
    • srcB_buf_f32 points to second input vector 
      • 
+
    • testOutput stores dot product of the two input vectors.
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_dotproduct_example_f32.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r.html
new file mode 100644
index 000000000..72c41d658
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r.html
@@ -0,0 +1,721 @@
+
+
+
+
+CMSIS DSP Software Library: Finite Impulse Response (FIR) Filters
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Finite Impulse Response (FIR) Filters
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_fir_init_f32 (arm_fir_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    void arm_fir_f32 (const arm_fir_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_fir_init_q31 (arm_fir_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    void arm_fir_q31 (const arm_fir_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_fir_fast_q31 (const arm_fir_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    arm_status arm_fir_init_q15 (arm_fir_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    void arm_fir_q15 (const arm_fir_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_fir_fast_q15 (const arm_fir_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_fir_init_q7 (arm_fir_instance_q7 *S, uint16_t numTaps, q7_t *pCoeffs, q7_t *pState, uint32_t blockSize)
    void arm_fir_q7 (const arm_fir_instance_q7 *S, q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    This set of functions implements Finite Impulse Response (FIR) filters for Q7, Q15, Q31, and floating-point data types. Fast versions of Q15 and Q31 are also provided on Cortex-M4 and Cortex-M3. The functions operate on blocks of input and output data and each call to the function processes blockSize samples through the filter. pSrc and pDst points to input and output arrays containing blockSize values.
    
+
    Algorithm: 
    The FIR filter algorithm is based upon a sequence of multiply-accumulate (MAC) operations. Each filter coefficient b[n] is multiplied by a state variable which equals a previous input sample x[n]. 
       
+    y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]   
+ 
     
    
+
    
+FIR.gif
+
    Finite Impulse Response filter
    
+ 
    
+
    pCoeffs points to a coefficient array of size numTaps. Coefficients are stored in time reversed order. 
    
+
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to a state array of size numTaps + blockSize - 1. Samples in the state buffer are stored in the following order. 
    
+
       
+    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}   
+ 
     
    
+
    Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1. The increased state buffer length allows circular addressing, which is traditionally used in the FIR filters, to be avoided and yields a significant speed improvement. The state variables are updated after each block of data is processed; the coefficients are untouched. 
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient arrays may be shared among several instances while state variable arrays cannot be shared. There are separate instance structure declarations for each of the 4 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Set the values in the state buffer to zeros before static initialization. The code below statically initializes each of the 4 different data type filter instance structures 
       
+arm_fir_instance_f32 S = {numTaps, pState, pCoeffs};   
+arm_fir_instance_q31 S = {numTaps, pState, pCoeffs};   
+arm_fir_instance_q15 S = {numTaps, pState, pCoeffs};   
+arm_fir_instance_q7 S =  {numTaps, pState, pCoeffs};   
+ 
    
+
    where numTaps is the number of filter coefficients in the filter; pState is the address of the state buffer; pCoeffs is the address of the coefficient buffer.
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the FIR filter functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
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    void arm_fir_init_f32 (arm_fir_instance_f32 *  S, 
    uint16_t  numTaps, 
    float32_t *  pCoeffs, 
    float32_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point FIR filter structure. 
    [in]numTapsNumber of filter coefficients in the filter. 
    [in]*pCoeffspoints to the filter coefficients buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of samples that are processed per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to the array of state variables. pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_f32(). 
    
+
    Examples: 
    arm_fir_example_f32.c, and arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 68 of file arm_fir_init_f32.c.
    
+
+
    
+
    
+
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    void arm_fir_f32 (const arm_fir_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point FIR filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_fir_example_f32.c, and arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 128 of file arm_fir_f32.c.
    
+
+
    
+
    
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+
    
+
    
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    void arm_fir_init_q31 (arm_fir_instance_q31 *  S, 
    uint16_t  numTaps, 
    q31_t *  pCoeffs, 
    q31_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 FIR filter structure. 
    [in]numTapsNumber of filter coefficients in the filter. 
    [in]*pCoeffspoints to the filter coefficients buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of samples that are processed per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to the array of state variables. pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q31(). 
    
+
+
    Definition at line 68 of file arm_fir_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
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    void arm_fir_q31 (const arm_fir_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 FIR filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits. After all multiply-accumulates are performed, the 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
    
+
    Refer to the function arm_fir_fast_q31() for a faster but less precise implementation of this filter for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 67 of file arm_fir_q31.c.
    
+
+
    
+
    
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    void arm_fir_fast_q31 (const arm_fir_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the fast Q31 FIR filter for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    This function is optimized for speed at the expense of fixed-point precision and overflow protection. The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format. These intermediate results are added to a 2.30 accumulator. Finally, the accumulator is saturated and converted to a 1.31 result. The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result. In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits.
    
+
    Refer to the function arm_fir_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision. Both the slow and the fast versions use the same instance structure. Use the function arm_fir_init_q31() to initialize the filter structure. 
    
+
+
    Definition at line 66 of file arm_fir_fast_q31.c.
    
+
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    arm_status arm_fir_init_q15 (arm_fir_instance_q15 *  S, 
    uint16_t  numTaps, 
    q15_t *  pCoeffs, 
    q15_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 FIR filter structure. 
    [in]numTapsNumber of filter coefficients in the filter. Must be even and greater than or equal to 4. 
    [in]*pCoeffspoints to the filter coefficients buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizeis number of samples processed per call. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if numTaps is not greater than or equal to 4 and even.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     Note that numTaps must be even and greater than or equal to 4. To implement an odd length filter simply increase numTaps by 1 and set the last coefficient to zero. For example, to implement a filter with numTaps=3 and coefficients 
       
+     {0.3, -0.8, 0.3}   
+ 
     set numTaps=4 and use the coefficients: 
       
+     {0.3, -0.8, 0.3, 0}.   
+ 
     Similarly, to implement a two point filter 
       
+     {0.3, -0.3}   
+ 
     set numTaps=4 and use the coefficients: 
       
+     {0.3, -0.3, 0, 0}.   
+ 
     
    
+
    pState points to the array of state variables. pState is of length numTaps+blockSize-1, where blockSize is the number of input samples processed by each call to arm_fir_q15(). 
    
+
+
    Definition at line 85 of file arm_fir_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
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    void arm_fir_q15 (const arm_fir_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 FIR structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 64-bit internal accumulator. Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format.
    
+
    Refer to the function arm_fir_fast_q15() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 68 of file arm_fir_q15.c.
    
+
+
    
+
    
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+
    
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    void arm_fir_fast_q15 (const arm_fir_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the fast Q15 FIR filter for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 FIR filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    This fast version uses a 32-bit accumulator with 2.30 format. The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around and distorts the result. In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits. The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.
    
+
    Refer to the function arm_fir_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion. Both the slow and the fast versions use the same instance structure. Use the function arm_fir_init_q15() to initialize the filter structure. 
    
+
+
    Definition at line 65 of file arm_fir_fast_q15.c.
    
+
+
    
+
    
+
+
    
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    void arm_fir_init_q7 (arm_fir_instance_q7 *  S, 
    uint16_t  numTaps, 
    q7_t *  pCoeffs, 
    q7_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q7 FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q7 FIR filter structure. 
    [in]numTapsNumber of filter coefficients in the filter. 
    [in]*pCoeffspoints to the filter coefficients buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of samples that are processed per call. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to the array of state variables. pState is of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_fir_q7(). 
    
+
+
    Definition at line 65 of file arm_fir_init_q7.c.
    
+
+
    
+
    
+
+
    
+
    
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    void arm_fir_q7 (const arm_fir_instance_q7 *  S, 
    q7_t *  pSrc, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q7 FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q7 FIR filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 32-bit internal accumulator. Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result. The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. The accumulator is converted to 18.7 format by discarding the low 7 bits. Finally, the result is truncated to 1.7 format. 
    
+
+
    Definition at line 64 of file arm_fir_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___interpolate.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___interpolate.html
new file mode 100644
index 000000000..cb4ae7802
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___interpolate.html
@@ -0,0 +1,497 @@
+
+
+
+
+CMSIS DSP Software Library: Finite Impulse Response (FIR) Interpolator
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Finite Impulse Response (FIR) Interpolator
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_fir_interpolate_init_f32 (arm_fir_interpolate_instance_f32 *S, uint8_t L, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    void arm_fir_interpolate_f32 (const arm_fir_interpolate_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    arm_status arm_fir_interpolate_init_q31 (arm_fir_interpolate_instance_q31 *S, uint8_t L, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    void arm_fir_interpolate_q31 (const arm_fir_interpolate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    arm_status arm_fir_interpolate_init_q15 (arm_fir_interpolate_instance_q15 *S, uint8_t L, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    void arm_fir_interpolate_q15 (const arm_fir_interpolate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    These functions combine an upsampler (zero stuffer) and an FIR filter. They are used in multirate systems for increasing the sample rate of a signal without introducing high frequency images. Conceptually, the functions are equivalent to the block diagram below: 
    
+
    
+FIRInterpolator.gif
+
    Components included in the FIR Interpolator functions
    
+
     After upsampling by a factor of L, the signal should be filtered by a lowpass filter with a normalized cutoff frequency of 1/L in order to eliminate high frequency copies of the spectrum. The user of the function is responsible for providing the filter coefficients.
    
+
    The FIR interpolator functions provided in the CMSIS DSP Library combine the upsampler and FIR filter in an efficient manner. The upsampler inserts L-1 zeros between each sample. Instead of multiplying by these zero values, the FIR filter is designed to skip them. This leads to an efficient implementation without any wasted effort. The functions operate on blocks of input and output data. pSrc points to an array of blockSize input values and pDst points to an array of blockSize*L output values.
    
+
    The library provides separate functions for Q15, Q31, and floating-point data types.
    
+
    Algorithm: 
    The functions use a polyphase filter structure: 
       
+    y[n] = b[0] * x[n] + b[L]   * x[n-1] + ... + b[L*(phaseLength-1)] * x[n-phaseLength+1]   
+    y[n+1] = b[1] * x[n] + b[L+1] * x[n-1] + ... + b[L*(phaseLength-1)+1] * x[n-phaseLength+1]   
+    ...   
+    y[n+(L-1)] = b[L-1] * x[n] + b[2*L-1] * x[n-1] + ....+ b[L*(phaseLength-1)+(L-1)] * x[n-phaseLength+1]   
+ 
     This approach is more efficient than straightforward upsample-then-filter algorithms. With this method the computation is reduced by a factor of 1/L when compared to using a standard FIR filter. 
    
+
    pCoeffs points to a coefficient array of size numTaps. numTaps must be a multiple of the interpolation factor L and this is checked by the initialization functions. Internally, the function divides the FIR filter's impulse response into shorter filters of length phaseLength=numTaps/L. Coefficients are stored in time reversed order. 
    
+
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to a state array of size blockSize + phaseLength - 1. Samples in the state buffer are stored in the order: 
    
+
       
+    {x[n-phaseLength+1], x[n-phaseLength], x[n-phaseLength-1], x[n-phaseLength-2]....x[0], x[1], ..., x[blockSize-1]}   
+ 
     The state variables are updated after each block of data is processed, the coefficients are untouched.
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient arrays may be shared among several instances while state variable array should be allocated separately. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    • Checks to make sure that the length of the filter is a multiple of the interpolation factor.
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. The code below statically initializes each of the 3 different data type filter instance structures 
       
+ arm_fir_interpolate_instance_f32 S = {L, phaseLength, pCoeffs, pState};   
+ arm_fir_interpolate_instance_q31 S = {L, phaseLength, pCoeffs, pState};   
+ arm_fir_interpolate_instance_q15 S = {L, phaseLength, pCoeffs, pState};   
+ 
     where L is the interpolation factor; phaseLength=numTaps/L is the length of each of the shorter FIR filters used internally, pCoeffs is the address of the coefficient buffer; pState is the address of the state buffer. Be sure to set the values in the state buffer to zeros when doing static initialization.
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the FIR interpolate filter functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
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    arm_status arm_fir_interpolate_init_f32 (arm_fir_interpolate_instance_f32 *  S, 
    uint8_t  L, 
    uint16_t  numTaps, 
    float32_t *  pCoeffs, 
    float32_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point FIR interpolator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point FIR interpolator structure. 
    [in]Lupsample factor. 
    [in]numTapsnumber of filter coefficients in the filter. 
    [in]*pCoeffspoints to the filter coefficient buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if the filter length numTaps is not a multiple of the interpolation factor L.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}   
+ 
     The length of the filter numTaps must be a multiple of the interpolation factor L. 
    
+
    pState points to the array of state variables. pState is of length (numTaps/L)+blockSize-1 words where blockSize is the number of input samples processed by each call to arm_fir_interpolate_f32(). 
    
+
+
    Definition at line 68 of file arm_fir_interpolate_init_f32.c.
    
+
+
    
+
    
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+
    
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    void arm_fir_interpolate_f32 (const arm_fir_interpolate_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point FIR interpolator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point FIR interpolator structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 135 of file arm_fir_interpolate_f32.c.
    
+
+
    
+
    
+
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    arm_status arm_fir_interpolate_init_q31 (arm_fir_interpolate_instance_q31 *  S, 
    uint8_t  L, 
    uint16_t  numTaps, 
    q31_t *  pCoeffs, 
    q31_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 FIR interpolator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 FIR interpolator structure. 
    [in]Lupsample factor. 
    [in]numTapsnumber of filter coefficients in the filter. 
    [in]*pCoeffspoints to the filter coefficient buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if the filter length numTaps is not a multiple of the interpolation factor L.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}   
+ 
     The length of the filter numTaps must be a multiple of the interpolation factor L. 
    
+
    pState points to the array of state variables. pState is of length (numTaps/L)+blockSize-1 words where blockSize is the number of input samples processed by each call to arm_fir_interpolate_q31(). 
    
+
+
    Definition at line 69 of file arm_fir_interpolate_init_q31.c.
    
+
+
    
+
    
+
+
    
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    void arm_fir_interpolate_q31 (const arm_fir_interpolate_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 FIR interpolator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 FIR interpolator structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by 1/(numTaps/L). since numTaps/L additions occur per output sample. After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. 
    
+
+
    Definition at line 63 of file arm_fir_interpolate_q31.c.
    
+
+
    
+
    
+
+
    
+
    
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    arm_status arm_fir_interpolate_init_q15 (arm_fir_interpolate_instance_q15 *  S, 
    uint8_t  L, 
    uint16_t  numTaps, 
    q15_t *  pCoeffs, 
    q15_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 FIR interpolator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 FIR interpolator structure. 
    [in]Lupsample factor. 
    [in]numTapsnumber of filter coefficients in the filter. 
    [in]*pCoeffspoints to the filter coefficient buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if the filter length numTaps is not a multiple of the interpolation factor L.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[numTaps-2], ..., b[1], b[0]}   
+ 
     The length of the filter numTaps must be a multiple of the interpolation factor L. 
    
+
    pState points to the array of state variables. pState is of length (numTaps/L)+blockSize-1 words where blockSize is the number of input samples processed by each call to arm_fir_interpolate_q15(). 
    
+
+
    Definition at line 68 of file arm_fir_interpolate_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
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    void arm_fir_interpolate_q15 (const arm_fir_interpolate_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 FIR interpolator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 FIR interpolator structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 64-bit internal accumulator. Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format. 
    
+
+
    Definition at line 62 of file arm_fir_interpolate_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___lattice.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___lattice.html
new file mode 100644
index 000000000..0f28c3f62
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___lattice.html
@@ -0,0 +1,433 @@
+
+
+
+
+CMSIS DSP Software Library: Finite Impulse Response (FIR) Lattice Filters
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Finite Impulse Response (FIR) Lattice Filters
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_fir_lattice_init_f32 (arm_fir_lattice_instance_f32 *S, uint16_t numStages, float32_t *pCoeffs, float32_t *pState)
    void arm_fir_lattice_f32 (const arm_fir_lattice_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_fir_lattice_init_q31 (arm_fir_lattice_instance_q31 *S, uint16_t numStages, q31_t *pCoeffs, q31_t *pState)
    void arm_fir_lattice_q31 (const arm_fir_lattice_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_fir_lattice_init_q15 (arm_fir_lattice_instance_q15 *S, uint16_t numStages, q15_t *pCoeffs, q15_t *pState)
    void arm_fir_lattice_q15 (const arm_fir_lattice_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    This set of functions implements Finite Impulse Response (FIR) lattice filters for Q15, Q31 and floating-point data types. Lattice filters are used in a variety of adaptive filter applications. The filter structure is feedforward and the net impulse response is finite length. The functions operate on blocks of input and output data and each call to the function processes blockSize samples through the filter. pSrc and pDst point to input and output arrays containing blockSize values.
    
+
    Algorithm: 
    
+FIRLattice.gif
+
    Finite Impulse Response Lattice filter
    
+ The following difference equation is implemented: 
       
+    f0[n] = g0[n] = x[n]   
+    fm[n] = fm-1[n] + km * gm-1[n-1] for m = 1, 2, ...M   
+    gm[n] = km * fm-1[n] + gm-1[n-1] for m = 1, 2, ...M   
+    y[n] = fM[n]   
+ 
     
    
+
    pCoeffs points to tha array of reflection coefficients of size numStages. Reflection Coefficients are stored in the following order. 
    
+
       
+    {k1, k2, ..., kM}   
+ 
     where M is number of stages 
    
+
    pState points to a state array of size numStages. The state variables (g values) hold previous inputs and are stored in the following order. 
       
+    {g0[n], g1[n], g2[n] ...gM-1[n]}   
+ 
     The state variables are updated after each block of data is processed; the coefficients are untouched. 
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient arrays may be shared among several instances while state variable arrays cannot be shared. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Set the values in the state buffer to zeros and then manually initialize the instance structure as follows: 
       
+arm_fir_lattice_instance_f32 S = {numStages, pState, pCoeffs};   
+arm_fir_lattice_instance_q31 S = {numStages, pState, pCoeffs};   
+arm_fir_lattice_instance_q15 S = {numStages, pState, pCoeffs};   
+ 
     
    
+
    where numStages is the number of stages in the filter; pState is the address of the state buffer; pCoeffs is the address of the coefficient buffer. 
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the FIR Lattice filter functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
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    void arm_fir_lattice_init_f32 (arm_fir_lattice_instance_f32 *  S, 
    uint16_t  numStages, 
    float32_t *  pCoeffs, 
    float32_t *  pState 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point FIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point FIR lattice structure. 
    [in]numStagesnumber of filter stages. 
    [in]*pCoeffspoints to the coefficient buffer. The array is of length numStages. 
    [in]*pStatepoints to the state buffer. The array is of length numStages. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_fir_lattice_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
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    void arm_fir_lattice_f32 (const arm_fir_lattice_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point FIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point FIR lattice structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 121 of file arm_fir_lattice_f32.c.
    
+
+
    
+
    
+
+
    
+
    
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    void arm_fir_lattice_init_q31 (arm_fir_lattice_instance_q31 *  S, 
    uint16_t  numStages, 
    q31_t *  pCoeffs, 
    q31_t *  pState 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 FIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 FIR lattice structure. 
    [in]numStagesnumber of filter stages. 
    [in]*pCoeffspoints to the coefficient buffer. The array is of length numStages. 
    [in]*pStatepoints to the state buffer. The array is of length numStages. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_fir_lattice_init_q31.c.
    
+
+
    
+
    
+
+
    
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+        
+      
    void arm_fir_lattice_q31 (const arm_fir_lattice_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 FIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 FIR lattice structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: In order to avoid overflows the input signal must be scaled down by 2*log2(numStages) bits. 
    
+
+
    Definition at line 58 of file arm_fir_lattice_q31.c.
    
+
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    void arm_fir_lattice_init_q15 (arm_fir_lattice_instance_q15 *  S, 
    uint16_t  numStages, 
    q15_t *  pCoeffs, 
    q15_t *  pState 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 FIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 FIR lattice structure. 
    [in]numStagesnumber of filter stages. 
    [in]*pCoeffspoints to the coefficient buffer. The array is of length numStages. 
    [in]*pStatepoints to the state buffer. The array is of length numStages. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_fir_lattice_init_q15.c.
    
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    void arm_fir_lattice_q15 (const arm_fir_lattice_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 FIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 FIR lattice structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 54 of file arm_fir_lattice_q15.c.
    
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+
    
+
    
+
    
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___sparse.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___sparse.html
new file mode 100644
index 000000000..ec3ef549f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r___sparse.html
@@ -0,0 +1,674 @@
+
+
+
+
+CMSIS DSP Software Library: Finite Impulse Response (FIR) Sparse Filters
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Finite Impulse Response (FIR) Sparse Filters
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_fir_sparse_init_f32 (arm_fir_sparse_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    void arm_fir_sparse_f32 (arm_fir_sparse_instance_f32 *S, float32_t *pSrc, float32_t *pDst, float32_t *pScratchIn, uint32_t blockSize)
    void arm_fir_sparse_init_q31 (arm_fir_sparse_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    void arm_fir_sparse_q31 (arm_fir_sparse_instance_q31 *S, q31_t *pSrc, q31_t *pDst, q31_t *pScratchIn, uint32_t blockSize)
    void arm_fir_sparse_init_q15 (arm_fir_sparse_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    void arm_fir_sparse_q15 (arm_fir_sparse_instance_q15 *S, q15_t *pSrc, q15_t *pDst, q15_t *pScratchIn, q31_t *pScratchOut, uint32_t blockSize)
    void arm_fir_sparse_init_q7 (arm_fir_sparse_instance_q7 *S, uint16_t numTaps, q7_t *pCoeffs, q7_t *pState, int32_t *pTapDelay, uint16_t maxDelay, uint32_t blockSize)
    void arm_fir_sparse_q7 (arm_fir_sparse_instance_q7 *S, q7_t *pSrc, q7_t *pDst, q7_t *pScratchIn, q31_t *pScratchOut, uint32_t blockSize)
    
+
    Detailed Description
    
+
    This group of functions implements sparse FIR filters. Sparse FIR filters are equivalent to standard FIR filters except that most of the coefficients are equal to zero. Sparse filters are used for simulating reflections in communications and audio applications.
    
+
    There are separate functions for Q7, Q15, Q31, and floating-point data types. The functions operate on blocks of input and output data and each call to the function processes blockSize samples through the filter. pSrc and pDst points to input and output arrays respectively containing blockSize values.
    
+
    Algorithm: 
    The sparse filter instant structure contains an array of tap indices pTapDelay which specifies the locations of the non-zero coefficients. This is in addition to the coefficient array b. The implementation essentially skips the multiplications by zero and leads to an efficient realization. 
      
+     y[n] = b[0] * x[n-pTapDelay[0]] + b[1] * x[n-pTapDelay[1]] + b[2] * x[n-pTapDelay[2]] + ...+ b[numTaps-1] * x[n-pTapDelay[numTaps-1]]   
+ 
     
    
+
    
+FIRSparse.gif
+
    Sparse FIR filter. b[n] represents the filter coefficients
    
+ 
    
+
    pCoeffs points to a coefficient array of size numTaps; pTapDelay points to an array of nonzero indices and is also of size numTaps; pState points to a state array of size maxDelay + blockSize, where maxDelay is the largest offset value that is ever used in the pTapDelay array. Some of the processing functions also require temporary working buffers.
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient and offset arrays may be shared among several instances while state variable arrays cannot be shared. There are separate instance structure declarations for each of the 4 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Set the values in the state buffer to zeros before static initialization. The code below statically initializes each of the 4 different data type filter instance structures 
       
+arm_fir_sparse_instance_f32 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};   
+arm_fir_sparse_instance_q31 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};   
+arm_fir_sparse_instance_q15 S = {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};   
+arm_fir_sparse_instance_q7 S =  {numTaps, 0, pState, pCoeffs, maxDelay, pTapDelay};   
+ 
     
    
+
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the sparse FIR filter functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
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    void arm_fir_sparse_init_f32 (arm_fir_sparse_instance_f32 *  S, 
    uint16_t  numTaps, 
    float32_t *  pCoeffs, 
    float32_t *  pState, 
    int32_t *  pTapDelay, 
    uint16_t  maxDelay, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point sparse FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point sparse FIR structure. 
    [in]numTapsnumber of nonzero coefficients in the filter. 
    [in]*pCoeffspoints to the array of filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]*pTapDelaypoints to the array of offset times. 
    [in]maxDelaymaximum offset time supported. 
    [in]blockSizenumber of samples that will be processed per block. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Description: 
    
+
    pCoeffs holds the filter coefficients and has length numTaps. pState holds the filter's state variables and must be of length maxDelay + blockSize, where maxDelay is the maximum number of delay line values. blockSize is the number of samples processed by the arm_fir_sparse_f32() function. 
    
+
+
    Definition at line 65 of file arm_fir_sparse_init_f32.c.
    
+
+
    
+
    
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+
    
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    void arm_fir_sparse_f32 (arm_fir_sparse_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst, 
    float32_t *  pScratchIn, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point sparse FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point sparse FIR structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]*pScratchInpoints to a temporary buffer of size blockSize. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 113 of file arm_fir_sparse_f32.c.
    
+
+
    
+
    
+
+
    
+
    
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    void arm_fir_sparse_init_q31 (arm_fir_sparse_instance_q31 *  S, 
    uint16_t  numTaps, 
    q31_t *  pCoeffs, 
    q31_t *  pState, 
    int32_t *  pTapDelay, 
    uint16_t  maxDelay, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 sparse FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 sparse FIR structure. 
    [in]numTapsnumber of nonzero coefficients in the filter. 
    [in]*pCoeffspoints to the array of filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]*pTapDelaypoints to the array of offset times. 
    [in]maxDelaymaximum offset time supported. 
    [in]blockSizenumber of samples that will be processed per block. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Description: 
    
+
    pCoeffs holds the filter coefficients and has length numTaps. pState holds the filter's state variables and must be of length maxDelay + blockSize, where maxDelay is the maximum number of delay line values. blockSize is the number of words processed by arm_fir_sparse_q31() function. 
    
+
+
    Definition at line 64 of file arm_fir_sparse_init_q31.c.
    
+
+
    
+
    
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+
    
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    void arm_fir_sparse_q31 (arm_fir_sparse_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    q31_t *  pScratchIn, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 sparse FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 sparse FIR structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]*pScratchInpoints to a temporary buffer of size blockSize. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 32-bit accumulator. The 1.31 x 1.31 multiplications are truncated to 2.30 format. This leads to loss of precision on the intermediate multiplications and provides only a single guard bit. If the accumulator result overflows, it wraps around rather than saturate. In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits. 
    
+
+
    Definition at line 58 of file arm_fir_sparse_q31.c.
    
+
+
    
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    void arm_fir_sparse_init_q15 (arm_fir_sparse_instance_q15 *  S, 
    uint16_t  numTaps, 
    q15_t *  pCoeffs, 
    q15_t *  pState, 
    int32_t *  pTapDelay, 
    uint16_t  maxDelay, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 sparse FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 sparse FIR structure. 
    [in]numTapsnumber of nonzero coefficients in the filter. 
    [in]*pCoeffspoints to the array of filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]*pTapDelaypoints to the array of offset times. 
    [in]maxDelaymaximum offset time supported. 
    [in]blockSizenumber of samples that will be processed per block. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Description: 
    
+
    pCoeffs holds the filter coefficients and has length numTaps. pState holds the filter's state variables and must be of length maxDelay + blockSize, where maxDelay is the maximum number of delay line values. blockSize is the number of words processed by arm_fir_sparse_q15() function. 
    
+
+
    Definition at line 65 of file arm_fir_sparse_init_q15.c.
    
+
+
    
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    void arm_fir_sparse_q15 (arm_fir_sparse_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    q15_t *  pScratchIn, 
    q31_t *  pScratchOut, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 sparse FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 sparse FIR structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]*pScratchInpoints to a temporary buffer of size blockSize. 
    [in]*pScratchOutpoints to a temporary buffer of size blockSize. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 32-bit accumulator. The 1.15 x 1.15 multiplications yield a 2.30 result and these are added to a 2.30 accumulator. Thus the full precision of the multiplications is maintained but there is only a single guard bit in the accumulator. If the accumulator result overflows it will wrap around rather than saturate. After all multiply-accumulates are performed, the 2.30 accumulator is truncated to 2.15 format and then saturated to 1.15 format. In order to avoid overflows the input signal or coefficients must be scaled down by log2(numTaps) bits. 
    
+
+
    Definition at line 60 of file arm_fir_sparse_q15.c.
    
+
+
    
+
    
+
+
    
+
    
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+      
    void arm_fir_sparse_init_q7 (arm_fir_sparse_instance_q7 *  S, 
    uint16_t  numTaps, 
    q7_t *  pCoeffs, 
    q7_t *  pState, 
    int32_t *  pTapDelay, 
    uint16_t  maxDelay, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q7 sparse FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q7 sparse FIR structure. 
    [in]numTapsnumber of nonzero coefficients in the filter. 
    [in]*pCoeffspoints to the array of filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]*pTapDelaypoints to the array of offset times. 
    [in]maxDelaymaximum offset time supported. 
    [in]blockSizenumber of samples that will be processed per block. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Description: 
    
+
    pCoeffs holds the filter coefficients and has length numTaps. pState holds the filter's state variables and must be of length maxDelay + blockSize, where maxDelay is the maximum number of delay line values. blockSize is the number of samples processed by the arm_fir_sparse_q7() function. 
    
+
+
    Definition at line 65 of file arm_fir_sparse_init_q7.c.
    
+
+
    
+
    
+
+
    
+
    
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+      
    void arm_fir_sparse_q7 (arm_fir_sparse_instance_q7 *  S, 
    q7_t *  pSrc, 
    q7_t *  pDst, 
    q7_t *  pScratchIn, 
    q31_t *  pScratchOut, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q7 sparse FIR filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q7 sparse FIR structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]*pScratchInpoints to a temporary buffer of size blockSize. 
    [in]*pScratchOutpoints to a temporary buffer of size blockSize. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 32-bit internal accumulator. Both coefficients and state variables are represented in 1.7 format and multiplications yield a 2.14 result. The 2.14 intermediate results are accumulated in a 32-bit accumulator in 18.14 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. The accumulator is then converted to 18.7 format by discarding the low 7 bits. Finally, the result is truncated to 1.7 format. 
    
+
+
    Definition at line 65 of file arm_fir_sparse_q7.c.
    
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+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r__decimate.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r__decimate.html
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+
+
+
+
+CMSIS DSP Software Library: Finite Impulse Response (FIR) Decimator
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Finite Impulse Response (FIR) Decimator
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_fir_decimate_init_f32 (arm_fir_decimate_instance_f32 *S, uint16_t numTaps, uint8_t M, float32_t *pCoeffs, float32_t *pState, uint32_t blockSize)
    void arm_fir_decimate_f32 (const arm_fir_decimate_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    arm_status arm_fir_decimate_init_q31 (arm_fir_decimate_instance_q31 *S, uint16_t numTaps, uint8_t M, q31_t *pCoeffs, q31_t *pState, uint32_t blockSize)
    void arm_fir_decimate_q31 (const arm_fir_decimate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_fir_decimate_fast_q31 (arm_fir_decimate_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    arm_status arm_fir_decimate_init_q15 (arm_fir_decimate_instance_q15 *S, uint16_t numTaps, uint8_t M, q15_t *pCoeffs, q15_t *pState, uint32_t blockSize)
    void arm_fir_decimate_q15 (const arm_fir_decimate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_fir_decimate_fast_q15 (const arm_fir_decimate_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    These functions combine an FIR filter together with a decimator. They are used in multirate systems for reducing the sample rate of a signal without introducing aliasing distortion. Conceptually, the functions are equivalent to the block diagram below: 
    
+
    
+FIRDecimator.gif
+
    Components included in the FIR Decimator functions
    
+
     When decimating by a factor of M, the signal should be prefiltered by a lowpass filter with a normalized cutoff frequency of 1/M in order to prevent aliasing distortion. The user of the function is responsible for providing the filter coefficients.
    
+
    The FIR decimator functions provided in the CMSIS DSP Library combine the FIR filter and the decimator in an efficient manner. Instead of calculating all of the FIR filter outputs and discarding M-1 out of every M, only the samples output by the decimator are computed. The functions operate on blocks of input and output data. pSrc points to an array of blockSize input values and pDst points to an array of blockSize/M output values. In order to have an integer number of output samples blockSize must always be a multiple of the decimation factor M.
    
+
    The library provides separate functions for Q15, Q31 and floating-point data types.
    
+
    Algorithm: 
    The FIR portion of the algorithm uses the standard form filter: 
       
+    y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]   
+ 
     where, b[n] are the filter coefficients. 
    
+
    The pCoeffs points to a coefficient array of size numTaps. Coefficients are stored in time reversed order. 
    
+
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to a state array of size numTaps + blockSize - 1. Samples in the state buffer are stored in the order: 
    
+
       
+    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}   
+ 
     The state variables are updated after each block of data is processed, the coefficients are untouched.
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient arrays may be shared among several instances while state variable array should be allocated separately. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    • Checks to make sure that the size of the input is a multiple of the decimation factor.
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. The code below statically initializes each of the 3 different data type filter instance structures 
       
+arm_fir_decimate_instance_f32 S = {M, numTaps, pCoeffs, pState};   
+arm_fir_decimate_instance_q31 S = {M, numTaps, pCoeffs, pState};   
+arm_fir_decimate_instance_q15 S = {M, numTaps, pCoeffs, pState};   
+ 
     where M is the decimation factor; numTaps is the number of filter coefficients in the filter; pCoeffs is the address of the coefficient buffer; pState is the address of the state buffer. Be sure to set the values in the state buffer to zeros when doing static initialization.
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the FIR decimate filter functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
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    arm_status arm_fir_decimate_init_f32 (arm_fir_decimate_instance_f32 *  S, 
    uint16_t  numTaps, 
    uint8_t  M, 
    float32_t *  pCoeffs, 
    float32_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point FIR decimator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point FIR decimator structure. 
    [in]numTapsnumber of coefficients in the filter. 
    [in]Mdecimation factor. 
    [in]*pCoeffspoints to the filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if blockSize is not a multiple of M.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to the array of state variables. pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples passed to arm_fir_decimate_f32(). M is the decimation factor. 
    
+
+
    Definition at line 67 of file arm_fir_decimate_init_f32.c.
    
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    void arm_fir_decimate_f32 (const arm_fir_decimate_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point FIR decimator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point FIR decimator structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 132 of file arm_fir_decimate_f32.c.
    
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    arm_status arm_fir_decimate_init_q31 (arm_fir_decimate_instance_q31 *  S, 
    uint16_t  numTaps, 
    uint8_t  M, 
    q31_t *  pCoeffs, 
    q31_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 FIR decimator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 FIR decimator structure. 
    [in]numTapsnumber of coefficients in the filter. 
    [in]Mdecimation factor. 
    [in]*pCoeffspoints to the filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if blockSize is not a multiple of M.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to the array of state variables. pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples passed to arm_fir_decimate_q31(). M is the decimation factor. 
    
+
+
    Definition at line 67 of file arm_fir_decimate_init_q31.c.
    
+
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    void arm_fir_decimate_q31 (const arm_fir_decimate_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 FIR decimator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 FIR decimator structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2). After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format.
    
+
    Refer to the function arm_fir_decimate_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 64 of file arm_fir_decimate_q31.c.
    
+
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+
    
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    void arm_fir_decimate_fast_q31 (arm_fir_decimate_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 FIR decimator structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Scaling and Overflow Behavior:
    
+
    This function is optimized for speed at the expense of fixed-point precision and overflow protection. The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format. These intermediate results are added to a 2.30 accumulator. Finally, the accumulator is saturated and converted to a 1.31 result. The fast version has the same overflow behavior as the standard version and provides less precision since it discards the low 32 bits of each multiplication result. In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (where log2 is read as log to the base 2).
    
+
    Refer to the function arm_fir_decimate_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision. Both the slow and the fast versions use the same instance structure. Use the function arm_fir_decimate_init_q31() to initialize the filter structure. 
    
+
+
    Definition at line 65 of file arm_fir_decimate_fast_q31.c.
    
+
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    arm_status arm_fir_decimate_init_q15 (arm_fir_decimate_instance_q15 *  S, 
    uint16_t  numTaps, 
    uint8_t  M, 
    q15_t *  pCoeffs, 
    q15_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 FIR decimator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 FIR decimator structure. 
    [in]numTapsnumber of coefficients in the filter. 
    [in]Mdecimation factor. 
    [in]*pCoeffspoints to the filter coefficients. 
    [in]*pStatepoints to the state buffer. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_LENGTH_ERROR if blockSize is not a multiple of M.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to the array of state variables. pState is of length numTaps+blockSize-1 words where blockSize is the number of input samples to the call arm_fir_decimate_q15(). M is the decimation factor. 
    
+
+
    Definition at line 68 of file arm_fir_decimate_init_q15.c.
    
+
+
    
+
    
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+
    
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    void arm_fir_decimate_q15 (const arm_fir_decimate_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 FIR decimator. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 FIR decimator structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the location where the output result is written. 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 64-bit internal accumulator. Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format.
    
+
    Refer to the function arm_fir_decimate_fast_q15() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 65 of file arm_fir_decimate_q15.c.
    
+
+
    
+
    
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    void arm_fir_decimate_fast_q15 (const arm_fir_decimate_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 FIR decimator structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data 
    [in]blockSizenumber of input samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none
    
+
    Scaling and Overflow Behavior: 
    
+
    This fast version uses a 32-bit accumulator with 2.30 format. The accumulator maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around and distorts the result. In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits (log2 is read as log to the base 2). The 2.30 accumulator is then truncated to 2.15 format and saturated to yield the 1.15 result.
    
+
    Refer to the function arm_fir_decimate_q15() for a slower implementation of this function which uses 64-bit accumulation to avoid wrap around distortion. Both the slow and the fast versions use the same instance structure. Use the function arm_fir_decimate_init_q15() to initialize the filter structure. 
    
+
+
    Definition at line 63 of file arm_fir_decimate_fast_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r_l_p_f.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___f_i_r_l_p_f.html
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+
+
+
+
+CMSIS DSP Software Library: FIR Lowpass Filter Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    FIR Lowpass Filter Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description: 
    
+
    Removes high frequency signal components from the input using an FIR lowpass filter. The example demonstrates how to configure an FIR filter and then pass data through it in a block-by-block fashion. 
    
+FIRLPF_signalflow.gif
+
    
+
    
+
    Algorithm:
    
+
    The input signal is a sum of two sine waves: 1 kHz and 15 kHz. This is processed by an FIR lowpass filter with cutoff frequency 6 kHz. The lowpass filter eliminates the 15 kHz signal leaving only the 1 kHz sine wave at the output. 
    
+
    The lowpass filter was designed using MATLAB with a sample rate of 48 kHz and a length of 29 points. The MATLAB code to generate the filter coefficients is shown below: 
    +     h = fir1(28, 6/24);
+ 
     The first argument is the "order" of the filter and is always one less than the desired length. The second argument is the normalized cutoff frequency. This is in the range 0 (DC) to 1.0 (Nyquist). A 6 kHz cutoff with a Nyquist frequency of 24 kHz lies at a normalized frequency of 6/24 = 0.25. The CMSIS FIR filter function requires the coefficients to be in time reversed order. 
    +     fliplr(h)
+ 
     The resulting filter coefficients and are shown below. Note that the filter is symmetric (a property of linear phase FIR filters) and the point of symmetry is sample 14. Thus the filter will have a delay of 14 samples for all frequencies. 
    
+
    
+FIRLPF_coeffs.gif
+
    
+ 
    
+
    The frequency response of the filter is shown next. The passband gain of the filter is 1.0 and it reaches 0.5 at the cutoff frequency 6 kHz. 
    
+
    
+FIRLPF_response.gif
+
    
+ 
    
+
    The input signal is shown below. The left hand side shows the signal in the time domain while the right hand side is a frequency domain representation. The two sine wave components can be clearly seen. 
    
+
    
+FIRLPF_input.gif
+
    
+ 
    
+
    The output of the filter is shown below. The 15 kHz component has been eliminated. 
    
+
    
+FIRLPF_output.gif
+
    
+
    
+
    Variables Description:
    
+
      
+
    • testInput_f32_1kHz_15kHz points to the input data 
      • 
+
    • refOutput points to the reference output data 
      • 
+
    • testOutput points to the test output data 
      • 
+
    • firStateF32 points to state buffer 
      • 
+
    • firCoeffs32 points to coefficient buffer 
      • 
+
    • blockSize number of samples processed at a time 
      • 
+
    • numBlocks number of frames
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_fir_example_f32.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___fill.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___fill.html
new file mode 100644
index 000000000..cf67b44f7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___fill.html
@@ -0,0 +1,271 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Fill
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Fill
    
+
+[Support Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_fill_f32 (float32_t value, float32_t *pDst, uint32_t blockSize)
    void arm_fill_q31 (q31_t value, q31_t *pDst, uint32_t blockSize)
    void arm_fill_q15 (q15_t value, q15_t *pDst, uint32_t blockSize)
    void arm_fill_q7 (q7_t value, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Fills the destination vector with a constant value.
    
+
       
+ 	pDst[n] = value;   0 <= n < blockSize.   
+ 
    There are separate functions for floating point, Q31, Q15, and Q7 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
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+          
+          
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+        
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+          
+          
+        
+      
    void arm_fill_f32 (float32_t  value, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Fills a constant value into a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]valueinput value to be filled 
    [out]*pDstpoints to output vector 
    [in]blockSizelength of the output vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_convolution_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 66 of file arm_fill_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
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+        
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+        
+          
+          
+          
+        
+      
    void arm_fill_q31 (q31_t  value, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Fills a constant value into a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]valueinput value to be filled 
    [out]*pDstpoints to output vector 
    [in]blockSizelength of the output vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_fill_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+          
+          
+          
+        
+      
    void arm_fill_q15 (q15_t  value, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Fills a constant value into a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]valueinput value to be filled 
    [out]*pDstpoints to output vector 
    [in]blockSizelength of the output vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_fill_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
+          
+          
+          
+        
+      
    void arm_fill_q7 (q7_t  value, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Fills a constant value into a Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]valueinput value to be filled 
    [out]*pDstpoints to output vector 
    [in]blockSizelength of the output vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_fill_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___frequency_bin.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___frequency_bin.html
new file mode 100644
index 000000000..63e11d8e4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___frequency_bin.html
@@ -0,0 +1,108 @@
+
+
+
+
+CMSIS DSP Software Library: Frequency Bin Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Frequency Bin Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description
    
+
    Demonstrates the calculation of the maximum energy bin in the frequency domain of the input signal with the use of Complex FFT, Complex Magnitude, and Maximum functions.
    
+
    Algorithm:
    
+
    The input test signal contains a 10 kHz signal with uniformly distributed white noise. Calculating the FFT of the input signal will give us the maximum energy of the bin corresponding to the input frequency of 10 kHz.
    
+
    Block Diagram:
    
+FFTBin.gif
+
    Block Diagram
    
+ 
    
+
    The figure below shows the time domain signal of 10 kHz signal with uniformly distributed white noise, and the next figure shows the input in the frequency domain. The bin with maximum energy corresponds to 10 kHz signal. 
    
+
    
+FFTBinInput.gif
+
    Input signal in Time domain
    
+ 
    
+FFTBinOutput.gif
+
    Input signal in Frequency domain
    
+ 
    
+
    Variables Description:
    
+
      
+
    • testInput_f32_10khz points to the input data 
      • 
+
    • testOutput points to the output data 
      • 
+
    • fftSize length of FFT 
      • 
+
    • ifftFlag flag for the selection of CFFT/CIFFT 
      • 
+
    • doBitReverse Flag for selection of normal order or bit reversed order 
      • 
+
    • refIndex reference index value at which maximum energy of bin ocuurs 
      • 
+
    • testIndex calculated index value at which maximum energy of bin ocuurs
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_fft_bin_example_f32.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___g_e_q5_band.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___g_e_q5_band.html
new file mode 100644
index 000000000..e515aa945
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___g_e_q5_band.html
@@ -0,0 +1,130 @@
+
+
+
+
+CMSIS DSP Software Library: Graphic Audio Equalizer Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Graphic Audio Equalizer Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description: 
    
+
    This example demonstrates how a 5-band graphic equalizer can be constructed using the Biquad cascade functions. A graphic equalizer is used in audio applications to vary the tonal quality of the audio.
    
+
    Block Diagram:
    
+
    The design is based on a cascade of 5 filter sections. 
    
+GEQ_signalflow.gif
+
    
+ Each filter section is 4th order and consists of a cascade of two Biquads. Each filter has a nominal gain of 0 dB (1.0 in linear units) and boosts or cuts signals within a specific frequency range. The edge frequencies between the 5 bands are 100, 500, 2000, and 6000 Hz. Each band has an adjustable boost or cut in the range of +/- 9 dB. For example, the band that extends from 500 to 2000 Hz has the response shown below: 
    
+
    
+GEQ_bandresponse.gif
+
    
+ 
    
+
    With 1 dB steps, each filter has a total of 19 different settings. The filter coefficients for all possible 19 settings were precomputed in MATLAB and stored in a table. With 5 different tables, there are a total of 5 x 19 = 95 different 4th order filters. All 95 responses are shown below: 
    
+
    
+GEQ_allbandresponse.gif
+
    
+ 
    
+
    Each 4th order filter has 10 coefficents for a grand total of 950 different filter coefficients that must be tabulated. The input and output data is in Q31 format. For better noise performance, the two low frequency bands are implemented using the high precision 32x64-bit Biquad filters. The remaining 3 high frequency bands use standard 32x32-bit Biquad filters. The input signal used in the example is a logarithmic chirp. 
    
+
    
+GEQ_inputchirp.gif
+
    
+ 
    
+
    The array bandGains specifies the gain in dB to apply in each band. For example, if bandGains={0, -3, 6, 4, -6}; then the output signal will be: 
    
+
    
+GEQ_outputchirp.gif
+
    
+ 
    
+
    
+
    Note:
    The output chirp signal follows the gain or boost of each band. 
    
+
    
+
    Variables Description:
    
+
      
+
    • testInput_f32 points to the input data 
      • 
+
    • testRefOutput_f32 points to the reference output data 
      • 
+
    • testOutput points to the test output data 
      • 
+
    • inputQ31 temporary input buffer 
      • 
+
    • outputQ31 temporary output buffer 
      • 
+
    • biquadStateBand1Q31 points to state buffer for band1 
      • 
+
    • biquadStateBand2Q31 points to state buffer for band2 
      • 
+
    • biquadStateBand3Q31 points to state buffer for band3 
      • 
+
    • biquadStateBand4Q31 points to state buffer for band4 
      • 
+
    • biquadStateBand5Q31 points to state buffer for band5 
      • 
+
    • coeffTable points to coefficient buffer for all bands 
      • 
+
    • gainDB gain buffer which has gains applied for all the bands
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_graphic_equalizer_example_q31.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___i_i_r___lattice.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___i_i_r___lattice.html
new file mode 100644
index 000000000..085ffb4e0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___i_i_r___lattice.html
@@ -0,0 +1,478 @@
+
+
+
+
+CMSIS DSP Software Library: Infinite Impulse Response (IIR) Lattice Filters
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Infinite Impulse Response (IIR) Lattice Filters
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_iir_lattice_init_f32 (arm_iir_lattice_instance_f32 *S, uint16_t numStages, float32_t *pkCoeffs, float32_t *pvCoeffs, float32_t *pState, uint32_t blockSize)
    void arm_iir_lattice_f32 (const arm_iir_lattice_instance_f32 *S, float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_iir_lattice_init_q31 (arm_iir_lattice_instance_q31 *S, uint16_t numStages, q31_t *pkCoeffs, q31_t *pvCoeffs, q31_t *pState, uint32_t blockSize)
    void arm_iir_lattice_q31 (const arm_iir_lattice_instance_q31 *S, q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_iir_lattice_init_q15 (arm_iir_lattice_instance_q15 *S, uint16_t numStages, q15_t *pkCoeffs, q15_t *pvCoeffs, q15_t *pState, uint32_t blockSize)
    void arm_iir_lattice_q15 (const arm_iir_lattice_instance_q15 *S, q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    This set of functions implements lattice filters for Q15, Q31 and floating-point data types. Lattice filters are used in a variety of adaptive filter applications. The filter structure has feedforward and feedback components and the net impulse response is infinite length. The functions operate on blocks of input and output data and each call to the function processes blockSize samples through the filter. pSrc and pDst point to input and output arrays containing blockSize values.
    
+
    Algorithm: 
    
+IIRLattice.gif
+
    Infinite Impulse Response Lattice filter
    
+ 
       
+    fN(n)   =  x(n)   
+    fm-1(n) = fm(n) - km * gm-1(n-1)   for m = N, N-1, ...1   
+    gm(n)   = km * fm-1(n) + gm-1(n-1) for m = N, N-1, ...1   
+    y(n)    = vN * gN(n) + vN-1 * gN-1(n) + ...+ v0 * g0(n)   
+ 
     
    
+
    pkCoeffs points to array of reflection coefficients of size numStages. Reflection coefficients are stored in time-reversed order. 
    
+
       
+    {kN, kN-1, ....k1}   
+ 
     pvCoeffs points to the array of ladder coefficients of size (numStages+1). Ladder coefficients are stored in time-reversed order. 
    
+
       
+    {vN, vN-1, ...v0}   
+ 
     pState points to a state array of size numStages + blockSize. The state variables shown in the figure above (the g values) are stored in the pState array. The state variables are updated after each block of data is processed; the coefficients are untouched. 
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter. Coefficient arrays may be shared among several instances while state variable arrays cannot be shared. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Set the values in the state buffer to zeros and then manually initialize the instance structure as follows: 
       
+arm_iir_lattice_instance_f32 S = {numStages, pState, pkCoeffs, pvCoeffs};   
+arm_iir_lattice_instance_q31 S = {numStages, pState, pkCoeffs, pvCoeffs};   
+arm_iir_lattice_instance_q15 S = {numStages, pState, pkCoeffs, pvCoeffs};   
+ 
     
    
+
    where numStages is the number of stages in the filter; pState points to the state buffer array; pkCoeffs points to array of the reflection coefficients; pvCoeffs points to the array of ladder coefficients. 
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the IIR lattice filter functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
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    void arm_iir_lattice_init_f32 (arm_iir_lattice_instance_f32 *  S, 
    uint16_t  numStages, 
    float32_t *  pkCoeffs, 
    float32_t *  pvCoeffs, 
    float32_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point IIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point IIR lattice structure. 
    [in]numStagesnumber of stages in the filter. 
    [in]*pkCoeffspoints to the reflection coefficient buffer. The array is of length numStages. 
    [in]*pvCoeffspoints to the ladder coefficient buffer. The array is of length numStages+1. 
    [in]*pStatepoints to the state buffer. The array is of length numStages+blockSize. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 55 of file arm_iir_lattice_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
+      
    void arm_iir_lattice_f32 (const arm_iir_lattice_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point IIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point IIR lattice structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 120 of file arm_iir_lattice_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
+      
    void arm_iir_lattice_init_q31 (arm_iir_lattice_instance_q31 *  S, 
    uint16_t  numStages, 
    q31_t *  pkCoeffs, 
    q31_t *  pvCoeffs, 
    q31_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 IIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 IIR lattice structure. 
    [in]numStagesnumber of stages in the filter. 
    [in]*pkCoeffspoints to the reflection coefficient buffer. The array is of length numStages. 
    [in]*pvCoeffspoints to the ladder coefficient buffer. The array is of length numStages+1. 
    [in]*pStatepoints to the state buffer. The array is of length numStages+blockSize. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 55 of file arm_iir_lattice_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+        
+        
+          
+          
+          
+        
+      
    void arm_iir_lattice_q31 (const arm_iir_lattice_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 IIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 IIR lattice structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by 2*log2(numStages) bits. After all multiply-accumulates are performed, the 2.62 accumulator is saturated to 1.32 format and then truncated to 1.31 format. 
    
+
+
    Definition at line 62 of file arm_iir_lattice_q31.c.
    
+
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    void arm_iir_lattice_init_q15 (arm_iir_lattice_instance_q15 *  S, 
    uint16_t  numStages, 
    q15_t *  pkCoeffs, 
    q15_t *  pvCoeffs, 
    q15_t *  pState, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 IIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 IIR lattice structure. 
    [in]numStagesnumber of stages in the filter. 
    [in]*pkCoeffspoints to reflection coefficient buffer. The array is of length numStages. 
    [in]*pvCoeffspoints to ladder coefficient buffer. The array is of length numStages+1. 
    [in]*pStatepoints to state buffer. The array is of length numStages+blockSize. 
    [in]blockSizenumber of samples to process per call. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 55 of file arm_iir_lattice_init_q15.c.
    
+
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    void arm_iir_lattice_q15 (const arm_iir_lattice_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 IIR lattice filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 IIR lattice structure. 
    [in]*pSrcpoints to the block of input data. 
    [out]*pDstpoints to the block of output data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 64-bit internal accumulator. Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format. 
    
+
+
    Definition at line 63 of file arm_iir_lattice_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___l_m_s.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___l_m_s.html
new file mode 100644
index 000000000..1d137aadd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___l_m_s.html
@@ -0,0 +1,557 @@
+
+
+
+
+CMSIS DSP Software Library: Least Mean Square (LMS) Filters
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Least Mean Square (LMS) Filters
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_lms_init_f32 (arm_lms_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, float32_t mu, uint32_t blockSize)
    void arm_lms_f32 (const arm_lms_instance_f32 *S, float32_t *pSrc, float32_t *pRef, float32_t *pOut, float32_t *pErr, uint32_t blockSize)
    void arm_lms_init_q31 (arm_lms_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, q31_t mu, uint32_t blockSize, uint32_t postShift)
    void arm_lms_q31 (const arm_lms_instance_q31 *S, q31_t *pSrc, q31_t *pRef, q31_t *pOut, q31_t *pErr, uint32_t blockSize)
    void arm_lms_init_q15 (arm_lms_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, q15_t mu, uint32_t blockSize, uint32_t postShift)
    void arm_lms_q15 (const arm_lms_instance_q15 *S, q15_t *pSrc, q15_t *pRef, q15_t *pOut, q15_t *pErr, uint32_t blockSize)
    
+
    Detailed Description
    
+
    LMS filters are a class of adaptive filters that are able to "learn" an unknown transfer functions. LMS filters use a gradient descent method in which the filter coefficients are updated based on the instantaneous error signal. Adaptive filters are often used in communication systems, equalizers, and noise removal. The CMSIS DSP Library contains LMS filter functions that operate on Q15, Q31, and floating-point data types. The library also contains normalized LMS filters in which the filter coefficient adaptation is indepedent of the level of the input signal.
    
+
    An LMS filter consists of two components as shown below. The first component is a standard transversal or FIR filter. The second component is a coefficient update mechanism. The LMS filter has two input signals. The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter. That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input. The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input. This "error signal" tends towards zero as the filter adapts. The LMS processing functions accept the input and reference input signals and generate the filter output and error signal. 
    
+
    
+LMS.gif
+
    Internal structure of the Least Mean Square filter
    
+
    The functions operate on blocks of data and each call to the function processes blockSize samples through the filter. pSrc points to input signal, pRef points to reference signal, pOut points to output signal and pErr points to error signal. All arrays contain blockSize values.
    
+
    The functions operate on a block-by-block basis. Internally, the filter coefficients b[n] are updated on a sample-by-sample basis. The convergence of the LMS filter is slower compared to the normalized LMS algorithm.
    
+
    Algorithm: 
    The output signal y[n] is computed by a standard FIR filter: 
       
+     y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]   
+ 
    
+
    The error signal equals the difference between the reference signal d[n] and the filter output: 
       
+     e[n] = d[n] - y[n].   
+ 
    
+
    After each sample of the error signal is computed, the filter coefficients b[k] are updated on a sample-by-sample basis: 
       
+     b[k] = b[k] + e[n] * mu * x[n-k],  for k=0, 1, ..., numTaps-1   
+ 
     where mu is the step size and controls the rate of coefficient convergence. 
    
+
    In the APIs, pCoeffs points to a coefficient array of size numTaps. Coefficients are stored in time reversed order. 
    
+
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to a state array of size numTaps + blockSize - 1. Samples in the state buffer are stored in the order: 
    
+
       
+    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}   
+ 
     
    
+
    Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1 samples. The increased state buffer length allows circular addressing, which is traditionally used in FIR filters, to be avoided and yields a significant speed improvement. The state variables are updated after each block of data is processed. 
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter and coefficient and state arrays cannot be shared among instances. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer. 
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Set the values in the state buffer to zeros before static initialization. The code below statically initializes each of the 3 different data type filter instance structures 
       
+    arm_lms_instance_f32 S = {numTaps, pState, pCoeffs, mu};   
+    arm_lms_instance_q31 S = {numTaps, pState, pCoeffs, mu, postShift};   
+    arm_lms_instance_q15 S = {numTaps, pState, pCoeffs, mu, postShift};   
+ 
     where numTaps is the number of filter coefficients in the filter; pState is the address of the state buffer; pCoeffs is the address of the coefficient buffer; mu is the step size parameter; and postShift is the shift applied to coefficients.
    
+
    Fixed-Point Behavior: 
    Care must be taken when using the Q15 and Q31 versions of the LMS filter. The following issues must be considered:
      
+
    • Scaling of coefficients
      • 
+
    • Overflow and saturation
      • 
+
    
+
    
+
    Scaling of Coefficients: 
    Filter coefficients are represented as fractional values and coefficients are restricted to lie in the range [-1 +1). The fixed-point functions have an additional scaling parameter postShift. At the output of the filter's accumulator is a shift register which shifts the result by postShift bits. This essentially scales the filter coefficients by 2^postShift and allows the filter coefficients to exceed the range [+1 -1). The value of postShift is set by the user based on the expected gain through the system being modeled.
    
+
    Overflow and Saturation: 
    Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are described separately as part of the function specific documentation below. 
    
+
    Function Documentation
    
+
+
    
+
    
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    void arm_lms_init_f32 (arm_lms_instance_f32 *  S, 
    uint16_t  numTaps, 
    float32_t *  pCoeffs, 
    float32_t *  pState, 
    float32_t  mu, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for floating-point LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point LMS filter structure. 
    [in]numTapsnumber of filter coefficients. 
    [in]*pCoeffspoints to the coefficient buffer. 
    [in]*pStatepoints to state buffer. 
    [in]mustep size that controls filter coefficient updates. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Description: 
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     The initial filter coefficients serve as a starting point for the adaptive filter. pState points to an array of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_f32(). 
    
+
+
    Definition at line 61 of file arm_lms_init_f32.c.
    
+
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    void arm_lms_f32 (const arm_lms_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pRef, 
    float32_t *  pOut, 
    float32_t *  pErr, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for floating-point LMS filter. 
    
+
    This function operates on floating-point data types.
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point LMS filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [in]*pRefpoints to the block of reference data. 
    [out]*pOutpoints to the block of output data. 
    [out]*pErrpoints to the block of error data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 170 of file arm_lms_f32.c.
    
+
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+
    
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    void arm_lms_init_q31 (arm_lms_instance_q31 *  S, 
    uint16_t  numTaps, 
    q31_t *  pCoeffs, 
    q31_t *  pState, 
    q31_t  mu, 
    uint32_t  blockSize, 
    uint32_t  postShift 
    )
    
+
    
+
    
+
+
    Initialization function for Q31 LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 LMS filter structure. 
    [in]numTapsnumber of filter coefficients. 
    [in]*pCoeffspoints to coefficient buffer. 
    [in]*pStatepoints to state buffer. 
    [in]mustep size that controls filter coefficient updates. 
    [in]blockSizenumber of samples to process. 
    [in]postShiftbit shift applied to coefficients. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     The initial filter coefficients serve as a starting point for the adaptive filter. pState points to an array of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_q31(). 
    
+
+
    Definition at line 66 of file arm_lms_init_q31.c.
    
+
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    void arm_lms_q31 (const arm_lms_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pRef, 
    q31_t *  pOut, 
    q31_t *  pErr, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for Q31 LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 LMS filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [in]*pRefpoints to the block of reference data. 
    [out]*pOutpoints to the block of output data. 
    [out]*pErrpoints to the block of error data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clips. In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits. The reference signal should not be scaled down. After all multiply-accumulates are performed, the 2.62 accumulator is shifted and saturated to 1.31 format to yield the final result. The output signal and error signal are in 1.31 format.
    
+
    In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted. 
    
+
+
    Definition at line 69 of file arm_lms_q31.c.
    
+
+
    
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+      
    void arm_lms_init_q15 (arm_lms_instance_q15 *  S, 
    uint16_t  numTaps, 
    q15_t *  pCoeffs, 
    q15_t *  pState, 
    q15_t  mu, 
    uint32_t  blockSize, 
    uint32_t  postShift 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 LMS filter structure. 
    [in]numTapsnumber of filter coefficients. 
    [in]*pCoeffspoints to the coefficient buffer. 
    [in]*pStatepoints to the state buffer. 
    [in]mustep size that controls filter coefficient updates. 
    [in]blockSizenumber of samples to process. 
    [in]postShiftbit shift applied to coefficients. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     The initial filter coefficients serve as a starting point for the adaptive filter. pState points to the array of state variables and size of array is numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_q15(). 
    
+
+
    Definition at line 66 of file arm_lms_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
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+      
    void arm_lms_q15 (const arm_lms_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pRef, 
    q15_t *  pOut, 
    q15_t *  pErr, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for Q15 LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 LMS filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [in]*pRefpoints to the block of reference data. 
    [out]*pOutpoints to the block of output data. 
    [out]*pErrpoints to the block of error data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    The function is implemented using a 64-bit internal accumulator. Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format.
    
+
    In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted. 
    
+
+
    Definition at line 66 of file arm_lms_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___l_m_s___n_o_r_m.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___l_m_s___n_o_r_m.html
new file mode 100644
index 000000000..d1f6e150e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___l_m_s___n_o_r_m.html
@@ -0,0 +1,560 @@
+
+
+
+
+CMSIS DSP Software Library: Normalized LMS Filters
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Normalized LMS Filters
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_lms_norm_init_f32 (arm_lms_norm_instance_f32 *S, uint16_t numTaps, float32_t *pCoeffs, float32_t *pState, float32_t mu, uint32_t blockSize)
    void arm_lms_norm_f32 (arm_lms_norm_instance_f32 *S, float32_t *pSrc, float32_t *pRef, float32_t *pOut, float32_t *pErr, uint32_t blockSize)
    void arm_lms_norm_init_q31 (arm_lms_norm_instance_q31 *S, uint16_t numTaps, q31_t *pCoeffs, q31_t *pState, q31_t mu, uint32_t blockSize, uint8_t postShift)
    void arm_lms_norm_q31 (arm_lms_norm_instance_q31 *S, q31_t *pSrc, q31_t *pRef, q31_t *pOut, q31_t *pErr, uint32_t blockSize)
    void arm_lms_norm_init_q15 (arm_lms_norm_instance_q15 *S, uint16_t numTaps, q15_t *pCoeffs, q15_t *pState, q15_t mu, uint32_t blockSize, uint8_t postShift)
    void arm_lms_norm_q15 (arm_lms_norm_instance_q15 *S, q15_t *pSrc, q15_t *pRef, q15_t *pOut, q15_t *pErr, uint32_t blockSize)
    
+
    Detailed Description
    
+
    This set of functions implements a commonly used adaptive filter. It is related to the Least Mean Square (LMS) adaptive filter and includes an additional normalization factor which increases the adaptation rate of the filter. The CMSIS DSP Library contains normalized LMS filter functions that operate on Q15, Q31, and floating-point data types.
    
+
    A normalized least mean square (NLMS) filter consists of two components as shown below. The first component is a standard transversal or FIR filter. The second component is a coefficient update mechanism. The NLMS filter has two input signals. The "input" feeds the FIR filter while the "reference input" corresponds to the desired output of the FIR filter. That is, the FIR filter coefficients are updated so that the output of the FIR filter matches the reference input. The filter coefficient update mechanism is based on the difference between the FIR filter output and the reference input. This "error signal" tends towards zero as the filter adapts. The NLMS processing functions accept the input and reference input signals and generate the filter output and error signal. 
    
+
    
+LMS.gif
+
    Internal structure of the NLMS adaptive filter
    
+
    The functions operate on blocks of data and each call to the function processes blockSize samples through the filter. pSrc points to input signal, pRef points to reference signal, pOut points to output signal and pErr points to error signal. All arrays contain blockSize values.
    
+
    The functions operate on a block-by-block basis. Internally, the filter coefficients b[n] are updated on a sample-by-sample basis. The convergence of the LMS filter is slower compared to the normalized LMS algorithm.
    
+
    Algorithm: 
    The output signal y[n] is computed by a standard FIR filter: 
       
+     y[n] = b[0] * x[n] + b[1] * x[n-1] + b[2] * x[n-2] + ...+ b[numTaps-1] * x[n-numTaps+1]   
+ 
    
+
    The error signal equals the difference between the reference signal d[n] and the filter output: 
       
+     e[n] = d[n] - y[n].   
+ 
    
+
    After each sample of the error signal is computed the instanteous energy of the filter state variables is calculated: 
       
+    E = x[n]^2 + x[n-1]^2 + ... + x[n-numTaps+1]^2.   
+ 
     The filter coefficients b[k] are then updated on a sample-by-sample basis: 
       
+     b[k] = b[k] + e[n] * (mu/E) * x[n-k],  for k=0, 1, ..., numTaps-1   
+ 
     where mu is the step size and controls the rate of coefficient convergence. 
    
+
    In the APIs, pCoeffs points to a coefficient array of size numTaps. Coefficients are stored in time reversed order. 
    
+
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     
    
+
    pState points to a state array of size numTaps + blockSize - 1. Samples in the state buffer are stored in the order: 
    
+
       
+    {x[n-numTaps+1], x[n-numTaps], x[n-numTaps-1], x[n-numTaps-2]....x[0], x[1], ..., x[blockSize-1]}   
+ 
     
    
+
    Note that the length of the state buffer exceeds the length of the coefficient array by blockSize-1 samples. The increased state buffer length allows circular addressing, which is traditionally used in FIR filters, to be avoided and yields a significant speed improvement. The state variables are updated after each block of data is processed. 
    
+
    Instance Structure 
    The coefficients and state variables for a filter are stored together in an instance data structure. A separate instance structure must be defined for each filter and coefficient and state arrays cannot be shared among instances. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Zeros out the values in the state buffer. 
      • 
+
    
+
    
+
    Instance structure cannot be placed into a const data section and it is recommended to use the initialization function. 
    
+
    Fixed-Point Behavior: 
    Care must be taken when using the Q15 and Q31 versions of the normalised LMS filter. The following issues must be considered:
      
+
    • Scaling of coefficients
      • 
+
    • Overflow and saturation
      • 
+
    
+
    
+
    Scaling of Coefficients: 
    Filter coefficients are represented as fractional values and coefficients are restricted to lie in the range [-1 +1). The fixed-point functions have an additional scaling parameter postShift. At the output of the filter's accumulator is a shift register which shifts the result by postShift bits. This essentially scales the filter coefficients by 2^postShift and allows the filter coefficients to exceed the range [+1 -1). The value of postShift is set by the user based on the expected gain through the system being modeled.
    
+
    Overflow and Saturation: 
    Overflow and saturation behavior of the fixed-point Q15 and Q31 versions are described separately as part of the function specific documentation below. 
    
+
    Function Documentation
    
+
+
    
+
    
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    void arm_lms_norm_init_f32 (arm_lms_norm_instance_f32 *  S, 
    uint16_t  numTaps, 
    float32_t *  pCoeffs, 
    float32_t *  pState, 
    float32_t  mu, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Initialization function for floating-point normalized LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point LMS filter structure. 
    [in]numTapsnumber of filter coefficients. 
    [in]*pCoeffspoints to coefficient buffer. 
    [in]*pStatepoints to state buffer. 
    [in]mustep size that controls filter coefficient updates. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     The initial filter coefficients serve as a starting point for the adaptive filter. pState points to an array of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_norm_f32(). 
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 64 of file arm_lms_norm_init_f32.c.
    
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    void arm_lms_norm_f32 (arm_lms_norm_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pRef, 
    float32_t *  pOut, 
    float32_t *  pErr, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for floating-point normalized LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point normalized LMS filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [in]*pRefpoints to the block of reference data. 
    [out]*pOutpoints to the block of output data. 
    [out]*pErrpoints to the block of error data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 160 of file arm_lms_norm_f32.c.
    
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    void arm_lms_norm_init_q31 (arm_lms_norm_instance_q31 *  S, 
    uint16_t  numTaps, 
    q31_t *  pCoeffs, 
    q31_t *  pState, 
    q31_t  mu, 
    uint32_t  blockSize, 
    uint8_t  postShift 
    )
    
+
    
+
    
+
+
    Initialization function for Q31 normalized LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 normalized LMS filter structure. 
    [in]numTapsnumber of filter coefficients. 
    [in]*pCoeffspoints to coefficient buffer. 
    [in]*pStatepoints to state buffer. 
    [in]mustep size that controls filter coefficient updates. 
    [in]blockSizenumber of samples to process. 
    [in]postShiftbit shift applied to coefficients. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     The initial filter coefficients serve as a starting point for the adaptive filter. pState points to an array of length numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_norm_q31(). 
    
+
+
    Definition at line 63 of file arm_lms_norm_init_q31.c.
    
+
+
    
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    void arm_lms_norm_q31 (arm_lms_norm_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pRef, 
    q31_t *  pOut, 
    q31_t *  pErr, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for Q31 normalized LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 normalized LMS filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [in]*pRefpoints to the block of reference data. 
    [out]*pOutpoints to the block of output data. 
    [out]*pErrpoints to the block of error data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by log2(numTaps) bits. The reference signal should not be scaled down. After all multiply-accumulates are performed, the 2.62 accumulator is shifted and saturated to 1.31 format to yield the final result. The output signal and error signal are in 1.31 format.
    
+
    In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted. 
    
+
+
    Definition at line 72 of file arm_lms_norm_q31.c.
    
+
+
    
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    void arm_lms_norm_init_q15 (arm_lms_norm_instance_q15 *  S, 
    uint16_t  numTaps, 
    q15_t *  pCoeffs, 
    q15_t *  pState, 
    q15_t  mu, 
    uint32_t  blockSize, 
    uint8_t  postShift 
    )
    
+
    
+
    
+
+
    Initialization function for Q15 normalized LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 normalized LMS filter structure. 
    [in]numTapsnumber of filter coefficients. 
    [in]*pCoeffspoints to coefficient buffer. 
    [in]*pStatepoints to state buffer. 
    [in]mustep size that controls filter coefficient updates. 
    [in]blockSizenumber of samples to process. 
    [in]postShiftbit shift applied to coefficients. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    pCoeffs points to the array of filter coefficients stored in time reversed order: 
       
+    {b[numTaps-1], b[numTaps-2], b[N-2], ..., b[1], b[0]}   
+ 
     The initial filter coefficients serve as a starting point for the adaptive filter. pState points to the array of state variables and size of array is numTaps+blockSize-1 samples, where blockSize is the number of input samples processed by each call to arm_lms_norm_q15(). 
    
+
+
    Definition at line 64 of file arm_lms_norm_init_q15.c.
    
+
+
    
+
    
+
+
    
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    void arm_lms_norm_q15 (arm_lms_norm_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pRef, 
    q15_t *  pOut, 
    q15_t *  pErr, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Processing function for Q15 normalized LMS filter. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 normalized LMS filter structure. 
    [in]*pSrcpoints to the block of input data. 
    [in]*pRefpoints to the block of reference data. 
    [out]*pOutpoints to the block of output data. 
    [out]*pErrpoints to the block of error data. 
    [in]blockSizenumber of samples to process. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 64-bit internal accumulator. Both coefficients and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format.
    
+
    In this filter, filter coefficients are updated for each sample and the updation of filter cofficients are saturted. 
    
+
+
    Definition at line 71 of file arm_lms_norm_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___linear_interp_example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___linear_interp_example.html
new file mode 100644
index 000000000..c3e09377d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___linear_interp_example.html
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+
+
+
+
+CMSIS DSP Software Library: Linear Interpolate Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Linear Interpolate Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
     CMSIS DSP Software Library -- Linear Interpolate Example 
    
+
     Description  This example demonstrates usage of linear interpolate modules and fast math modules. Method 1 uses fast math sine function to calculate sine values using cubic interpolation and method 2 uses linear interpolation function and results are compared to reference output. Example shows linear interpolation function can be used to get higher precision compared to fast math sin calculation.
    
+
    Block Diagram:
    
+
    
+linearInterpExampleMethod1.gif
+
    Method 1: Sine caluclation using fast math
    
+ 
    
+
    
+linearInterpExampleMethod2.gif
+
    Method 2: Sine caluclation using interpolation function
    
+ 
    
+
    Variables Description:
    
+
      
+
    • testInputSin_f32 points to the input values for sine calculation 
      • 
+
    • testRefSinOutput32_f32 points to the reference values caculated from sin() matlab function 
      • 
+
    • testOutput points to output buffer calculation from cubic interpolation 
      • 
+
    • testLinIntOutput points to output buffer calculation from linear interpolation 
      • 
+
    • snr1 Signal to noise ratio for reference and cubic interpolation output 
      • 
+
    • snr2 Signal to noise ratio for reference and linear interpolation output
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_linear_interp_example_f32.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___linear_interpolate.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___linear_interpolate.html
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+
+
+
+
+CMSIS DSP Software Library: Linear Interpolation
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Linear Interpolation
    
+
+[Interpolation Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    static __INLINE float32_t arm_linear_interp_f32 (arm_linear_interp_instance_f32 *S, float32_t x)
    static __INLINE q31_t arm_linear_interp_q31 (q31_t *pYData, q31_t x, uint32_t nValues)
    static __INLINE q15_t arm_linear_interp_q15 (q15_t *pYData, q31_t x, uint32_t nValues)
    static __INLINE q7_t arm_linear_interp_q7 (q7_t *pYData, q31_t x, uint32_t nValues)
    
+
    Detailed Description
    
+
    Linear interpolation is a method of curve fitting using linear polynomials. Linear interpolation works by effectively drawing a straight line between two neighboring samples and returning the appropriate point along that line
    
+
    
+LinearInterp.gif
+
    Linear interpolation
    
+ 
    
+
    A Linear Interpolate function calculates an output value(y), for the input(x) using linear interpolation of the input values x0, x1( nearest input values) and the output values y0 and y1(nearest output values)
    
+
    Algorithm:
    +       y = y0 + (x - x0) * ((y1 - y0)/(x1-x0))
+       where x0, x1 are nearest values of input x
+             y0, y1 are nearest values to output y
+ 
    
+
    This set of functions implements Linear interpolation process for Q7, Q15, Q31, and floating-point data types. The functions operate on a single sample of data and each call to the function returns a single processed value. S points to an instance of the Linear Interpolate function data structure. x is the input sample value. The functions returns the output value.
    
+
    if x is outside of the table boundary, Linear interpolation returns first value of the table if x is below input range and returns last value of table if x is above range. 
    
+
    Function Documentation
    
+
+
    
+
    
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    static __INLINE float32_t arm_linear_interp_f32 (arm_linear_interp_instance_f32 *  S, 
    float32_t  x 
    ) [static]
    
+
    
+
    
+
+
    Process function for the floating-point Linear Interpolation Function. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in,out]*Sis an instance of the floating-point Linear Interpolation structure 
    [in]xinput sample to process 
    
+  
    
+
    
+
    Returns:
    y processed output sample. 
    
+
    Examples: 
    arm_linear_interp_example_f32.c.
    
+
    
+
    Definition at line 5377 of file arm_math.h.
    
+
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    static __INLINE q31_t arm_linear_interp_q31 (q31_t *  pYData, 
    q31_t  x, 
    uint32_t  nValues 
    ) [static]
    
+
    
+
    
+
+
    Process function for the Q31 Linear Interpolation Function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pYDatapointer to Q31 Linear Interpolation table 
    [in]xinput sample to process 
    [in]nValuesnumber of table values 
    
+  
    
+
    
+
    Returns:
    y processed output sample.
    
+
    Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. This function can support maximum of table size 2^12. 
    
+
+
    Definition at line 5436 of file arm_math.h.
    
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    static __INLINE q15_t arm_linear_interp_q15 (q15_t *  pYData, 
    q31_t  x, 
    uint32_t  nValues 
    ) [static]
    
+
    
+
    
+
+
    Process function for the Q15 Linear Interpolation Function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pYDatapointer to Q15 Linear Interpolation table 
    [in]xinput sample to process 
    [in]nValuesnumber of table values 
    
+  
    
+
    
+
    Returns:
    y processed output sample.
    
+
    Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. This function can support maximum of table size 2^12. 
    
+
+
    Definition at line 5496 of file arm_math.h.
    
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    static __INLINE q7_t arm_linear_interp_q7 (q7_t *  pYData, 
    q31_t  x, 
    uint32_t  nValues 
    ) [static]
    
+
    
+
    
+
+
    Process function for the Q7 Linear Interpolation Function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pYDatapointer to Q7 Linear Interpolation table 
    [in]xinput sample to process 
    [in]nValuesnumber of table values 
    
+  
    
+
    
+
    Returns:
    y processed output sample.
    
+
    Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. This function can support maximum of table size 2^12. 
    
+
+
    Definition at line 5553 of file arm_math.h.
    
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+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
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+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_add.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_add.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_add.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: Matrix Addition
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Matrix Addition
    
+
+[Matrix Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    arm_status arm_mat_add_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_add_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_add_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst)
    
+
    Detailed Description
    
+
    Adds two matrices. 
    
+
    
+MatrixAddition.gif
+
    Addition of two 3 x 3 matrices
    
+
    The functions check to make sure that pSrcA, pSrcB, and pDst have the same number of rows and columns. 
    
+
    Function Documentation
    
+
+
    
+
    
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    arm_status arm_mat_add_f32 (const arm_matrix_instance_f32 *  pSrcA, 
    const arm_matrix_instance_f32 *  pSrcB, 
    arm_matrix_instance_f32 *  pDst 
    )
    
+
    
+
    
+
+
    Floating-point matrix addition. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. 
    
+
+
    Definition at line 68 of file arm_mat_add_f32.c.
    
+
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    arm_status arm_mat_add_q31 (const arm_matrix_instance_q31 *  pSrcA, 
    const arm_matrix_instance_q31 *  pSrcB, 
    arm_matrix_instance_q31 *  pDst 
    )
    
+
    
+
    
+
+
    Q31 matrix addition. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated. 
    
+
+
    Definition at line 61 of file arm_mat_add_q31.c.
    
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    arm_status arm_mat_add_q15 (const arm_matrix_instance_q15 *  pSrcA, 
    const arm_matrix_instance_q15 *  pSrcB, 
    arm_matrix_instance_q15 *  pDst 
    )
    
+
    
+
    
+
+
    Q15 matrix addition. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. 
    
+
+
    Definition at line 61 of file arm_mat_add_q15.c.
    
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+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_example.html
new file mode 100644
index 000000000..ca3c0acbd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_example.html
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+
+
+
+
+CMSIS DSP Software Library: Matrix Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Matrix Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description: 
    
+
    Demonstrates the use of Matrix Transpose, Matrix Muliplication, and Matrix Inverse functions to apply least squares fitting to input data. Least squares fitting is the procedure for finding the best-fitting curve that minimizes the sum of the squares of the offsets (least square error) from a given set of data.
    
+
    Algorithm:
    
+
    The linear combination of parameters considered is as follows: 
    
+
    A * X = B, where X is the unknown value and can be estimated from A & B. 
    
+
    The least squares estimate X is given by the following equation: 
    
+
    X = Inverse(AT * A) * AT * B
    
+
    Block Diagram:
    
+
    
+matrixExample.gif
+
    
+
    
+
    Variables Description:
    
+
      
+
    • A_f32 input matrix in the linear combination equation 
      • 
+
    • B_f32 output matrix in the linear combination equation 
      • 
+
    • X_f32 unknown matrix estimated using A_f32 & B_f32 matrices
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_matrix_example_f32.c 
    
+
    
+
+
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+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_init.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_init.html
new file mode 100644
index 000000000..044685d25
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_init.html
@@ -0,0 +1,242 @@
+
+
+
+
+CMSIS DSP Software Library: Matrix Initialization
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Matrix Initialization
    
+
+[Matrix Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_mat_init_f32 (arm_matrix_instance_f32 *S, uint16_t nRows, uint16_t nColumns, float32_t *pData)
    void arm_mat_init_q31 (arm_matrix_instance_q31 *S, uint16_t nRows, uint16_t nColumns, q31_t *pData)
    void arm_mat_init_q15 (arm_matrix_instance_q15 *S, uint16_t nRows, uint16_t nColumns, q15_t *pData)
    
+
    Detailed Description
    
+
    Initializes the underlying matrix data structure. The functions set the numRows, numCols, and pData fields of the matrix data structure. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
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    void arm_mat_init_f32 (arm_matrix_instance_f32 *  S, 
    uint16_t  nRows, 
    uint16_t  nColumns, 
    float32_t *  pData 
    )
    
+
    
+
    
+
+
    Floating-point matrix initialization. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point matrix structure. 
    [in]nRowsnumber of rows in the matrix. 
    [in]nColumnsnumber of columns in the matrix. 
    [in]*pDatapoints to the matrix data array. 
    
+  
    
+
    
+
    Returns:
    none 
    
+
    Examples: 
    arm_class_marks_example_f32.c, and arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 65 of file arm_mat_init_f32.c.
    
+
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    void arm_mat_init_q31 (arm_matrix_instance_q31 *  S, 
    uint16_t  nRows, 
    uint16_t  nColumns, 
    q31_t *  pData 
    )
    
+
    
+
    
+
+
    Q31 matrix initialization. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point matrix structure. 
    [in]nRowsnumber of rows in the matrix. 
    [in]nColumnsnumber of columns in the matrix. 
    [in]*pDatapoints to the matrix data array. 
    
+  
    
+
    
+
    Returns:
    none 
    
+
+
    Definition at line 61 of file arm_mat_init_q31.c.
    
+
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    void arm_mat_init_q15 (arm_matrix_instance_q15 *  S, 
    uint16_t  nRows, 
    uint16_t  nColumns, 
    q15_t *  pData 
    )
    
+
    
+
    
+
+
    Q15 matrix initialization. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point matrix structure. 
    [in]nRowsnumber of rows in the matrix. 
    [in]nColumnsnumber of columns in the matrix. 
    [in]*pDatapoints to the matrix data array. 
    
+  
    
+
    
+
    Returns:
    none 
    
+
+
    Definition at line 57 of file arm_mat_init_q15.c.
    
+
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+
    
+
    
+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_inv.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_inv.html
new file mode 100644
index 000000000..a8b8e4e05
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_inv.html
@@ -0,0 +1,126 @@
+
+
+
+
+CMSIS DSP Software Library: Matrix Inverse
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Matrix Inverse
    
+
+[Matrix Functions]
+
      
    
+
    
+
    
+
+
+
+
    
+Functions
    arm_status arm_mat_inverse_f32 (const arm_matrix_instance_f32 *pSrc, arm_matrix_instance_f32 *pDst)
    
+
    Detailed Description
    
+
    Computes the inverse of a matrix.
    
+
    The inverse is defined only if the input matrix is square and non-singular (the determinant is non-zero). The function checks that the input and output matrices are square and of the same size.
    
+
    Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix inversion of floating-point matrices.
    
+
    Algorithm 
    The Gauss-Jordan method is used to find the inverse. The algorithm performs a sequence of elementary row-operations till it reduces the input matrix to an identity matrix. Applying the same sequence of elementary row-operations to an identity matrix yields the inverse matrix. If the input matrix is singular, then the algorithm terminates and returns error status ARM_MATH_SINGULAR. 
    
+MatrixInverse.gif
+
    Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method
    
+ 
    
+
    Function Documentation
    
+
+
    
+
    
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    arm_status arm_mat_inverse_f32 (const arm_matrix_instance_f32 *  pSrc, 
    arm_matrix_instance_f32 *  pDst 
    )
    
+
    
+
    
+
+
    Floating-point matrix inverse. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]*pSrcpoints to input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SIZE_MISMATCH if the input matrix is not square or if the size of the output matrix does not match the size of the input matrix. If the input matrix is found to be singular (non-invertible), then the function returns ARM_MATH_SINGULAR. Otherwise, the function returns ARM_MATH_SUCCESS. 
    
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 74 of file arm_mat_inverse_f32.c.
    
+
+
    
+
    
+
    
+
+
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_mult.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_mult.html
new file mode 100644
index 000000000..5b5cab263
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_mult.html
@@ -0,0 +1,347 @@
+
+
+
+
+CMSIS DSP Software Library: Matrix Multiplication
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Matrix Multiplication
    
+
+[Matrix Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
    
+Functions
    arm_status arm_mat_mult_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_mult_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_mult_fast_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_mult_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst, q15_t *pState)
    arm_status arm_mat_mult_fast_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst, q15_t *pState)
    
+
    Detailed Description
    
+
    Multiplies two matrices.
    
+
    
+MatrixMultiplication.gif
+
    Multiplication of two 3 x 3 matrices
    
+
    Matrix multiplication is only defined if the number of columns of the first matrix equals the number of rows of the second matrix. Multiplying an M x N matrix with an N x P matrix results in an M x P matrix. When matrix size checking is enabled, the functions check: (1) that the inner dimensions of pSrcA and pSrcB are equal; and (2) that the size of the output matrix equals the outer dimensions of pSrcA and pSrcB. 
    
+
    Function Documentation
    
+
+
    
+
    
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    arm_status arm_mat_mult_f32 (const arm_matrix_instance_f32 *  pSrcA, 
    const arm_matrix_instance_f32 *  pSrcB, 
    arm_matrix_instance_f32 *  pDst 
    )
    
+
    
+
    
+
+
    Floating-point matrix multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. 
    
+
    Examples: 
    arm_class_marks_example_f32.c, and arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 73 of file arm_mat_mult_f32.c.
    
+
+
    
+
    
+
+
    
+
    
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    arm_status arm_mat_mult_q31 (const arm_matrix_instance_q31 *  pSrcA, 
    const arm_matrix_instance_q31 *  pSrcB, 
    arm_matrix_instance_q31 *  pDst 
    )
    
+
    
+
    
+
+
    Q31 matrix multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. There is no saturation on intermediate additions. Thus, if the accumulator overflows it wraps around and distorts the result. The input signals should be scaled down to avoid intermediate overflows. The input is thus scaled down by log2(numColsA) bits to avoid overflows, as a total of numColsA additions are performed internally. The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
    
+
    See arm_mat_mult_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 73 of file arm_mat_mult_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+      
    arm_status arm_mat_mult_fast_q31 (const arm_matrix_instance_q31 *  pSrcA, 
    const arm_matrix_instance_q31 *  pSrcB, 
    arm_matrix_instance_q31 *  pDst 
    )
    
+
    
+
    
+
+
    Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior:
    
+
    The difference between the function arm_mat_mult_q31() and this fast variant is that the fast variant use a 32-bit rather than a 64-bit accumulator. The result of each 1.31 x 1.31 multiplication is truncated to 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30 format. Finally, the accumulator is saturated and converted to a 1.31 result.
    
+
    The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 32 bits of each multiplication result. In order to avoid overflows completely the input signals must be scaled down. Scale down one of the input matrices by log2(numColsA) bits to avoid overflows, as a total of numColsA additions are computed internally for each output element.
    
+
    See arm_mat_mult_q31() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision. 
    
+
+
    Definition at line 72 of file arm_mat_mult_fast_q31.c.
    
+
+
    
+
    
+
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+
    
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    arm_status arm_mat_mult_q15 (const arm_matrix_instance_q15 *  pSrcA, 
    const arm_matrix_instance_q15 *  pSrcB, 
    arm_matrix_instance_q15 *  pDst, 
    q15_t *  pState 
    )
    
+
    
+
    
+
+
    Q15 matrix multiplication. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    [in]*pStatepoints to the array for storing intermediate results 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 64-bit internal accumulator. The inputs to the multiplications are in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. This approach provides 33 guard bits and there is no risk of overflow. The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.
    
+
    Refer to arm_mat_mult_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 74 of file arm_mat_mult_q15.c.
    
+
+
    
+
    
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    arm_status arm_mat_mult_fast_q15 (const arm_matrix_instance_q15 *  pSrcA, 
    const arm_matrix_instance_q15 *  pSrcB, 
    arm_matrix_instance_q15 *  pDst, 
    q15_t *  pState 
    )
    
+
    
+
    
+
+
    Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    [in]*pStatepoints to the array for storing intermediate results 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior:
    
+
    The difference between the function arm_mat_mult_q15() and this fast variant is that the fast variant use a 32-bit rather than a 64-bit accumulator. The result of each 1.15 x 1.15 multiplication is truncated to 2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30 format. Finally, the accumulator is saturated and converted to a 1.15 result.
    
+
    The fast version has the same overflow behavior as the standard version but provides less precision since it discards the low 16 bits of each multiplication result. In order to avoid overflows completely the input signals must be scaled down. Scale down one of the input matrices by log2(numColsA) bits to avoid overflows, as a total of numColsA additions are computed internally for each output element.
    
+
    See arm_mat_mult_q15() for a slower implementation of this function which uses 64-bit accumulation to provide higher precision. 
    
+
+
    Definition at line 74 of file arm_mat_mult_fast_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_scale.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_scale.html
new file mode 100644
index 000000000..067dfb5a4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_scale.html
@@ -0,0 +1,245 @@
+
+
+
+
+CMSIS DSP Software Library: Matrix Scale
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Matrix Scale
    
+
+[Matrix Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    arm_status arm_mat_scale_f32 (const arm_matrix_instance_f32 *pSrc, float32_t scale, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_scale_q31 (const arm_matrix_instance_q31 *pSrc, q31_t scaleFract, int32_t shift, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_scale_q15 (const arm_matrix_instance_q15 *pSrc, q15_t scaleFract, int32_t shift, arm_matrix_instance_q15 *pDst)
    
+
    Detailed Description
    
+
    Multiplies a matrix by a scalar. This is accomplished by multiplying each element in the matrix by the scalar. For example: 
    
+
    
+MatrixScale.gif
+
    Matrix Scaling of a 3 x 3 matrix
    
+
    The function checks to make sure that the input and output matrices are of the same size.
    
+
    In the fixed-point Q15 and Q31 functions, scale is represented by a fractional multiplication scaleFract and an arithmetic shift shift. The shift allows the gain of the scaling operation to exceed 1.0. The overall scale factor applied to the fixed-point data is 
    
+
       
+     scale = scaleFract * 2^shift.   
+ 
     
    Function Documentation
    
+
+
    
+
    
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+      
    arm_status arm_mat_scale_f32 (const arm_matrix_instance_f32 *  pSrc, 
    float32_t  scale, 
    arm_matrix_instance_f32 *  pDst 
    )
    
+
    
+
    
+
+
    Floating-point matrix scaling. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to input matrix structure 
    [in]scalescale factor to be applied 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. 
    
+
+
    Definition at line 75 of file arm_mat_scale_f32.c.
    
+
+
    
+
    
+
+
    
+
    
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+        
+      
    arm_status arm_mat_scale_q31 (const arm_matrix_instance_q31 *  pSrc, 
    q31_t  scaleFract, 
    int32_t  shift, 
    arm_matrix_instance_q31 *  pDst 
    )
    
+
    
+
    
+
+
    Q31 matrix scaling. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to input matrix 
    [in]scaleFractfractional portion of the scale factor 
    [in]shiftnumber of bits to shift the result by 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior: 
    
+
    The input data *pSrc and scaleFract are in 1.31 format. These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format. 
    
+
+
    Definition at line 63 of file arm_mat_scale_q31.c.
    
+
+
    
+
    
+
+
    
+
    
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+      
    arm_status arm_mat_scale_q15 (const arm_matrix_instance_q15 *  pSrc, 
    q15_t  scaleFract, 
    int32_t  shift, 
    arm_matrix_instance_q15 *  pDst 
    )
    
+
    
+
    
+
+
    Q15 matrix scaling. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to input matrix 
    [in]scaleFractfractional portion of the scale factor 
    [in]shiftnumber of bits to shift the result by 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior: 
    
+
    The input data *pSrc and scaleFract are in 1.15 format. These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format. 
    
+
+
    Definition at line 63 of file arm_mat_scale_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_sub.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_sub.html
new file mode 100644
index 000000000..60f826cfa
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_sub.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: Matrix Subtraction
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Matrix Subtraction
    
+
+[Matrix Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    arm_status arm_mat_sub_f32 (const arm_matrix_instance_f32 *pSrcA, const arm_matrix_instance_f32 *pSrcB, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_sub_q31 (const arm_matrix_instance_q31 *pSrcA, const arm_matrix_instance_q31 *pSrcB, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_sub_q15 (const arm_matrix_instance_q15 *pSrcA, const arm_matrix_instance_q15 *pSrcB, arm_matrix_instance_q15 *pDst)
    
+
    Detailed Description
    
+
    Subtract two matrices. 
    
+
    
+MatrixSubtraction.gif
+
    Subraction of two 3 x 3 matrices
    
+
    The functions check to make sure that pSrcA, pSrcB, and pDst have the same number of rows and columns. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
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+      
    arm_status arm_mat_sub_f32 (const arm_matrix_instance_f32 *  pSrcA, 
    const arm_matrix_instance_f32 *  pSrcB, 
    arm_matrix_instance_f32 *  pDst 
    )
    
+
    
+
    
+
+
    Floating-point matrix subtraction. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. 
    
+
+
    Definition at line 67 of file arm_mat_sub_f32.c.
    
+
+
    
+
    
+
+
    
+
    
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+      
    arm_status arm_mat_sub_q31 (const arm_matrix_instance_q31 *  pSrcA, 
    const arm_matrix_instance_q31 *  pSrcB, 
    arm_matrix_instance_q31 *  pDst 
    )
    
+
    
+
    
+
+
    Q31 matrix subtraction. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated. 
    
+
+
    Definition at line 62 of file arm_mat_sub_q31.c.
    
+
+
    
+
    
+
+
    
+
    
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    arm_status arm_mat_sub_q15 (const arm_matrix_instance_q15 *  pSrcA, 
    const arm_matrix_instance_q15 *  pSrcB, 
    arm_matrix_instance_q15 *  pDst 
    )
    
+
    
+
    
+
+
    Q15 matrix subtraction. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcApoints to the first input matrix structure 
    [in]*pSrcBpoints to the second input matrix structure 
    [out]*pDstpoints to output matrix structure 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. 
    
+
+
    Definition at line 61 of file arm_mat_sub_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_trans.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_trans.html
new file mode 100644
index 000000000..cd505b02f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___matrix_trans.html
@@ -0,0 +1,203 @@
+
+
+
+
+CMSIS DSP Software Library: Matrix Transpose
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Matrix Transpose
    
+
+[Matrix Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    arm_status arm_mat_trans_f32 (const arm_matrix_instance_f32 *pSrc, arm_matrix_instance_f32 *pDst)
    arm_status arm_mat_trans_q31 (const arm_matrix_instance_q31 *pSrc, arm_matrix_instance_q31 *pDst)
    arm_status arm_mat_trans_q15 (const arm_matrix_instance_q15 *pSrc, arm_matrix_instance_q15 *pDst)
    
+
    Detailed Description
    
+
    Tranposes a matrix. Transposing an M x N matrix flips it around the center diagonal and results in an N x M matrix. 
    
+
    
+MatrixTranspose.gif
+
    Transpose of a 3 x 3 matrix
    
+ 
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
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+        
+        
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+      
    arm_status arm_mat_trans_f32 (const arm_matrix_instance_f32 *  pSrc, 
    arm_matrix_instance_f32 *  pDst 
    )
    
+
    
+
    
+
+
    Floating-point matrix transpose. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]*pSrcpoints to the input matrix 
    [out]*pDstpoints to the output matrix 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. 
    
+
    Examples: 
    arm_matrix_example_f32.c.
    
+
    
+
    Definition at line 64 of file arm_mat_trans_f32.c.
    
+
+
    
+
    
+
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+
    
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    arm_status arm_mat_trans_q31 (const arm_matrix_instance_q31 *  pSrc, 
    arm_matrix_instance_q31 *  pDst 
    )
    
+
    
+
    
+
+
    Q31 matrix transpose. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]*pSrcpoints to the input matrix 
    [out]*pDstpoints to the output matrix 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. 
    
+
+
    Definition at line 55 of file arm_mat_trans_q31.c.
    
+
+
    
+
    
+
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    arm_status arm_mat_trans_q15 (const arm_matrix_instance_q15 *  pSrc, 
    arm_matrix_instance_q15 *  pDst 
    )
    
+
    
+
    
+
+
    Q15 matrix transpose. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]*pSrcpoints to the input matrix 
    [out]*pDstpoints to the output matrix 
    
+  
    
+
    
+
    Returns:
    The function returns either ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. 
    
+
+
    Definition at line 55 of file arm_mat_trans_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___max.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___max.html
new file mode 100644
index 000000000..4596fccd3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___max.html
@@ -0,0 +1,296 @@
+
+
+
+
+CMSIS DSP Software Library: Maximum
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Maximum
    
+
+[Statistics Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_max_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult, uint32_t *pIndex)
    void arm_max_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult, uint32_t *pIndex)
    void arm_max_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult, uint32_t *pIndex)
    void arm_max_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *pResult, uint32_t *pIndex)
    
+
    Detailed Description
    
+
    Computes the maximum value of an array of data. The function returns both the maximum value and its position within the array. There are separate functions for floating-point, Q31, Q15, and Q7 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
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+        
+      
    void arm_max_f32 (float32_t *  pSrc, 
    uint32_t  blockSize, 
    float32_t *  pResult, 
    uint32_t *  pIndex 
    )
    
+
    
+
    
+
+
    Maximum value of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultmaximum value returned here 
    [out]*pIndexindex of maximum value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_class_marks_example_f32.c, and arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 59 of file arm_max_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_max_q31 (q31_t *  pSrc, 
    uint32_t  blockSize, 
    q31_t *  pResult, 
    uint32_t *  pIndex 
    )
    
+
    
+
    
+
+
    Maximum value of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultmaximum value returned here 
    [out]*pIndexindex of maximum value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 51 of file arm_max_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_max_q15 (q15_t *  pSrc, 
    uint32_t  blockSize, 
    q15_t *  pResult, 
    uint32_t *  pIndex 
    )
    
+
    
+
    
+
+
    Maximum value of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultmaximum value returned here 
    [out]*pIndexindex of maximum value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 51 of file arm_max_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
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+          
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_max_q7 (q7_t *  pSrc, 
    uint32_t  blockSize, 
    q7_t *  pResult, 
    uint32_t *  pIndex 
    )
    
+
    
+
    
+
+
    Maximum value of a Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultmaximum value returned here 
    [out]*pIndexindex of maximum value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 51 of file arm_max_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___min.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___min.html
new file mode 100644
index 000000000..93ca0138e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___min.html
@@ -0,0 +1,296 @@
+
+
+
+
+CMSIS DSP Software Library: Minimum
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Minimum
    
+
+[Statistics Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_min_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult, uint32_t *pIndex)
    void arm_min_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult, uint32_t *pIndex)
    void arm_min_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult, uint32_t *pIndex)
    void arm_min_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *pResult, uint32_t *pIndex)
    
+
    Detailed Description
    
+
    Computes the minimum value of an array of data. The function returns both the minimum value and its position within the array. There are separate functions for floating-point, Q31, Q15, and Q7 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_min_f32 (float32_t *  pSrc, 
    uint32_t  blockSize, 
    float32_t *  pResult, 
    uint32_t *  pIndex 
    )
    
+
    
+
    
+
+
    Minimum value of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultminimum value returned here 
    [out]*pIndexindex of minimum value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_class_marks_example_f32.c, and arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 60 of file arm_min_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_min_q31 (q31_t *  pSrc, 
    uint32_t  blockSize, 
    q31_t *  pResult, 
    uint32_t *  pIndex 
    )
    
+
    
+
    
+
+
    Minimum value of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultminimum value returned here 
    [out]*pIndexindex of minimum value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_min_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_min_q15 (q15_t *  pSrc, 
    uint32_t  blockSize, 
    q15_t *  pResult, 
    uint32_t *  pIndex 
    )
    
+
    
+
    
+
+
    Minimum value of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultminimum value returned here 
    [out]*pIndexindex of minimum value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_min_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
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+        
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+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_min_q7 (q7_t *  pSrc, 
    uint32_t  blockSize, 
    q7_t *  pResult, 
    uint32_t *  pIndex 
    )
    
+
    
+
    
+
+
    Minimum value of a Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultminimum value returned here 
    [out]*pIndexindex of minimum value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 52 of file arm_min_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___p_i_d.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___p_i_d.html
new file mode 100644
index 000000000..209e2e1f0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___p_i_d.html
@@ -0,0 +1,443 @@
+
+
+
+
+CMSIS DSP Software Library: PID Motor Control
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    PID Motor Control
    
+
+[Controller Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_pid_reset_f32 (arm_pid_instance_f32 *S)
    void arm_pid_init_f32 (arm_pid_instance_f32 *S, int32_t resetStateFlag)
    void arm_pid_reset_q31 (arm_pid_instance_q31 *S)
    void arm_pid_init_q31 (arm_pid_instance_q31 *S, int32_t resetStateFlag)
    void arm_pid_reset_q15 (arm_pid_instance_q15 *S)
    void arm_pid_init_q15 (arm_pid_instance_q15 *S, int32_t resetStateFlag)
    static __INLINE float32_t arm_pid_f32 (arm_pid_instance_f32 *S, float32_t in)
    static __INLINE q31_t arm_pid_q31 (arm_pid_instance_q31 *S, q31_t in)
    static __INLINE q15_t arm_pid_q15 (arm_pid_instance_q15 *S, q15_t in)
    
+
    Detailed Description
    
+
    A Proportional Integral Derivative (PID) controller is a generic feedback control loop mechanism widely used in industrial control systems. A PID controller is the most commonly used type of feedback controller.
    
+
    This set of functions implements (PID) controllers for Q15, Q31, and floating-point data types. The functions operate on a single sample of data and each call to the function returns a single processed value. S points to an instance of the PID control data structure. in is the input sample value. The functions return the output value.
    
+
    Algorithm:
    +    y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]
+    A0 = Kp + Ki + Kd
+    A1 = (-Kp ) - (2 * Kd )
+    A2 = Kd  
    
+
    where Kp is proportional constant, Ki is Integral constant and Kd is Derivative constant
    
+
    
+PID.gif
+
    Proportional Integral Derivative Controller
    
+
    
+
    The PID controller calculates an "error" value as the difference between the measured output and the reference input. The controller attempts to minimize the error by adjusting the process control inputs. The proportional value determines the reaction to the current error, the integral value determines the reaction based on the sum of recent errors, and the derivative value determines the reaction based on the rate at which the error has been changing.
    
+
    Instance Structure 
    The Gains A0, A1, A2 and state variables for a PID controller are stored together in an instance data structure. A separate instance structure must be defined for each PID Controller. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Reset Functions 
    There is also an associated reset function for each data type which clears the state array.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Initializes the Gains A0, A1, A2 from Kp,Ki, Kd gains.
      • 
+
    • Zeros out the values in the state buffer.
      • 
+
    
+
    
+
    Instance structure cannot be placed into a const data section and it is recommended to use the initialization function.
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the PID Controller functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    void arm_pid_reset_f32 (arm_pid_instance_f32 *  S )
    
+
    
+
    
+
+
    Reset function for the floating-point PID Control. 
    
+
    Parameters:
    
+  
+    
+  
    [in]*SInstance pointer of PID control data structure. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Description: 
    The function resets the state buffer to zeros. 
    
+
+
    Definition at line 44 of file arm_pid_reset_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
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+          
+        
+        
+          
+          
+          
+        
+      
    void arm_pid_init_f32 (arm_pid_instance_f32 *  S, 
    int32_t  resetStateFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point PID Control. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in,out]*Spoints to an instance of the PID structure. 
    [in]resetStateFlagflag to reset the state. 0 = no change in state & 1 = reset the state. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Description: 
    
+
    The resetStateFlag specifies whether to set state to zero or not. 
    
+ The function computes the structure fields: A0, A1 A2 using the proportional gain( Kp), integral gain( Ki) and derivative gain( Kd) also sets the state variables to all zeros. 
    
+
+
    Definition at line 51 of file arm_pid_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    void arm_pid_reset_q31 (arm_pid_instance_q31 *  S )
    
+
    
+
    
+
+
    Reset function for the Q31 PID Control. 
    
+
    Parameters:
    
+  
+    
+  
    [in]*SInstance pointer of PID control data structure. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Description: 
    The function resets the state buffer to zeros. 
    
+
+
    Definition at line 44 of file arm_pid_reset_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_pid_init_q31 (arm_pid_instance_q31 *  S, 
    int32_t  resetStateFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 PID Control. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 PID structure. 
    [in]resetStateFlagflag to reset the state. 0 = no change in state 1 = reset the state. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Description: 
    
+
    The resetStateFlag specifies whether to set state to zero or not. 
    
+ The function computes the structure fields: A0, A1 A2 using the proportional gain( Kp), integral gain( Ki) and derivative gain( Kd) also sets the state variables to all zeros. 
    
+
+
    Definition at line 50 of file arm_pid_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    void arm_pid_reset_q15 (arm_pid_instance_q15 *  S )
    
+
    
+
    
+
+
    Reset function for the Q15 PID Control. 
    
+
    Parameters:
    
+  
+    
+  
    [in]*SInstance pointer of PID control data structure. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Description: 
    The function resets the state buffer to zeros. 
    
+
+
    Definition at line 44 of file arm_pid_reset_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_pid_init_q15 (arm_pid_instance_q15 *  S, 
    int32_t  resetStateFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 PID Control. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 PID structure. 
    [in]resetStateFlagflag to reset the state. 0 = no change in state 1 = reset the state. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Description: 
    
+
    The resetStateFlag specifies whether to set state to zero or not. 
    
+ The function computes the structure fields: A0, A1 A2 using the proportional gain( Kp), integral gain( Ki) and derivative gain( Kd) also sets the state variables to all zeros. 
    
+
+
    Definition at line 50 of file arm_pid_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE float32_t arm_pid_f32 (arm_pid_instance_f32 *  S, 
    float32_t  in 
    ) [static]
    
+
    
+
    
+
+
    Process function for the floating-point PID Control. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in,out]*Sis an instance of the floating-point PID Control structure 
    [in]ininput sample to process 
    
+  
    
+
    
+
    Returns:
    out processed output sample. 
    
+
+
    Definition at line 4711 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE q31_t arm_pid_q31 (arm_pid_instance_q31 *  S, 
    q31_t  in 
    ) [static]
    
+
    
+
    
+
+
    Process function for the Q31 PID Control. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 PID Control structure 
    [in]ininput sample to process 
    
+  
    
+
    
+
    Returns:
    out processed output sample.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by 2 bits as there are four additions. After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. 
    
+
+
    Definition at line 4746 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE q15_t arm_pid_q15 (arm_pid_instance_q15 *  S, 
    q15_t  in 
    ) [static]
    
+
    
+
    
+
+
    Process function for the Q15 PID Control. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 PID Control structure 
    [in]ininput sample to process 
    
+  
    
+
    
+
    Returns:
    out processed output sample.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 64-bit internal accumulator. Both Gains and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format. 
    
+
+
    Definition at line 4794 of file arm_math.h.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___partial_conv.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___partial_conv.html
new file mode 100644
index 000000000..e52879685
--- /dev/null
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@@ -0,0 +1,535 @@
+
+
+
+
+CMSIS DSP Software Library: Partial Convolution
+
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+
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+
    
+  
    
+Functions  
    
+  
    
+
    Partial Convolution
    
+
+[Filtering Functions]
+
      
    
+
    
+
    
+
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+
    
+Functions
    arm_status arm_conv_partial_f32 (float32_t *pSrcA, uint32_t srcALen, float32_t *pSrcB, uint32_t srcBLen, float32_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_fast_q31 (q31_t *pSrcA, uint32_t srcALen, q31_t *pSrcB, uint32_t srcBLen, q31_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_fast_q15 (q15_t *pSrcA, uint32_t srcALen, q15_t *pSrcB, uint32_t srcBLen, q15_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    arm_status arm_conv_partial_q7 (q7_t *pSrcA, uint32_t srcALen, q7_t *pSrcB, uint32_t srcBLen, q7_t *pDst, uint32_t firstIndex, uint32_t numPoints)
    
+
    Detailed Description
    
+
    Partial Convolution is equivalent to Convolution except that a subset of the output samples is generated. Each function has two additional arguments. firstIndex specifies the starting index of the subset of output samples. numPoints is the number of output samples to compute. The function computes the output in the range [firstIndex, ..., firstIndex+numPoints-1]. The output array pDst contains numPoints values.
    
+
    The allowable range of output indices is [0 srcALen+srcBLen-2]. If the requested subset does not fall in this range then the functions return ARM_MATH_ARGUMENT_ERROR. Otherwise the functions return ARM_MATH_SUCCESS. 
    
+
    Note:
    Refer arm_conv_f32() for details on fixed point behavior. 
    
+
    Function Documentation
    
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    arm_status arm_conv_partial_f32 (float32_t *  pSrcA, 
    uint32_t  srcALen, 
    float32_t *  pSrcB, 
    uint32_t  srcBLen, 
    float32_t *  pDst, 
    uint32_t  firstIndex, 
    uint32_t  numPoints 
    )
    
+
    
+
    
+
+
    Partial convolution of floating-point sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. 
    [in]firstIndexis the first output sample to start with. 
    [in]numPointsis the number of output points to be computed. 
    
+  
    
+
    
+
    Returns:
    Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. 
    
+
+
    Definition at line 74 of file arm_conv_partial_f32.c.
    
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    arm_status arm_conv_partial_q31 (q31_t *  pSrcA, 
    uint32_t  srcALen, 
    q31_t *  pSrcB, 
    uint32_t  srcBLen, 
    q31_t *  pDst, 
    uint32_t  firstIndex, 
    uint32_t  numPoints 
    )
    
+
    
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+
    Partial convolution of Q31 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. 
    [in]firstIndexis the first output sample to start with. 
    [in]numPointsis the number of output points to be computed. 
    
+  
    
+
    
+
    Returns:
    Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
    
+
    See arm_conv_partial_fast_q31() for a faster but less precise implementation of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 59 of file arm_conv_partial_q31.c.
    
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    arm_status arm_conv_partial_fast_q31 (q31_t *  pSrcA, 
    uint32_t  srcALen, 
    q31_t *  pSrcB, 
    uint32_t  srcBLen, 
    q31_t *  pDst, 
    uint32_t  firstIndex, 
    uint32_t  numPoints 
    )
    
+
    
+
    
+
+
    Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. 
    [in]firstIndexis the first output sample to start with. 
    [in]numPointsis the number of output points to be computed. 
    
+  
    
+
    
+
    Returns:
    Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
    
+
    See arm_conv_partial_q31() for a slower implementation of this function which uses a 64-bit accumulator to provide higher precision. 
    
+
+
    Definition at line 56 of file arm_conv_partial_fast_q31.c.
    
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    arm_status arm_conv_partial_q15 (q15_t *  pSrcA, 
    uint32_t  srcALen, 
    q15_t *  pSrcB, 
    uint32_t  srcBLen, 
    q15_t *  pDst, 
    uint32_t  firstIndex, 
    uint32_t  numPoints 
    )
    
+
    
+
    
+
+
    Partial convolution of Q15 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. 
    [in]firstIndexis the first output sample to start with. 
    [in]numPointsis the number of output points to be computed. 
    
+  
    
+
    
+
    Returns:
    Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
    
+
    Refer to arm_conv_partial_fast_q15() for a faster but less precise version of this function for Cortex-M3 and Cortex-M4. 
    
+
+
    Definition at line 60 of file arm_conv_partial_q15.c.
    
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    arm_status arm_conv_partial_fast_q15 (q15_t *  pSrcA, 
    uint32_t  srcALen, 
    q15_t *  pSrcB, 
    uint32_t  srcBLen, 
    q15_t *  pDst, 
    uint32_t  firstIndex, 
    uint32_t  numPoints 
    )
    
+
    
+
    
+
+
    Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. 
    [in]firstIndexis the first output sample to start with. 
    [in]numPointsis the number of output points to be computed. 
    
+  
    
+
    
+
    Returns:
    Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2].
    
+
    See arm_conv_partial_q15() for a slower implementation of this function which uses a 64-bit accumulator to avoid wrap around distortion. 
    
+
+
    Definition at line 56 of file arm_conv_partial_fast_q15.c.
    
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    arm_status arm_conv_partial_q7 (q7_t *  pSrcA, 
    uint32_t  srcALen, 
    q7_t *  pSrcB, 
    uint32_t  srcBLen, 
    q7_t *  pDst, 
    uint32_t  firstIndex, 
    uint32_t  numPoints 
    )
    
+
    
+
    
+
+
    Partial convolution of Q7 sequences. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input sequence. 
    [in]srcALenlength of the first input sequence. 
    [in]*pSrcBpoints to the second input sequence. 
    [in]srcBLenlength of the second input sequence. 
    [out]*pDstpoints to the location where the output result is written. 
    [in]firstIndexis the first output sample to start with. 
    [in]numPointsis the number of output points to be computed. 
    
+  
    
+
    
+
    Returns:
    Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. 
    
+
+
    Definition at line 58 of file arm_conv_partial_q7.c.
    
+
+
    
+
    
+
    
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+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___r_f_f_t___r_i_f_f_t.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___r_f_f_t___r_i_f_f_t.html
new file mode 100644
index 000000000..6ab41e5bf
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___r_f_f_t___r_i_f_f_t.html
@@ -0,0 +1,611 @@
+
+
+
+
+CMSIS DSP Software Library: Real FFT Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    Real FFT Functions
    
+
+[Transform Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
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+
+
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+
    
+Functions
    arm_status arm_rfft_init_f32 (arm_rfft_instance_f32 *S, arm_cfft_radix4_instance_f32 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    void arm_rfft_f32 (const arm_rfft_instance_f32 *S, float32_t *pSrc, float32_t *pDst)
    arm_status arm_rfft_init_q31 (arm_rfft_instance_q31 *S, arm_cfft_radix4_instance_q31 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    void arm_rfft_q31 (const arm_rfft_instance_q31 *S, q31_t *pSrc, q31_t *pDst)
    arm_status arm_rfft_init_q15 (arm_rfft_instance_q15 *S, arm_cfft_radix4_instance_q15 *S_CFFT, uint32_t fftLenReal, uint32_t ifftFlagR, uint32_t bitReverseFlag)
    void arm_rfft_q15 (const arm_rfft_instance_q15 *S, q15_t *pSrc, q15_t *pDst)
    
+Variables
    static const float32_t realCoefA [2048]
    static const float32_t realCoefB [2048]
    const q31_t realCoefAQ31 [1024]
    const q31_t realCoefBQ31 [1024]
    static const q15_t realCoefAQ15 [2048]
    static const q15_t realCoefBQ15 [2048]
    
+
    Detailed Description
    
+
    Complex FFT/IFFT typically assumes complex input and output. However many applications use real valued data in time domain. Real FFT/IFFT efficiently process real valued sequences with the advantage of requirement of low memory and with less complexity.
    
+
    This set of functions implements Real Fast Fourier Transforms(RFFT) and Real Inverse Fast Fourier Transform(RIFFT) for Q15, Q31, and floating-point data types.
    
+
    Algorithm: 
    
+
    Real Fast Fourier Transform: 
    
+
    Real FFT of N-point is calculated using CFFT of N/2-point and Split RFFT process as shown below figure. 
    
+
    
+RFFT.gif
+
    Real Fast Fourier Transform
    
+ 
    
+
    The RFFT functions operate on blocks of input and output data and each call to the function processes fftLenR samples through the transform. pSrc points to input array containing fftLenR values. pDst points to output array containing 2*fftLenR values. 
    
+ Input for real FFT is in the order of 
    {real[0], real[1], real[2], real[3], ..}
     Output for real FFT is complex and are in the order of 
    {real(0), imag(0), real(1), imag(1), ...}
    
+
    Real Inverse Fast Fourier Transform: 
    
+
    Real IFFT of N-point is calculated using Split RIFFT process and CFFT of N/2-point as shown below figure. 
    
+
    
+RIFFT.gif
+
    Real Inverse Fast Fourier Transform
    
+ 
    
+
    The RIFFT functions operate on blocks of input and output data and each call to the function processes 2*fftLenR samples through the transform. pSrc points to input array containing 2*fftLenR values. pDst points to output array containing fftLenR values. 
    
+ Input for real IFFT is complex and are in the order of 
    {real(0), imag(0), real(1), imag(1), ...}
     Output for real IFFT is real and in the order of 
    {real[0], real[1], real[2], real[3], ..}
    
+
    Lengths supported by the transform: 
    
+
    Real FFT/IFFT supports the lengths [128, 512, 2048], as it internally uses CFFT/CIFFT.
    
+
    Instance Structure 
    A separate instance structure must be defined for each Instance but the twiddle factors can be reused. There are separate instance structure declarations for each of the 3 supported data types.
    
+
    Initialization Functions 
    There is also an associated initialization function for each data type. The initialization function performs the following operations:
      
+
    • Sets the values of the internal structure fields.
      • 
+
    • Initializes twiddle factor tables.
      • 
+
    • Initializes CFFT data structure fields. 
      • 
+
    
+
    
+
    Use of the initialization function is optional. However, if the initialization function is used, then the instance structure cannot be placed into a const data section. To place an instance structure into a const data section, the instance structure must be manually initialized. Manually initialize the instance structure as follows: 
       
+arm_rfft_instance_f32 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};   
+arm_rfft_instance_q31 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};   
+arm_rfft_instance_q15 S = {fftLenReal, fftLenBy2, ifftFlagR, bitReverseFlagR, twidCoefRModifier, pTwiddleAReal, pTwiddleBReal, pCfft};   
+ 
     where fftLenReal length of RFFT/RIFFT; fftLenBy2 length of CFFT/CIFFT. ifftFlagR Flag for selection of RFFT or RIFFT(Set ifftFlagR to calculate RIFFT otherwise calculates RFFT); bitReverseFlagR Flag for selection of output order(Set bitReverseFlagR to output in normal order otherwise output in bit reversed order); twidCoefRModifier modifier for twiddle factor table which supports 128, 512, 2048 RFFT lengths with same table; pTwiddleARealpoints to A array of twiddle coefficients; pTwiddleBRealpoints to B array of twiddle coefficients; pCfft points to the CFFT Instance structure. The CFFT structure also needs to be initialized, refer to arm_cfft_radix4_f32() for details regarding static initialization of cfft structure.
    
+
    Fixed-Point Behavior 
    Care must be taken when using the fixed-point versions of the RFFT/RIFFT function. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
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    arm_status arm_rfft_init_f32 (arm_rfft_instance_f32 *  S, 
    arm_cfft_radix4_instance_f32 *  S_CFFT, 
    uint32_t  fftLenReal, 
    uint32_t  ifftFlagR, 
    uint32_t  bitReverseFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the floating-point RFFT/RIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the floating-point RFFT/RIFFT structure. 
    [in,out]*S_CFFTpoints to an instance of the floating-point CFFT/CIFFT structure. 
    [in]fftLenReallength of the FFT. 
    [in]ifftFlagRflag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. 
    [in]bitReverseFlagflag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
    
+
    Description: 
    
+
    The parameter fftLenReal Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048. 
    
+
    The parameter ifftFlagR controls whether a forward or inverse transform is computed. Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated. 
    
+
    The parameter bitReverseFlag controls whether output is in normal order or bit reversed order. Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order. 
    
+
    This function also initializes Twiddle factor table. 
    
+
+
    Definition at line 1638 of file arm_rfft_init_f32.c.
    
+
+
    
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    void arm_rfft_f32 (const arm_rfft_instance_f32 *  S, 
    float32_t *  pSrc, 
    float32_t *  pDst 
    )
    
+
    
+
    
+
+
    Processing function for the floating-point RFFT/RIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*Spoints to an instance of the floating-point RFFT/RIFFT structure. 
    [in]*pSrcpoints to the input buffer. 
    [out]*pDstpoints to the output buffer. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 150 of file arm_rfft_f32.c.
    
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+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    arm_status arm_rfft_init_q31 (arm_rfft_instance_q31 *  S, 
    arm_cfft_radix4_instance_q31 *  S_CFFT, 
    uint32_t  fftLenReal, 
    uint32_t  ifftFlagR, 
    uint32_t  bitReverseFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the Q31 RFFT/RIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q31 RFFT/RIFFT structure. 
    [in,out]*S_CFFTpoints to an instance of the Q31 CFFT/CIFFT structure. 
    [in]fftLenReallength of the FFT. 
    [in]ifftFlagRflag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. 
    [in]bitReverseFlagflag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
    
+
    Description: 
    
+
    The parameter fftLenReal Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048. 
    
+
    The parameter ifftFlagR controls whether a forward or inverse transform is computed. Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated. 
    
+
    The parameter bitReverseFlag controls whether output is in normal order or bit reversed order. Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order. 
    
+
    This function also initializes Twiddle factor table. 
    
+
+
    Definition at line 617 of file arm_rfft_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_rfft_q31 (const arm_rfft_instance_q31 *  S, 
    q31_t *  pSrc, 
    q31_t *  pDst 
    )
    
+
    
+
    
+
+
    Processing function for the Q31 RFFT/RIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q31 RFFT/RIFFT structure. 
    [in]*pSrcpoints to the input buffer. 
    [out]*pDstpoints to the output buffer. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Input an output formats: 
    
+
    Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process. Hence the output format is different for different RFFT sizes. The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT: 
    
+
    
+RFFTQ31.gif
+
    Input and Output Formats for Q31 RFFT
    
+
    
+
    
+RIFFTQ31.gif
+
    Input and Output Formats for Q31 RIFFT
    
+ 
    
+
+
    Definition at line 80 of file arm_rfft_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    arm_status arm_rfft_init_q15 (arm_rfft_instance_q15 *  S, 
    arm_cfft_radix4_instance_q15 *  S_CFFT, 
    uint32_t  fftLenReal, 
    uint32_t  ifftFlagR, 
    uint32_t  bitReverseFlag 
    )
    
+
    
+
    
+
+
    Initialization function for the Q15 RFFT/RIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in,out]*Spoints to an instance of the Q15 RFFT/RIFFT structure. 
    [in]*S_CFFTpoints to an instance of the Q15 CFFT/CIFFT structure. 
    [in]fftLenReallength of the FFT. 
    [in]ifftFlagRflag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. 
    [in]bitReverseFlagflag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported value.
    
+
    Description: 
    
+
    The parameter fftLenReal Specifies length of RFFT/RIFFT Process. Supported FFT Lengths are 128, 512, 2048. 
    
+
    The parameter ifftFlagR controls whether a forward or inverse transform is computed. Set(=1) ifftFlagR to calculate RIFFT, otherwise RFFT is calculated. 
    
+
    The parameter bitReverseFlag controls whether output is in normal order or bit reversed order. Set(=1) bitReverseFlag for output to be in normal order otherwise output is in bit reversed order. 
    
+
    This function also initializes Twiddle factor table. 
    
+
+
    Definition at line 620 of file arm_rfft_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_rfft_q15 (const arm_rfft_instance_q15 *  S, 
    q15_t *  pSrc, 
    q15_t *  pDst 
    )
    
+
    
+
    
+
+
    Processing function for the Q15 RFFT/RIFFT. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*Spoints to an instance of the Q15 RFFT/RIFFT structure. 
    [in]*pSrcpoints to the input buffer. 
    [out]*pDstpoints to the output buffer. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Input an output formats: 
    
+
    Internally input is downscaled by 2 for every stage to avoid saturations inside CFFT/CIFFT process. Hence the output format is different for different RFFT sizes. The input and output formats for different RFFT sizes and number of bits to upscale are mentioned in the tables below for RFFT and RIFFT: 
    
+
    
+RFFTQ15.gif
+
    Input and Output Formats for Q15 RFFT
    
+ 
    
+
    
+RIFFTQ15.gif
+
    Input and Output Formats for Q15 RIFFT
    
+ 
    
+
+
    Definition at line 80 of file arm_rfft_q15.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t realCoefA[2048] [static]
    
+
    
+
    
+
    Generation of realCoefA array: 
    
+
    n = 1024 
    for (i = 0; i < n; i++)   
+  {   
+    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));   
+    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+  } 
     
    
+
+
    Definition at line 59 of file arm_rfft_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t realCoefB[2048] [static]
    
+
    
+
    
+
    Generation of realCoefB array: 
    
+
    n = 1024 
    for (i = 0; i < n; i++)   
+ {   
+    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));   
+    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+  } 
     
    
+
+
    Definition at line 843 of file arm_rfft_init_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t realCoefAQ31[1024]
    
+
    
+
    
+
    Generation floating point realCoefAQ31 array: 
    
+
    n = 1024 
    for (i = 0; i < n; i++)   
+ {   
+    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));   
+    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+ }
     
    
+
    Convert to fixed point Q31 format round(pATable[i] * pow(2, 31)) 
    
+
+
    Definition at line 60 of file arm_rfft_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t realCoefBQ31[1024]
    
+
    
+
    
+
    Generation of realCoefBQ31 array: 
    
+
    n = 512 
    for (i = 0; i < n; i++)   
+ {   
+    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));   
+    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+ } 
     
    
+
    Convert to fixed point Q31 format round(pBTable[i] * pow(2, 31)) 
    
+
+
    Definition at line 336 of file arm_rfft_init_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t realCoefAQ15[2048] [static]
    
+
    
+
    
+
    Generation floating point real_CoefA array: 
    
+
    n = 1024 
    for (i = 0; i < n; i++)   
+  {   
+    pATable[2 * i] = 0.5 * (1.0 - sin (2 * PI / (double) (2 * n) * (double) i));   
+    pATable[2 * i + 1] = 0.5 * (-1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+  } 
     
    
+
    Convert to fixed point Q15 format round(pATable[i] * pow(2, 15)) 
    
+
+
    Definition at line 63 of file arm_rfft_init_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t realCoefBQ15[2048] [static]
    
+
    
+
    
+
    Generation of real_CoefB array: 
    
+
    n = 1024 
    for (i = 0; i < n; i++)   
+  {   
+    pBTable[2 * i] = 0.5 * (1.0 + sin (2 * PI / (double) (2 * n) * (double) i));   
+    pBTable[2 * i + 1] = 0.5 * (1.0 * cos (2 * PI / (double) (2 * n) * (double) i));   
+  } 
     
    
+
    Convert to fixed point Q15 format round(pBTable[i] * pow(2, 15)) 
    
+
+
    Definition at line 339 of file arm_rfft_init_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___r_m_s.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___r_m_s.html
new file mode 100644
index 000000000..6597a3c87
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___r_m_s.html
@@ -0,0 +1,227 @@
+
+
+
+
+CMSIS DSP Software Library: Root mean square (RMS)
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Root mean square (RMS)
    
+
+[Statistics Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_rms_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_rms_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    void arm_rms_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    
+
    Detailed Description
    
+
    Calculates the Root Mean Sqaure of the elements in the input vector. The underlying algorithm is used:
    
+
       
+ 	Result = sqrt(((pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]) / blockSize));   
+ 
    There are separate functions for floating point, Q31, and Q15 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_rms_f32 (float32_t *  pSrc, 
    uint32_t  blockSize, 
    float32_t *  pResult 
    )
    
+
    
+
    
+
+
    Root Mean Square of the elements of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultrms value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 65 of file arm_rms_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_rms_q31 (q31_t *  pSrc, 
    uint32_t  blockSize, 
    q31_t *  pResult 
    )
    
+
    
+
    
+
+
    Root Mean Square of the elements of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultrms value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using an internal 64-bit accumulator. The input is represented in 1.31 format, and intermediate multiplication yields a 2.62 format. The accumulator maintains full precision of the intermediate multiplication results, but provides only a single guard bit. There is no saturation on intermediate additions. If the accumulator overflows, it wraps around and distorts the result. In order to avoid overflows completely, the input signal must be scaled down by log2(blockSize) bits, as a total of blockSize additions are performed internally. Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value. 
    
+
+
    Definition at line 62 of file arm_rms_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_rms_q15 (q15_t *  pSrc, 
    uint32_t  blockSize, 
    q15_t *  pResult 
    )
    
+
    
+
    
+
+
    Root Mean Square of the elements of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultrms value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 64-bit internal accumulator. The input is represented in 1.15 format. Intermediate multiplication yields a 2.30 format, and this result is added without saturation to a 64-bit accumulator in 34.30 format. With 33 guard bits in the accumulator, there is no risk of overflow, and the full precision of the intermediate multiplication is preserved. Finally, the 34.30 result is truncated to 34.15 format by discarding the lower 15 bits, and then saturated to yield a result in 1.15 format. 
    
+
+
    Definition at line 59 of file arm_rms_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___s_q_r_t.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___s_q_r_t.html
new file mode 100644
index 000000000..5805eea24
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___s_q_r_t.html
@@ -0,0 +1,205 @@
+
+
+
+
+CMSIS DSP Software Library: Square Root
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Square Root
    
+
+[Fast Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    arm_status arm_sqrt_q31 (q31_t in, q31_t *pOut)
    arm_status arm_sqrt_q15 (q15_t in, q15_t *pOut)
    static __INLINE arm_status arm_sqrt_f32 (float32_t in, float32_t *pOut)
    
+
    Detailed Description
    
+
    Computes the square root of a number. There are separate functions for Q15, Q31, and floating-point data types. The square root function is computed using the Newton-Raphson algorithm. This is an iterative algorithm of the form: 
    
+
    +      x1 = x0 - f(x0)/f'(x0)
+ 
     where x1 is the current estimate, x0 is the previous estimate and f'(x0) is the derivative of f() evaluated at x0. For the square root function, the algorithm reduces to: 
    
+
    +     x0 = in/2                         [initial guess]
+     x1 = 1/2 * ( x0 + in / x0)        [each iteration]
+ 
     
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    arm_status arm_sqrt_q31 (q31_t  in, 
    q31_t *  pOut 
    )
    
+
    
+
    
+
+
    Q31 square root function. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]ininput value. The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF. 
    [out]*pOutsquare root of input value. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if in is negative value and returns zero output for negative values. 
    
+
+
    Definition at line 47 of file arm_sqrt_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    arm_status arm_sqrt_q15 (q15_t  in, 
    q15_t *  pOut 
    )
    
+
    
+
    
+
+
    Q15 square root function. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]ininput value. The range of the input value is [0 +1) or 0x0000 to 0x7FFF. 
    [out]*pOutsquare root of input value. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if in is negative value and returns zero output for negative values. 
    
+
+
    Definition at line 51 of file arm_sqrt_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE arm_status arm_sqrt_f32 (float32_t  in, 
    float32_t *  pOut 
    ) [static]
    
+
    
+
    
+
+
    Floating-point square root function. 
    
+
    Parameters:
    
+  
+    
+    
+  
    [in]ininput value. 
    [out]*pOutsquare root of input value. 
    
+  
    
+
    
+
    Returns:
    The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if in is negative value and returns zero output for negative values. 
    
+
+
    Definition at line 5695 of file arm_math.h.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___s_t_d.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___s_t_d.html
new file mode 100644
index 000000000..9873206be
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___s_t_d.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: Standard deviation
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Standard deviation
    
+
+[Statistics Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_std_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_std_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    void arm_std_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    
+
    Detailed Description
    
+
    Calculates the standard deviation of the elements in the input vector. The underlying algorithm is used:
    
+
       
+ 	Result = sqrt((sumOfSquares - sum2 / blockSize) / (blockSize - 1))
    	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]
    	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]  
+ 
    There are separate functions for floating point, Q31, and Q15 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
+          
+        
+        
+          
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+        
+          
+          
+          
+        
+      
    void arm_std_f32 (float32_t *  pSrc, 
    uint32_t  blockSize, 
    float32_t *  pResult 
    )
    
+
    
+
    
+
+
    Standard deviation of the elements of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultstandard deviation value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 69 of file arm_std_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+          
+          
+          
+        
+      
    void arm_std_q31 (q31_t *  pSrc, 
    uint32_t  blockSize, 
    q31_t *  pResult 
    )
    
+
    
+
    
+
+
    Standard deviation of the elements of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultstandard deviation value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using an internal 64-bit accumulator. The input is represented in 1.31 format, and intermediate multiplication yields a 2.62 format. The accumulator maintains full precision of the intermediate multiplication results, but provides only a single guard bit. There is no saturation on intermediate additions. If the accumulator overflows it wraps around and distorts the result. In order to avoid overflows completely the input signal must be scaled down by log2(blockSize) bits, as a total of blockSize additions are performed internally. Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value. 
    
+
+
    Definition at line 66 of file arm_std_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+          
+          
+          
+        
+      
    void arm_std_q15 (q15_t *  pSrc, 
    uint32_t  blockSize, 
    q15_t *  pResult 
    )
    
+
    
+
    
+
+
    Standard deviation of the elements of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultstandard deviation value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 64-bit internal accumulator. The input is represented in 1.15 format. Intermediate multiplication yields a 2.30 format, and this result is added without saturation to a 64-bit accumulator in 34.30 format. With 33 guard bits in the accumulator, there is no risk of overflow, and the full precision of the intermediate multiplication is preserved. Finally, the 34.30 result is truncated to 34.15 format by discarding the lower 15 bits, and then saturated to yield a result in 1.15 format. 
    
+
+
    Definition at line 62 of file arm_std_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___signal_convergence.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___signal_convergence.html
new file mode 100644
index 000000000..11690e40c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___signal_convergence.html
@@ -0,0 +1,107 @@
+
+
+
+
+CMSIS DSP Software Library: Signal Convergence Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Signal Convergence Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description: 
    
+
    Demonstrates the ability of an adaptive filter to "learn" the transfer function of a FIR lowpass filter using the Normalized LMS Filter, Finite Impulse Response (FIR) Filter, and Basic Math Functions.
    
+
    Algorithm:
    
+
    The figure below illustrates the signal flow in this example. Uniformly distributed white noise is passed through an FIR lowpass filter. The output of the FIR filter serves as the reference input of the adaptive filter (normalized LMS filter). The white noise is input to the adaptive filter. The adaptive filter learns the transfer function of the FIR filter. The filter outputs two signals: (1) the output of the internal adaptive FIR filter, and (2) the error signal which is the difference between the adaptive filter and the reference output of the FIR filter. Over time as the adaptive filter learns the transfer function of the FIR filter, the first output approaches the reference output of the FIR filter, and the error signal approaches zero. 
    
+
    The adaptive filter converges properly even if the input signal has a large dynamic range (i.e., varies from small to large values). The coefficients of the adaptive filter are initially zero, and then converge over 1536 samples. The internal function test_signal_converge() implements the stopping condition. The function checks if all of the values of the error signal have a magnitude below a threshold DELTA.
    
+
    Block Diagram:
    
+
    
+SignalFlow.gif
+
    
+
    
+
    Variables Description:
    
+
      
+
    • testInput_f32 points to the input data 
      • 
+
    • firStateF32 points to FIR state buffer 
      • 
+
    • lmsStateF32 points to Normalised Least mean square FIR filter state buffer 
      • 
+
    • FIRCoeff_f32 points to coefficient buffer 
      • 
+
    • lmsNormCoeff_f32 points to Normalised Least mean square FIR filter coefficient buffer 
      • 
+
    • wire1, wir2, wire3 temporary buffers 
      • 
+
    • errOutput, err_signal temporary error buffers
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_signal_converge_example_f32.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___sin_cos.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___sin_cos.html
new file mode 100644
index 000000000..245c4fe18
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___sin_cos.html
@@ -0,0 +1,268 @@
+
+
+
+
+CMSIS DSP Software Library: Sine Cosine
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    Sine Cosine
    
+
+[Controller Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
    
+Functions
    void arm_sin_cos_f32 (float32_t theta, float32_t *pSinVal, float32_t *pCosVal)
    void arm_sin_cos_q31 (q31_t theta, q31_t *pSinVal, q31_t *pCosVal)
    
+Variables
    static const float32_t cosTable [360]
    static const float32_t sinTable [360]
    static const int32_t sinTableQ31 [360]
    static const int32_t cosTableQ31 [360]
    
+
    Detailed Description
    
+
    Computes the trigonometric sine and cosine values using a combination of table lookup and linear interpolation. There are separate functions for Q31 and floating-point data types. The input to the floating-point version is in degrees while the fixed-point Q31 have a scaled input with the range [-1 1) mapping to [-180 180) degrees.
    
+
    The implementation is based on table lookup using 360 values together with linear interpolation. The steps used are:
    
+
      
+
    1. Calculation of the nearest integer table index.
      2. 
+
    2. Compute the fractional portion (fract) of the input.
      3. 
+
    3. Fetch the value corresponding to index from sine table to y0 and also value from index+1 to y1.
      4. 
+
    4. Sine value is computed as  *psinVal = y0 + (fract * (y1 - y0)).
      5. 
+
    5. Fetch the value corresponding to index from cosine table to y0 and also value from index+1 to y1.
      6. 
+
    6. Cosine value is computed as  *pcosVal = y0 + (fract * (y1 - y0)). 
      7. 
+
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
+          
+        
+      
    void arm_sin_cos_f32 (float32_t  theta, 
    float32_t *  pSinVal, 
    float32_t *  pCosVal 
    )
    
+
    
+
    
+
+
    Floating-point sin_cos function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]thetainput value in degrees 
    [out]*pSinValpoints to the processed sine output. 
    [out]*pCosValpoints to the processed cos output. 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 367 of file arm_sin_cos_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
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+        
+        
+          
+          
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+        
+        
+          
+          
+          
+        
+      
    void arm_sin_cos_q31 (q31_t  theta, 
    q31_t *  pSinVal, 
    q31_t *  pCosVal 
    )
    
+
    
+
    
+
+
    Q31 sin_cos function. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]thetascaled input value in degrees 
    [out]*pSinValpoints to the processed sine output. 
    [out]*pCosValpoints to the processed cosine output. 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    The Q31 input value is in the range [-1 +1) and is mapped to a degree value in the range [-180 180). 
    
+
+
    Definition at line 264 of file arm_sin_cos_q31.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t cosTable[360] [static]
    
+
    
+
    
+
    Cosine Table is generated from following loop 
    for(i = 0; i < 360; i++)   
+ {   
+    cosTable[i]= cos((i-180) * PI/180.0);   
+ } 
     
    
+
+
    Definition at line 71 of file arm_sin_cos_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t sinTable[360] [static]
    
+
    
+
    
+
    Sine Table is generated from following loop 
    for(i = 0; i < 360; i++)   
+ {   
+    sinTable[i]= sin((i-180) * PI/180.0);   
+ } 
     
    
+
+
    Definition at line 219 of file arm_sin_cos_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const int32_t sinTableQ31[360] [static]
    
+
    
+
    
+
    Sine Table is generated from following loop 
    for(i = 0; i < 360; i++)   
+ {   
+    sinTable[i]= sin((i-180) * PI/180.0);   
+ } 
     Convert above coefficients to fixed point 1.31 format. 
    
+
+
    Definition at line 51 of file arm_sin_cos_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const int32_t cosTableQ31[360] [static]
    
+
    
+
    
+
    Cosine Table is generated from following loop 
    for(i = 0; i < 360; i++)   
+ {   
+    cosTable[i]= cos((i-180) * PI/180.0);   
+ } 
     
    
+
    Convert above coefficients to fixed point 1.31 format. 
    
+
+
    Definition at line 157 of file arm_sin_cos_q31.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___sin_cos_example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___sin_cos_example.html
new file mode 100644
index 000000000..8772f3f3b
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___sin_cos_example.html
@@ -0,0 +1,96 @@
+
+
+
+
+CMSIS DSP Software Library: SineCosine Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    SineCosine Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description:
    
+
    Demonstrates the Pythagorean trignometric identity with the use of Cosine, Sine, Vector Multiplication, and Vector Addition functions.
    
+
    Algorithm:
    
+
    Mathematically, the Pythagorean trignometric identity is defined by the following equation: 
    sin(x) * sin(x) + cos(x) * cos(x) = 1
     where x is the angle in radians.
    
+
    Block Diagram:
    
+
    
+sinCos.gif
+
    
+
    
+
    Variables Description:
    
+
      
+
    • testInput_f32 array of input angle in radians 
      • 
+
    • testOutput stores sum of the squares of sine and cosine values of input angle
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_sin_cos_example_f32.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___variance_example.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___variance_example.html
new file mode 100644
index 000000000..01d3675af
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group___variance_example.html
@@ -0,0 +1,101 @@
+
+
+
+
+CMSIS DSP Software Library: Variance Example
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    Variance Example
    
+
+[Examples]
+
      
    
+
    
+
    
+
+
    
+
    Description: 
    
+
    Demonstrates the use of Basic Math and Support Functions to calculate the variance of an input sequence with N samples. Uniformly distributed white noise is taken as input.
    
+
    Algorithm:
    
+
    The variance of a sequence is the mean of the squared deviation of the sequence from its mean. 
    
+
    This is denoted by the following equation: 
     variance = ((x[0] - x') * (x[0] - x') + (x[1] - x') * (x[1] - x') + ... + * (x[n-1] - x') * (x[n-1] - x')) / (N-1)
     where, x[n] is the input sequence, N is the number of input samples, and x' is the mean value of the input sequence, x[n]. 
    
+
    The mean value x' is defined as: 
     x' = (x[0] + x[1] + ... + x[n-1]) / N
    
+
    Block Diagram:
    
+
    
+Variance.gif
+
    
+
    
+
    Variables Description:
    
+
      
+
    • testInput_f32 points to the input data 
      • 
+
    • wire1, wir2, wire3 temporary buffers 
      • 
+
    • blockSize number of samples processed at a time 
      • 
+
    • refVarianceOut reference variance value
      • 
+
    
+
    
+
    CMSIS DSP Software Library Functions Used:
    
+
    
+
    
+
     Refer  arm_variance_example_f32.c 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__clarke.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__clarke.html
new file mode 100644
index 000000000..b48719eff
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__clarke.html
@@ -0,0 +1,199 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Clarke Transform
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Clarke Transform
    
+
+[Controller Functions]
+
      
    
+
    
+
    
+
+
+
+
+
    
+Functions
    static __INLINE void arm_clarke_f32 (float32_t Ia, float32_t Ib, float32_t *pIalpha, float32_t *pIbeta)
    static __INLINE void arm_clarke_q31 (q31_t Ia, q31_t Ib, q31_t *pIalpha, q31_t *pIbeta)
    
+
    Detailed Description
    
+
    Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector. Generally the Clarke transform uses three-phase currents Ia, Ib and Ic to calculate currents in the two-phase orthogonal stator axis Ialpha and Ibeta. When Ialpha is superposed with Ia as shown in the figure below 
    
+
    
+clarke.gif
+
    Stator current space vector and its components in (a,b).
    
+
     and Ia + Ib + Ic = 0, in this condition Ialpha and Ibeta can be calculated using only Ia and Ib.
    
+
    The function operates on a single sample of data and each call to the function returns the processed output. The library provides separate functions for Q31 and floating-point data types. 
    
+
    Algorithm
    
+clarkeFormula.gif
+
    
+ where Ia and Ib are the instantaneous stator phases and pIalpha and pIbeta are the two coordinates of time invariant vector. 
    
+
    Fixed-Point Behavior
    Care must be taken when using the Q31 version of the Clarke transform. In particular, the overflow and saturation behavior of the accumulator used must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_clarke_f32 (float32_t  Ia, 
    float32_t  Ib, 
    float32_t *  pIalpha, 
    float32_t *  pIbeta 
    ) [static]
    
+
    
+
    
+
+
    Floating-point Clarke transform. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]Iainput three-phase coordinate a 
    [in]Ibinput three-phase coordinate b 
    [out]*pIalphapoints to output two-phase orthogonal vector axis alpha 
    [out]*pIbetapoints to output two-phase orthogonal vector axis beta 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 4905 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+          
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+          
+        
+      
    static __INLINE void arm_clarke_q31 (q31_t  Ia, 
    q31_t  Ib, 
    q31_t *  pIalpha, 
    q31_t *  pIbeta 
    ) [static]
    
+
    
+
    
+
+
    Clarke transform for Q31 version. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]Iainput three-phase coordinate a 
    [in]Ibinput three-phase coordinate b 
    [out]*pIalphapoints to output two-phase orthogonal vector axis alpha 
    [out]*pIbetapoints to output two-phase orthogonal vector axis beta 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 32-bit accumulator. The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. There is saturation on the addition, hence there is no risk of overflow. 
    
+
+
    Definition at line 4934 of file arm_math.h.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__conj.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__conj.html
new file mode 100644
index 000000000..75d80dbd7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__conj.html
@@ -0,0 +1,231 @@
+
+
+
+
+CMSIS DSP Software Library: Complex Conjugate
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Complex Conjugate
    
+
+[Complex Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_cmplx_conj_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    void arm_cmplx_conj_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    void arm_cmplx_conj_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    
+
    Detailed Description
    
+
    Conjugates the elements of a complex data vector.
    
+
    The pSrc points to the source data and pDst points to the where the result should be written. numSamples specifies the number of complex samples and the data in each array is stored in an interleaved fashion (real, imag, real, imag, ...). Each array has a total of 2*numSamples values. The underlying algorithm is used:
    
+
       
+ for(n=0; n<numSamples; n++) {   
+     pDst[(2*n)+0)] = pSrc[(2*n)+0];     // real part   
+     pDst[(2*n)+1)] = -pSrc[(2*n)+1];    // imag part   
+ }   
+ 
    There are separate functions for floating-point, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_conj_f32 (float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Floating-point complex conjugate. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    *pSrcpoints to the input vector 
    *pDstpoints to the output vector 
    numSamplesnumber of complex samples in each vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 72 of file arm_cmplx_conj_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+          
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+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_conj_q31 (q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q31 complex conjugate. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    *pSrcpoints to the input vector 
    *pDstpoints to the output vector 
    numSamplesnumber of complex samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF. 
    
+
+
    Definition at line 54 of file arm_cmplx_conj_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+        
+        
+          
+          
+          
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+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_conj_q15 (q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q15 complex conjugate. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    *pSrcpoints to the input vector 
    *pDstpoints to the output vector 
    numSamplesnumber of complex samples in each vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF. 
    
+
+
    Definition at line 54 of file arm_cmplx_conj_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__dot__prod.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__dot__prod.html
new file mode 100644
index 000000000..749b8ccbe
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__dot__prod.html
@@ -0,0 +1,276 @@
+
+
+
+
+CMSIS DSP Software Library: Complex Dot Product
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Complex Dot Product
    
+
+[Complex Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_cmplx_dot_prod_f32 (float32_t *pSrcA, float32_t *pSrcB, uint32_t numSamples, float32_t *realResult, float32_t *imagResult)
    void arm_cmplx_dot_prod_q31 (q31_t *pSrcA, q31_t *pSrcB, uint32_t numSamples, q63_t *realResult, q63_t *imagResult)
    void arm_cmplx_dot_prod_q15 (q15_t *pSrcA, q15_t *pSrcB, uint32_t numSamples, q31_t *realResult, q31_t *imagResult)
    
+
    Detailed Description
    
+
    Computes the dot product of two complex vectors. The vectors are multiplied element-by-element and then summed.
    
+
    The pSrcA points to the first complex input vector and pSrcB points to the second complex input vector. numSamples specifies the number of complex samples and the data in each array is stored in an interleaved fashion (real, imag, real, imag, ...). Each array has a total of 2*numSamples values.
    
+
    The underlying algorithm is used: 
    
+
       
+ realResult=0;   
+ imagResult=0;   
+ for(n=0; n<numSamples; n++) {   
+     realResult += pSrcA[(2*n)+0]*pSrcB[(2*n)+0] - pSrcA[(2*n)+1]*pSrcB[(2*n)+1];   
+     imagResult += pSrcA[(2*n)+0]*pSrcB[(2*n)+1] + pSrcA[(2*n)+1]*pSrcB[(2*n)+0];   
+ }   
+ 
    There are separate functions for floating-point, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_dot_prod_f32 (float32_t *  pSrcA, 
    float32_t *  pSrcB, 
    uint32_t  numSamples, 
    float32_t *  realResult, 
    float32_t *  imagResult 
    )
    
+
    
+
    
+
+
    Floating-point complex dot product. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    *pSrcApoints to the first input vector 
    *pSrcBpoints to the second input vector 
    numSamplesnumber of complex samples in each vector 
    *realResultreal part of the result returned here 
    *imagResultimaginary part of the result returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 77 of file arm_cmplx_dot_prod_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_dot_prod_q31 (q31_t *  pSrcA, 
    q31_t *  pSrcB, 
    uint32_t  numSamples, 
    q63_t *  realResult, 
    q63_t *  imagResult 
    )
    
+
    
+
    
+
+
    Q31 complex dot product. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    *pSrcApoints to the first input vector 
    *pSrcBpoints to the second input vector 
    numSamplesnumber of complex samples in each vector 
    *realResultreal part of the result returned here 
    *imagResultimaginary part of the result returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The intermediate 1.31 by 1.31 multiplications are performed with 64-bit precision and then shifted to 16.48 format. The internal real and imaginary accumulators are in 16.48 format and provide 15 guard bits. Additions are nonsaturating and no overflow will occur as long as numSamples is less than 32768. The return results realResult and imagResult are in 16.48 format. Input down scaling is not required. 
    
+
+
    Definition at line 60 of file arm_cmplx_dot_prod_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_dot_prod_q15 (q15_t *  pSrcA, 
    q15_t *  pSrcB, 
    uint32_t  numSamples, 
    q31_t *  realResult, 
    q31_t *  imagResult 
    )
    
+
    
+
    
+
+
    Q15 complex dot product. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    *pSrcApoints to the first input vector 
    *pSrcBpoints to the second input vector 
    numSamplesnumber of complex samples in each vector 
    *realResultreal part of the result returned here 
    *imagResultimaginary part of the result returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 64-bit accumulator. The intermediate 1.15 by 1.15 multiplications are performed with full precision and yield a 2.30 result. These are accumulated in a 64-bit accumulator with 34.30 precision. As a final step, the accumulators are converted to 8.24 format. The return results realResult and imagResult are in 8.24 format. 
    
+
+
    Definition at line 59 of file arm_cmplx_dot_prod_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__mag.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__mag.html
new file mode 100644
index 000000000..b11123759
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__mag.html
@@ -0,0 +1,231 @@
+
+
+
+
+CMSIS DSP Software Library: Complex Magnitude
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Complex Magnitude
    
+
+[Complex Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_cmplx_mag_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    
+
    Detailed Description
    
+
    Computes the magnitude of the elements of a complex data vector.
    
+
    The pSrc points to the source data and pDst points to the where the result should be written. numSamples specifies the number of complex samples in the input array and the data is stored in an interleaved fashion (real, imag, real, imag, ...). The input array has a total of 2*numSamples values; the output array has a total of numSamples values. The underlying algorithm is used:
    
+
       
+ for(n=0; n<numSamples; n++) {   
+     pDst[n] = sqrt(pSrc[(2*n)+0]^2 + pSrc[(2*n)+1]^2);   
+ }   
+ 
    There are separate functions for floating-point, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_mag_f32 (float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Floating-point complex magnitude. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to complex input buffer 
    [out]*pDstpoints to real output buffer 
    [in]numSamplesnumber of complex samples in the input vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_fft_bin_example_f32.c.
    
+
    
+
    Definition at line 73 of file arm_cmplx_mag_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+        
+        
+          
+          
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+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_mag_q31 (q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q31 complex magnitude. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    *pSrcpoints to the complex input vector 
    *pDstpoints to the real output vector 
    numSamplesnumber of complex samples in the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function implements 1.31 by 1.31 multiplications and finally output is converted into 2.30 format. Input down scaling is not required. 
    
+
+
    Definition at line 54 of file arm_cmplx_mag_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+          
+          
+        
+      
    void arm_cmplx_mag_q15 (q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q15 complex magnitude. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    *pSrcpoints to the complex input vector 
    *pDstpoints to the real output vector 
    numSamplesnumber of complex samples in the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function implements 1.15 by 1.15 multiplications and finally output is converted into 2.14 format. 
    
+
+
    Definition at line 54 of file arm_cmplx_mag_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__mag__squared.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__mag__squared.html
new file mode 100644
index 000000000..84fe8dc3e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cmplx__mag__squared.html
@@ -0,0 +1,231 @@
+
+
+
+
+CMSIS DSP Software Library: Complex Magnitude Squared
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Complex Magnitude Squared
    
+
+[Complex Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_cmplx_mag_squared_f32 (float32_t *pSrc, float32_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_squared_q31 (q31_t *pSrc, q31_t *pDst, uint32_t numSamples)
    void arm_cmplx_mag_squared_q15 (q15_t *pSrc, q15_t *pDst, uint32_t numSamples)
    
+
    Detailed Description
    
+
    Computes the magnitude squared of the elements of a complex data vector.
    
+
    The pSrc points to the source data and pDst points to the where the result should be written. numSamples specifies the number of complex samples in the input array and the data is stored in an interleaved fashion (real, imag, real, imag, ...). The input array has a total of 2*numSamples values; the output array has a total of numSamples values.
    
+
    The underlying algorithm is used:
    
+
       
+ for(n=0; n<numSamples; n++) {   
+     pDst[n] = pSrc[(2*n)+0]^2 + pSrc[(2*n)+1]^2;   
+ }   
+ 
    There are separate functions for floating-point, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_mag_squared_f32 (float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Floating-point complex magnitude squared. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the complex input vector 
    [out]*pDstpoints to the real output vector 
    [in]numSamplesnumber of complex samples in the input vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 74 of file arm_cmplx_mag_squared_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_mag_squared_q31 (q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q31 complex magnitude squared. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    *pSrcpoints to the complex input vector 
    *pDstpoints to the real output vector 
    numSamplesnumber of complex samples in the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function implements 1.31 by 1.31 multiplications and finally output is converted into 3.29 format. Input down scaling is not required. 
    
+
+
    Definition at line 55 of file arm_cmplx_mag_squared_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_cmplx_mag_squared_q15 (q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  numSamples 
    )
    
+
    
+
    
+
+
    Q15 complex magnitude squared. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    *pSrcpoints to the complex input vector 
    *pDstpoints to the real output vector 
    numSamplesnumber of complex samples in the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function implements 1.15 by 1.15 multiplications and finally output is converted into 3.13 format. 
    
+
+
    Definition at line 53 of file arm_cmplx_mag_squared_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__copy.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__copy.html
new file mode 100644
index 000000000..a511c79ee
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__copy.html
@@ -0,0 +1,271 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Copy
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Copy
    
+
+[Support Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_copy_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_copy_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_copy_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_copy_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Copies sample by sample from source vector to destination vector.
    
+
       
+ 	pDst[n] = pSrc[n];   0 <= n < blockSize.   
+ 
    There are separate functions for floating point, Q31, Q15, and Q7 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_copy_f32 (float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Copies the elements of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to input vector 
    [out]*pDstpoints to output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_convolution_example_f32.c, arm_signal_converge_example_f32.c, and arm_variance_example_f32.c.
    
+
    
+
    Definition at line 66 of file arm_copy_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_copy_q31 (q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Copies the elements of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to input vector 
    [out]*pDstpoints to output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_copy_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_copy_q15 (q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Copies the elements of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to input vector 
    [out]*pDstpoints to output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 52 of file arm_copy_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_copy_q7 (q7_t *  pSrc, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Copies the elements of a Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to input vector 
    [out]*pDstpoints to output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 53 of file arm_copy_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cos.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cos.html
new file mode 100644
index 000000000..763f78b30
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__cos.html
@@ -0,0 +1,258 @@
+
+
+
+
+CMSIS DSP Software Library: Cosine
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    Cosine
    
+
+[Fast Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
    
+Functions
    float32_t arm_cos_f32 (float32_t x)
    q31_t arm_cos_q31 (q31_t x)
    q15_t arm_cos_q15 (q15_t x)
    
+Variables
    static const float32_t cosTable [259]
    static const q31_t cosTableQ31 [259]
    static const q15_t cosTableQ15 [259]
    
+
    Detailed Description
    
+
    Computes the trigonometric cosine function using a combination of table lookup and cubic interpolation. There are separate functions for Q15, Q31, and floating-point data types. The input to the floating-point version is in radians while the fixed-point Q15 and Q31 have a scaled input with the range [0 1) mapping to [0 2*pi).
    
+
    The implementation is based on table lookup using 256 values together with cubic interpolation. The steps used are:
    
+
      
+
    1. Calculation of the nearest integer table index
      2. 
+
    2. Fetch the four table values a, b, c, and d
      3. 
+
    3. Compute the fractional portion (fract) of the table index.
      4. 
+
    4. Calculation of wa, wb, wc, wd
      5. 
+
    5. The final result equals a*wa + b*wb + c*wc + d*wd
      6. 
+
    
+
    where 
    
+
       
+    a=Table[index-1];   
+    b=Table[index+0];   
+    c=Table[index+1];   
+    d=Table[index+2];   
+ 
     and 
    
+
       
+    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;   
+    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;   
+    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;   
+    wd=(1/6)*fract.^3 - (1/6)*fract;   
+ 
     
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    float32_t arm_cos_f32 (float32_t  x )
    
+
    
+
    
+
+
    Fast approximation to the trigonometric cosine function for floating-point data. 
    
+
    Parameters:
    
+  
+    
+  
    [in]xinput value in radians. 
    
+  
    
+
    
+
    Returns:
    cos(x). 
    
+
    Examples: 
    arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 192 of file arm_cos_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    q31_t arm_cos_q31 (q31_t  x )
    
+
    
+
    
+
+
    Fast approximation to the trigonometric cosine function for Q31 data. 
    
+
    Parameters:
    
+  
+    
+  
    [in]xScaled input value in radians. 
    
+  
    
+
    
+
    Returns:
    cos(x).
    
+
    The Q31 input value is in the range [0 +1) and is mapped to a radian value in the range [0 2*pi). 
    
+
+
    Definition at line 136 of file arm_cos_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    q15_t arm_cos_q15 (q15_t  x )
    
+
    
+
    
+
+
    Fast approximation to the trigonometric cosine function for Q15 data. 
    
+
    Parameters:
    
+  
+    
+  
    [in]xScaled input value in radians. 
    
+  
    
+
    
+
    Returns:
    cos(x).
    
+
    The Q15 input value is in the range [0 +1) and is mapped to a radian value in the range [0 2*pi). 
    
+
+
    Definition at line 105 of file arm_cos_q15.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t cosTable[259] [static]
    
+
    
+
    
+
    Example code for Generation of Cos Table: tableSize = 256; 
    for(n = -1; n < (tableSize + 1); n++)   
+ {   
+	cosTable[n+1]= cos(2*pi*n/tableSize);   
+ } 
     where pi value is 3.14159265358979 
    
+
+
    Definition at line 86 of file arm_cos_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t cosTableQ31[259] [static]
    
+
    
+
    
+
    Table Values are in Q31(1.31 Fixed point format) and generation is done in three steps First Generate cos values in floating point: tableSize = 256; 
    for(n = -1; n < (tableSize + 1); n++)   
+ {   
+	cosTable[n+1]= cos(2*pi*n/tableSize);   
+ } 
     where pi value is 3.14159265358979 
    
+
    Secondly Convert Floating point to Q31(Fixed point): (cosTable[i] * pow(2, 31)) 
    
+
    Finally Rounding to nearest integer is done cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5); 
    
+
+
    Definition at line 60 of file arm_cos_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t cosTableQ15[259] [static]
    
+
    
+
    
+
    Table Values are in Q15(1.15 Fixed point format) and generation is done in three steps 
    
+
    First Generate cos values in floating point: tableSize = 256; 
    for(n = -1; n < (tableSize + 1); n++)   
+ {   
+	cosTable[n+1]= cos(2*pi*n/tableSize);   
+ }
     where pi value is 3.14159265358979 
    
+
    Secondly Convert Floating point to Q15(Fixed point): (cosTable[i] * pow(2, 15)) 
    
+
    Finally Rounding to nearest integer is done cosTable[i] += (cosTable[i] > 0 ? 0.5 :-0.5); 
    
+
+
    Definition at line 60 of file arm_cos_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__dot__prod.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__dot__prod.html
new file mode 100644
index 000000000..878073c42
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__dot__prod.html
@@ -0,0 +1,302 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Dot Product
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Dot Product
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_dot_prod_f32 (float32_t *pSrcA, float32_t *pSrcB, uint32_t blockSize, float32_t *result)
    void arm_dot_prod_q31 (q31_t *pSrcA, q31_t *pSrcB, uint32_t blockSize, q63_t *result)
    void arm_dot_prod_q15 (q15_t *pSrcA, q15_t *pSrcB, uint32_t blockSize, q63_t *result)
    void arm_dot_prod_q7 (q7_t *pSrcA, q7_t *pSrcB, uint32_t blockSize, q31_t *result)
    
+
    Detailed Description
    
+
    Computes the dot product of two vectors. The vectors are multiplied element-by-element and then summed. There are separate functions for floating-point, Q7, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_dot_prod_f32 (float32_t *  pSrcA, 
    float32_t *  pSrcB, 
    uint32_t  blockSize, 
    float32_t *  result 
    )
    
+
    
+
    
+
+
    Dot product of floating-point vectors. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [in]blockSizenumber of samples in each vector 
    [out]*resultoutput result returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_variance_example_f32.c.
    
+
    
+
    Definition at line 62 of file arm_dot_prod_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_dot_prod_q31 (q31_t *  pSrcA, 
    q31_t *  pSrcB, 
    uint32_t  blockSize, 
    q63_t *  result 
    )
    
+
    
+
    
+
+
    Dot product of Q31 vectors. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [in]blockSizenumber of samples in each vector 
    [out]*resultoutput result returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The intermediate multiplications are in 1.31 x 1.31 = 2.62 format and these are truncated to 2.48 format by discarding the lower 14 bits. The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format. There are 15 guard bits in the accumulator and there is no risk of overflow as long as the length of the vectors is less than 2^16 elements. The return result is in 16.48 format. 
    
+
+
    Definition at line 62 of file arm_dot_prod_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_dot_prod_q15 (q15_t *  pSrcA, 
    q15_t *  pSrcB, 
    uint32_t  blockSize, 
    q63_t *  result 
    )
    
+
    
+
    
+
+
    Dot product of Q15 vectors. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [in]blockSizenumber of samples in each vector 
    [out]*resultoutput result returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The intermediate multiplications are in 1.15 x 1.15 = 2.30 format and these results are added to a 64-bit accumulator in 34.30 format. Nonsaturating additions are used and given that there are 33 guard bits in the accumulator there is no risk of overflow. The return result is in 34.30 format. 
    
+
+
    Definition at line 61 of file arm_dot_prod_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_dot_prod_q7 (q7_t *  pSrcA, 
    q7_t *  pSrcB, 
    uint32_t  blockSize, 
    q31_t *  result 
    )
    
+
    
+
    
+
+
    Dot product of Q7 vectors. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcApoints to the first input vector 
    [in]*pSrcBpoints to the second input vector 
    [in]blockSizenumber of samples in each vector 
    [out]*resultoutput result returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The intermediate multiplications are in 1.7 x 1.7 = 2.14 format and these results are added to an accumulator in 18.14 format. Nonsaturating additions are used and there is no danger of wrap around as long as the vectors are less than 2^18 elements long. The return result is in 18.14 format. 
    
+
+
    Definition at line 61 of file arm_dot_prod_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:19 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__float__to__x.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__float__to__x.html
new file mode 100644
index 000000000..6b4dde568
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__float__to__x.html
@@ -0,0 +1,240 @@
+
+
+
+
+CMSIS DSP Software Library: Convert 32-bit floating point value
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Convert 32-bit floating point value
    
+
+[Support Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_float_to_q31 (float32_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_float_to_q15 (float32_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_float_to_q7 (float32_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_float_to_q31 (float32_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the floating-point vector to Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the floating-point input vector 
    [out]*pDstpoints to the Q31 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (q31_t)(pSrc[n] * 2147483648);   0 <= n < blockSize.   
+ 
     Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range[0x80000000 0x7FFFFFFF] will be saturated.
    
+
    Note:
    In order to apply rounding, the library should be rebuilt with the ROUNDING macro defined in the preprocessor section of project options. 
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 69 of file arm_float_to_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_float_to_q15 (float32_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the floating-point vector to Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the floating-point input vector 
    [out]*pDstpoints to the Q15 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is: 
       
+ 	pDst[n] = (q15_t)(pSrc[n] * 32768);   0 <= n < blockSize.   
+ 
     
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. 
    
+
    Note:
    In order to apply rounding, the library should be rebuilt with the ROUNDING macro defined in the preprocessor section of project options. 
    
+
+
    Definition at line 65 of file arm_float_to_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_float_to_q7 (float32_t *  pSrc, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the floating-point vector to Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the floating-point input vector 
    [out]*pDstpoints to the Q7 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is: 
       
+ 	pDst[n] = (q7_t)(pSrc[n] * 128);   0 <= n < blockSize.   
+ 
     
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q7 range [0x80 0x7F] will be saturated. 
    
+
    Note:
    In order to apply rounding, the library should be rebuilt with the ROUNDING macro defined in the preprocessor section of project options. 
    
+
+
    Definition at line 64 of file arm_float_to_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_cmplx_math.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_cmplx_math.html
new file mode 100644
index 000000000..dc545bf47
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_cmplx_math.html
@@ -0,0 +1,81 @@
+
+
+
+
+CMSIS DSP Software Library: Complex Math Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Complex Math Functions
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Modules
     Complex Conjugate
     Complex Dot Product
     Complex Magnitude
     Complex Magnitude Squared
     Complex-by-Complex Multiplication
     Complex-by-Real Multiplication
    
+
    Detailed Description
    
+
    This set of functions operates on complex data vectors. The data in the complex arrays is stored in an interleaved fashion (real, imag, real, imag, ...). In the API functions, the number of samples in a complex array refers to the number of complex values; the array contains twice this number of real values. 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_controller.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_controller.html
new file mode 100644
index 000000000..276205796
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_controller.html
@@ -0,0 +1,79 @@
+
+
+
+
+CMSIS DSP Software Library: Controller Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Controller Functions
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Modules
     Sine Cosine
     PID Motor Control
     Vector Clarke Transform
     Vector Inverse Clarke Transform
     Vector Park Transform
     Vector Inverse Park transform
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_examples.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_examples.html
new file mode 100644
index 000000000..cc4969cac
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_examples.html
@@ -0,0 +1,84 @@
+
+
+
+
+CMSIS DSP Software Library: Examples
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Examples
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+Modules
     Class Marks Example
     Convolution Example
     Dot Product Example
     FIR Lowpass Filter Example
     Frequency Bin Example
     Graphic Audio Equalizer Example
     Linear Interpolate Example
     Matrix Example
     Signal Convergence Example
     SineCosine Example
     Variance Example
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_fast_math.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_fast_math.html
new file mode 100644
index 000000000..2b8978a0e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_fast_math.html
@@ -0,0 +1,78 @@
+
+
+
+
+CMSIS DSP Software Library: Fast Math Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Fast Math Functions
      
    
+
    
+
    
+
+
+
+
+
+
    
+Modules
     Cosine
     Sine
     Square Root
    
+
    Detailed Description
    
+
    This set of functions provides a fast approximation to sine, cosine, and square root. As compared to most of the other functions in the CMSIS math library, the fast math functions operate on individual values and not arrays. There are separate functions for Q15, Q31, and floating-point data. 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_filters.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_filters.html
new file mode 100644
index 000000000..6a16cc14c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_filters.html
@@ -0,0 +1,87 @@
+
+
+
+
+CMSIS DSP Software Library: Filtering Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Filtering Functions
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+Modules
     Biquad Cascade IIR Filters Using Direct Form I Structure
     Biquad Cascade IIR Filters Using a Direct Form II Transposed Structure
     High Precision Q31 Biquad Cascade Filter
     Convolution
     Partial Convolution
     Correlation
     Finite Impulse Response (FIR) Decimator
     Finite Impulse Response (FIR) Filters
     Finite Impulse Response (FIR) Lattice Filters
     Finite Impulse Response (FIR) Sparse Filters
     Infinite Impulse Response (IIR) Lattice Filters
     Least Mean Square (LMS) Filters
     Normalized LMS Filters
     Finite Impulse Response (FIR) Interpolator
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_interpolation.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_interpolation.html
new file mode 100644
index 000000000..9be728096
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_interpolation.html
@@ -0,0 +1,77 @@
+
+
+
+
+CMSIS DSP Software Library: Interpolation Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Interpolation Functions
      
    
+
    
+
    
+
+
+
+
+
    
+Modules
     Linear Interpolation
     Bilinear Interpolation
    
+
    Detailed Description
    
+
    These functions perform 1- and 2-dimensional interpolation of data. Linear interpolation is used for 1-dimensional data and bilinear interpolation is used for 2-dimensional data. 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_math.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_math.html
new file mode 100644
index 000000000..6797edbbe
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_math.html
@@ -0,0 +1,82 @@
+
+
+
+
+CMSIS DSP Software Library: Basic Math Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Basic Math Functions
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
+
+
    
+Modules
     Vector Absolute Value
     Vector Addition
     Vector Dot Product
     Vector Multiplication
     Vector Negate
     Vector Offset
     Vector Scale
     Vector Shift
     Vector Subtraction
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_matrix.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_matrix.html
new file mode 100644
index 000000000..db0d3edb1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_matrix.html
@@ -0,0 +1,106 @@
+
+
+
+
+CMSIS DSP Software Library: Matrix Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Matrix Functions
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
    
+Modules
     Matrix Addition
     Matrix Initialization
     Matrix Inverse
     Matrix Multiplication
     Matrix Scale
     Matrix Subtraction
     Matrix Transpose
    
+
    Detailed Description
    
+
    This set of functions provides basic matrix math operations. The functions operate on matrix data structures. For example, the type definition for the floating-point matrix structure is shown below: 
    
+
    +     typedef struct
+     {
+       uint16_t numRows;     // number of rows of the matrix.
+       uint16_t numCols;     // number of columns of the matrix.
+       float32_t *pData;     // points to the data of the matrix.
+     } arm_matrix_instance_f32;
+ 
     There are similar definitions for Q15 and Q31 data types.
    
+
    The structure specifies the size of the matrix and then points to an array of data. The array is of size numRows X numCols and the values are arranged in row order. That is, the matrix element (i, j) is stored at: 
    
+
    +     pData[i*numCols + j]
+ 
    Init Functions
    There is an associated initialization function for each type of matrix data structure. The initialization function sets the values of the internal structure fields. Refer to the function arm_mat_init_f32(), arm_mat_init_q31() and arm_mat_init_q15() for floating-point, Q31 and Q15 types, respectively.
    
+
    Use of the initialization function is optional. However, if initialization function is used then the instance structure cannot be placed into a const data section. To place the instance structure in a const data section, manually initialize the data structure. For example: 
    + arm_matrix_instance_f32 S = {nRows, nColumns, pData};
+ arm_matrix_instance_q31 S = {nRows, nColumns, pData};
+ arm_matrix_instance_q15 S = {nRows, nColumns, pData};
+ 
     where nRows specifies the number of rows, nColumns specifies the number of columns, and pData points to the data array.
    
+
    Size Checking
    By default all of the matrix functions perform size checking on the input and output matrices. For example, the matrix addition function verifies that the two input matrices and the output matrix all have the same number of rows and columns. If the size check fails the functions return: 
    +     ARM_MATH_SIZE_MISMATCH
+ 
     Otherwise the functions return 
    +     ARM_MATH_SUCCESS
+ 
     There is some overhead associated with this matrix size checking. The matrix size checking is enabled via the define 
    +     ARM_MATH_MATRIX_CHECK
+ 
     within the library project settings. By default this macro is defined and size checking is enabled. By changing the project settings and undefining this macro size checking is eliminated and the functions run a bit faster. With size checking disabled the functions always return ARM_MATH_SUCCESS. 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_stats.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_stats.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_stats.html
@@ -0,0 +1,80 @@
+
+
+
+
+CMSIS DSP Software Library: Statistics Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Statistics Functions
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
    
+Modules
     Maximum
     Mean
     Minimum
     Power
     Root mean square (RMS)
     Standard deviation
     Variance
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_support.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_support.html
new file mode 100644
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--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_support.html
@@ -0,0 +1,79 @@
+
+
+
+
+CMSIS DSP Software Library: Support Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Support Functions
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
    
+Modules
     Convert 16-bit Integer value
     Convert 32-bit Integer value
     Convert 32-bit floating point value
     Convert 8-bit Integer value
     Vector Copy
     Vector Fill
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_transforms.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__group_transforms.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,76 @@
+
+
+
+
+CMSIS DSP Software Library: Transform Functions
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Modules  
    
+  
    
+
    Transform Functions
      
    
+
    
+
    
+
+
+
+
+
+
    
+Modules
     Complex FFT Functions
     DCT Type IV Functions
     Real FFT Functions
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__inv__clarke.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__inv__clarke.html
new file mode 100644
index 000000000..a4d75a062
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__inv__clarke.html
@@ -0,0 +1,195 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Inverse Clarke Transform
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Inverse Clarke Transform
    
+
+[Controller Functions]
+
      
    
+
    
+
    
+
+
+
+
+
    
+Functions
    static __INLINE void arm_inv_clarke_f32 (float32_t Ialpha, float32_t Ibeta, float32_t *pIa, float32_t *pIb)
    static __INLINE void arm_inv_clarke_q31 (q31_t Ialpha, q31_t Ibeta, q31_t *pIa, q31_t *pIb)
    
+
    Detailed Description
    
+
    Inverse Clarke transform converts the two-coordinate time invariant vector into instantaneous stator phases.
    
+
    The function operates on a single sample of data and each call to the function returns the processed output. The library provides separate functions for Q31 and floating-point data types. 
    
+
    Algorithm
    
+clarkeInvFormula.gif
+
    
+ where pIa and pIb are the instantaneous stator phases and Ialpha and Ibeta are the two coordinates of time invariant vector. 
    
+
    Fixed-Point Behavior
    Care must be taken when using the Q31 version of the Clarke transform. In particular, the overflow and saturation behavior of the accumulator used must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_inv_clarke_f32 (float32_t  Ialpha, 
    float32_t  Ibeta, 
    float32_t *  pIa, 
    float32_t *  pIb 
    ) [static]
    
+
    
+
    
+
+
    Floating-point Inverse Clarke transform. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]Ialphainput two-phase orthogonal vector axis alpha 
    [in]Ibetainput two-phase orthogonal vector axis beta 
    [out]*pIapoints to output three-phase coordinate a 
    [out]*pIbpoints to output three-phase coordinate b 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 5009 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_inv_clarke_q31 (q31_t  Ialpha, 
    q31_t  Ibeta, 
    q31_t *  pIa, 
    q31_t *  pIb 
    ) [static]
    
+
    
+
    
+
+
    Inverse Clarke transform for Q31 version. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]Ialphainput two-phase orthogonal vector axis alpha 
    [in]Ibetainput two-phase orthogonal vector axis beta 
    [out]*pIapoints to output three-phase coordinate a 
    [out]*pIbpoints to output three-phase coordinate b 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 32-bit accumulator. The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. There is saturation on the subtraction, hence there is no risk of overflow. 
    
+
+
    Definition at line 5038 of file arm_math.h.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__inv__park.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__inv__park.html
new file mode 100644
index 000000000..a97fddc0d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__inv__park.html
@@ -0,0 +1,223 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Inverse Park transform
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Inverse Park transform
    
+
+[Controller Functions]
+
      
    
+
    
+
    
+
+
+
+
+
    
+Functions
    static __INLINE void arm_inv_park_f32 (float32_t Id, float32_t Iq, float32_t *pIalpha, float32_t *pIbeta, float32_t sinVal, float32_t cosVal)
    static __INLINE void arm_inv_park_q31 (q31_t Id, q31_t Iq, q31_t *pIalpha, q31_t *pIbeta, q31_t sinVal, q31_t cosVal)
    
+
    Detailed Description
    
+
    Inverse Park transform converts the input flux and torque components to two-coordinate vector.
    
+
    The function operates on a single sample of data and each call to the function returns the processed output. The library provides separate functions for Q31 and floating-point data types. 
    
+
    Algorithm
    
+parkInvFormula.gif
+
    
+ where pIalpha and pIbeta are the stator vector components, Id and Iq are rotor vector components and cosVal and sinVal are the cosine and sine values of theta (rotor flux position). 
    
+
    Fixed-Point Behavior
    Care must be taken when using the Q31 version of the Park transform. In particular, the overflow and saturation behavior of the accumulator used must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
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+          
+        
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+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_inv_park_f32 (float32_t  Id, 
    float32_t  Iq, 
    float32_t *  pIalpha, 
    float32_t *  pIbeta, 
    float32_t  sinVal, 
    float32_t  cosVal 
    ) [static]
    
+
    
+
    
+
+
    Floating-point Inverse Park transform. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]Idinput coordinate of rotor reference frame d 
    [in]Iqinput coordinate of rotor reference frame q 
    [out]*pIalphapoints to output two-phase orthogonal vector axis alpha 
    [out]*pIbetapoints to output two-phase orthogonal vector axis beta 
    [in]sinValsine value of rotation angle theta 
    [in]cosValcosine value of rotation angle theta 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 5244 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
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+          
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+          
+        
+        
+          
+          
+          
+        
+      
    static __INLINE void arm_inv_park_q31 (q31_t  Id, 
    q31_t  Iq, 
    q31_t *  pIalpha, 
    q31_t *  pIbeta, 
    q31_t  sinVal, 
    q31_t  cosVal 
    ) [static]
    
+
    
+
    
+
+
    Inverse Park transform for Q31 version. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]Idinput coordinate of rotor reference frame d 
    [in]Iqinput coordinate of rotor reference frame q 
    [out]*pIalphapoints to output two-phase orthogonal vector axis alpha 
    [out]*pIbetapoints to output two-phase orthogonal vector axis beta 
    [in]sinValsine value of rotation angle theta 
    [in]cosValcosine value of rotation angle theta 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 32-bit accumulator. The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. There is saturation on the addition, hence there is no risk of overflow. 
    
+
+
    Definition at line 5279 of file arm_math.h.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__mean.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__mean.html
new file mode 100644
index 000000000..eeee74c24
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__mean.html
@@ -0,0 +1,277 @@
+
+
+
+
+CMSIS DSP Software Library: Mean
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Mean
    
+
+[Statistics Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_mean_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_mean_q31 (q31_t *pSrc, uint32_t blockSize, q31_t *pResult)
    void arm_mean_q15 (q15_t *pSrc, uint32_t blockSize, q15_t *pResult)
    void arm_mean_q7 (q7_t *pSrc, uint32_t blockSize, q7_t *pResult)
    
+
    Detailed Description
    
+
    Calculates the mean of the input vector. Mean is defined as the average of the elements in the vector. The underlying algorithm is used:
    
+
       
+ 	Result = (pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]) / blockSize;   
+ 
    There are separate functions for floating-point, Q31, Q15, and Q7 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_mean_f32 (float32_t *  pSrc, 
    uint32_t  blockSize, 
    float32_t *  pResult 
    )
    
+
    
+
    
+
+
    Mean value of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultmean value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 64 of file arm_mean_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
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+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_mean_q31 (q31_t *  pSrc, 
    uint32_t  blockSize, 
    q31_t *  pResult 
    )
    
+
    
+
    
+
+
    Mean value of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultmean value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 64-bit internal accumulator. The input is represented in 1.31 format and is accumulated in a 64-bit accumulator in 33.31 format. There is no risk of internal overflow with this approach, and the full precision of intermediate result is preserved. Finally, the accumulator is truncated to yield a result of 1.31 format. 
    
+
+
    Definition at line 61 of file arm_mean_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_mean_q15 (q15_t *  pSrc, 
    uint32_t  blockSize, 
    q15_t *  pResult 
    )
    
+
    
+
    
+
+
    Mean value of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultmean value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 32-bit internal accumulator. The input is represented in 1.15 format and is accumulated in a 32-bit accumulator in 17.15 format. There is no risk of internal overflow with this approach, and the full precision of intermediate result is preserved. Finally, the accumulator is saturated and truncated to yield a result of 1.15 format. 
    
+
+
    Definition at line 61 of file arm_mean_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_mean_q7 (q7_t *  pSrc, 
    uint32_t  blockSize, 
    q7_t *  pResult 
    )
    
+
    
+
    
+
+
    Mean value of a Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultmean value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using a 32-bit internal accumulator. The input is represented in 1.7 format and is accumulated in a 32-bit accumulator in 25.7 format. There is no risk of internal overflow with this approach, and the full precision of intermediate result is preserved. Finally, the accumulator is truncated to yield a result of 1.7 format. 
    
+
+
    Definition at line 61 of file arm_mean_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__negate.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__negate.html
new file mode 100644
index 000000000..f12829532
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__negate.html
@@ -0,0 +1,275 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Negate
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Negate
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_negate_f32 (float32_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_negate_q31 (q31_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_negate_q15 (q15_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_negate_q7 (q7_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Negates the elements of a vector.
    
+
       
+     pDst[n] = -pSrc[n],   0 <= n < blockSize.   
+ 
     
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_negate_f32 (float32_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Negates the elements of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 62 of file arm_negate_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_negate_q31 (q31_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Negates the elements of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. The Q31 value -1 (0x80000000) will be saturated to the maximum allowable positive value 0x7FFFFFFF. 
    
+
+
    Definition at line 57 of file arm_negate_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_negate_q15 (q15_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Negates the elements of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. The Q15 value -1 (0x8000) will be saturated to the maximum allowable positive value 0x7FFF. 
    
+
+
    Definition at line 57 of file arm_negate_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_negate_q7 (q7_t *  pSrc, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Negates the elements of a Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. The Q7 value -1 (0x80) will be saturated to the maximum allowable positive value 0x7F. 
    
+
+
    Definition at line 57 of file arm_negate_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__offset.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__offset.html
new file mode 100644
index 000000000..2160d7919
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__offset.html
@@ -0,0 +1,304 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Offset
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Offset
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_offset_f32 (float32_t *pSrc, float32_t offset, float32_t *pDst, uint32_t blockSize)
    void arm_offset_q31 (q31_t *pSrc, q31_t offset, q31_t *pDst, uint32_t blockSize)
    void arm_offset_q15 (q15_t *pSrc, q15_t offset, q15_t *pDst, uint32_t blockSize)
    void arm_offset_q7 (q7_t *pSrc, q7_t offset, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Adds a constant offset to each element of a vector.
    
+
       
+     pDst[n] = pSrc[n] + offset,   0 <= n < blockSize.   
+ 
    There are separate functions for floating-point, Q7, Q15, and Q31 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_offset_f32 (float32_t *  pSrc, 
    float32_t  offset, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Adds a constant offset to a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]offsetis the offset to be added 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 66 of file arm_offset_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
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+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_offset_q31 (q31_t *  pSrc, 
    q31_t  offset, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Adds a constant offset to a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]offsetis the offset to be added 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated. 
    
+
+
    Definition at line 58 of file arm_offset_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_offset_q15 (q15_t *  pSrc, 
    q15_t  offset, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Adds a constant offset to a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]offsetis the offset to be added 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated. 
    
+
+
    Definition at line 58 of file arm_offset_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_offset_q7 (q7_t *  pSrc, 
    q7_t  offset, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Adds a constant offset to a Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]offsetis the offset to be added 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q7 range [0x80 0x7F] are saturated. 
    
+
+
    Definition at line 58 of file arm_offset_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__park.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__park.html
new file mode 100644
index 000000000..c29f989b4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__park.html
@@ -0,0 +1,227 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Park Transform
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Park Transform
    
+
+[Controller Functions]
+
      
    
+
    
+
    
+
+
+
+
+
    
+Functions
    static __INLINE void arm_park_f32 (float32_t Ialpha, float32_t Ibeta, float32_t *pId, float32_t *pIq, float32_t sinVal, float32_t cosVal)
    static __INLINE void arm_park_q31 (q31_t Ialpha, q31_t Ibeta, q31_t *pId, q31_t *pIq, q31_t sinVal, q31_t cosVal)
    
+
    Detailed Description
    
+
    Forward Park transform converts the input two-coordinate vector to flux and torque components. The Park transform can be used to realize the transformation of the Ialpha and the Ibeta currents from the stationary to the moving reference frame and control the spatial relationship between the stator vector current and rotor flux vector. If we consider the d axis aligned with the rotor flux, the diagram below shows the current vector and the relationship from the two reference frames: 
    
+
    
+park.gif
+
    Stator current space vector and its component in (a,b) and in the d,q rotating reference frame
    
+
     The function operates on a single sample of data and each call to the function returns the processed output. The library provides separate functions for Q31 and floating-point data types. 
    
+
    Algorithm
    
+parkFormula.gif
+
    
+ where Ialpha and Ibeta are the stator vector components, pId and pIq are rotor vector components and cosVal and sinVal are the cosine and sine values of theta (rotor flux position). 
    
+
    Fixed-Point Behavior
    Care must be taken when using the Q31 version of the Park transform. In particular, the overflow and saturation behavior of the accumulator used must be considered. Refer to the function specific documentation below for usage guidelines. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
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+      
    static __INLINE void arm_park_f32 (float32_t  Ialpha, 
    float32_t  Ibeta, 
    float32_t *  pId, 
    float32_t *  pIq, 
    float32_t  sinVal, 
    float32_t  cosVal 
    ) [static]
    
+
    
+
    
+
+
    Floating-point Park transform. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]Ialphainput two-phase vector coordinate alpha 
    [in]Ibetainput two-phase vector coordinate beta 
    [out]*pIdpoints to output rotor reference frame d 
    [out]*pIqpoints to output rotor reference frame q 
    [in]sinValsine value of rotation angle theta 
    [in]cosValcosine value of rotation angle theta 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    The function implements the forward Park transform. 
    
+
+
    Definition at line 5125 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
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+      
    static __INLINE void arm_park_q31 (q31_t  Ialpha, 
    q31_t  Ibeta, 
    q31_t *  pId, 
    q31_t *  pIq, 
    q31_t  sinVal, 
    q31_t  cosVal 
    ) [static]
    
+
    
+
    
+
+
    Park transform for Q31 version. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+    
+  
    [in]Ialphainput two-phase vector coordinate alpha 
    [in]Ibetainput two-phase vector coordinate beta 
    [out]*pIdpoints to output rotor reference frame d 
    [out]*pIqpoints to output rotor reference frame q 
    [in]sinValsine value of rotation angle theta 
    [in]cosValcosine value of rotation angle theta 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function is implemented using an internal 32-bit accumulator. The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. There is saturation on the addition and subtraction, hence there is no risk of overflow. 
    
+
+
    Definition at line 5159 of file arm_math.h.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__power.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__power.html
new file mode 100644
index 000000000..ffd63a699
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__power.html
@@ -0,0 +1,276 @@
+
+
+
+
+CMSIS DSP Software Library: Power
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Power
    
+
+[Statistics Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_power_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_power_q31 (q31_t *pSrc, uint32_t blockSize, q63_t *pResult)
    void arm_power_q15 (q15_t *pSrc, uint32_t blockSize, q63_t *pResult)
    void arm_power_q7 (q7_t *pSrc, uint32_t blockSize, q31_t *pResult)
    
+
    Detailed Description
    
+
    Calculates the sum of the squares of the elements in the input vector. The underlying algorithm is used:
    
+
       
+ 	Result = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + pSrc[2] * pSrc[2] + ... + pSrc[blockSize-1] * pSrc[blockSize-1];   
+ 
    There are separate functions for floating point, Q31, Q15, and Q7 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_power_f32 (float32_t *  pSrc, 
    uint32_t  blockSize, 
    float32_t *  pResult 
    )
    
+
    
+
    
+
+
    Sum of the squares of the elements of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultsum of the squares value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
+
    Definition at line 68 of file arm_power_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+        
+          
+          
+          
+        
+      
    void arm_power_q31 (q31_t *  pSrc, 
    uint32_t  blockSize, 
    q63_t *  pResult 
    )
    
+
    
+
    
+
+
    Sum of the squares of the elements of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultsum of the squares value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 64-bit internal accumulator. The input is represented in 1.31 format. Intermediate multiplication yields a 2.62 format, and this result is truncated to 2.48 format by discarding the lower 14 bits. The 2.48 result is then added without saturation to a 64-bit accumulator in 16.48 format. With 15 guard bits in the accumulator, there is no risk of overflow, and the full precision of the intermediate multiplication is preserved. Finally, the return result is in 16.48 format. 
    
+
+
    Definition at line 63 of file arm_power_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+          
+          
+          
+        
+      
    void arm_power_q15 (q15_t *  pSrc, 
    uint32_t  blockSize, 
    q63_t *  pResult 
    )
    
+
    
+
    
+
+
    Sum of the squares of the elements of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultsum of the squares value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 64-bit internal accumulator. The input is represented in 1.15 format. Intermediate multiplication yields a 2.30 format, and this result is added without saturation to a 64-bit accumulator in 34.30 format. With 33 guard bits in the accumulator, there is no risk of overflow, and the full precision of the intermediate multiplication is preserved. Finally, the return result is in 34.30 format. 
    
+
+
    Definition at line 62 of file arm_power_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
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+          
+          
+          
+        
+      
    void arm_power_q7 (q7_t *  pSrc, 
    uint32_t  blockSize, 
    q31_t *  pResult 
    )
    
+
    
+
    
+
+
    Sum of the squares of the elements of a Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultsum of the squares value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 32-bit internal accumulator. The input is represented in 1.7 format. Intermediate multiplication yields a 2.14 format, and this result is added without saturation to an accumulator in 18.14 format. With 17 guard bits in the accumulator, there is no risk of overflow, and the full precision of the intermediate multiplication is preserved. Finally, the return result is in 18.14 format. 
    
+
+
    Definition at line 62 of file arm_power_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q15__to__x.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q15__to__x.html
new file mode 100644
index 000000000..9db84bf6c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q15__to__x.html
@@ -0,0 +1,230 @@
+
+
+
+
+CMSIS DSP Software Library: Convert 16-bit Integer value
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Convert 16-bit Integer value
    
+
+[Support Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_q15_to_float (q15_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_q15_to_q31 (q15_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_q15_to_q7 (q15_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_q15_to_float (q15_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q15 vector to floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q15 input vector 
    [out]*pDstpoints to the floating-point output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (float32_t) pSrc[n] / 32768;   0 <= n < blockSize.   
+ 
     
+
    Definition at line 66 of file arm_q15_to_float.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_q15_to_q31 (q15_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q15 vector to Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q15 input vector 
    [out]*pDstpoints to the Q31 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (q31_t) pSrc[n] << 16;   0 <= n < blockSize.   
+ 
     
+
    Definition at line 59 of file arm_q15_to_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+        
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+        
+          
+          
+          
+        
+      
    void arm_q15_to_q7 (q15_t *  pSrc, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q15 vector to Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q15 input vector 
    [out]*pDstpoints to the Q7 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (q7_t) pSrc[n] >> 8;   0 <= n < blockSize.   
+ 
     
+
    Definition at line 60 of file arm_q15_to_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q31__to__x.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q31__to__x.html
new file mode 100644
index 000000000..05af0fc53
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q31__to__x.html
@@ -0,0 +1,231 @@
+
+
+
+
+CMSIS DSP Software Library: Convert 32-bit Integer value
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Convert 32-bit Integer value
    
+
+[Support Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_q31_to_float (q31_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_q31_to_q15 (q31_t *pSrc, q15_t *pDst, uint32_t blockSize)
    void arm_q31_to_q7 (q31_t *pSrc, q7_t *pDst, uint32_t blockSize)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_q31_to_float (q31_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q31 vector to floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q31 input vector 
    [out]*pDstpoints to the floating-point output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (float32_t) pSrc[n] / 2147483648;   0 <= n < blockSize.   
+ 
     
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 63 of file arm_q31_to_float.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
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+          
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+          
+        
+        
+          
+          
+          
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+        
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+          
+          
+          
+        
+      
    void arm_q31_to_q15 (q31_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q31 vector to Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q31 input vector 
    [out]*pDstpoints to the Q15 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (q15_t) pSrc[n] >> 16;   0 <= n < blockSize.   
+ 
     
+
    Definition at line 59 of file arm_q31_to_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
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+        
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+          
+          
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+        
+          
+          
+          
+        
+      
    void arm_q31_to_q7 (q31_t *  pSrc, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q31 vector to Q7 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q31 input vector 
    [out]*pDstpoints to the Q7 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (q7_t) pSrc[n] >> 24;   0 <= n < blockSize.    
+ 
     
+
    Definition at line 59 of file arm_q31_to_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q7__to__x.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q7__to__x.html
new file mode 100644
index 000000000..f360d8a39
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__q7__to__x.html
@@ -0,0 +1,230 @@
+
+
+
+
+CMSIS DSP Software Library: Convert 8-bit Integer value
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Convert 8-bit Integer value
    
+
+[Support Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_q7_to_float (q7_t *pSrc, float32_t *pDst, uint32_t blockSize)
    void arm_q7_to_q31 (q7_t *pSrc, q31_t *pDst, uint32_t blockSize)
    void arm_q7_to_q15 (q7_t *pSrc, q15_t *pDst, uint32_t blockSize)
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_q7_to_float (q7_t *  pSrc, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q7 vector to floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q7 input vector 
    [out]*pDstpoints to the floating-point output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (float32_t) pSrc[n] / 128;   0 <= n < blockSize.   
+ 
     
+
    Definition at line 63 of file arm_q7_to_float.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
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+          
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+          
+        
+        
+          
+          
+          
+        
+      
    void arm_q7_to_q31 (q7_t *  pSrc, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q7 vector to Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q7 input vector 
    [out]*pDstpoints to the Q31 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (q31_t) pSrc[n] << 24;   0 <= n < blockSize.  
+ 
     
+
    Definition at line 59 of file arm_q7_to_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_q7_to_q15 (q7_t *  pSrc, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Converts the elements of the Q7 vector to Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the Q7 input vector 
    [out]*pDstpoints to the Q15 output vector 
    [in]blockSizelength of the input vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Description: 
    
+
    The equation used for the conversion process is:
    
+
       
+ 	pDst[n] = (q15_t) pSrc[n] << 8;   0 <= n < blockSize.   
+ 
     
+
    Definition at line 62 of file arm_q7_to_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__scale.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__scale.html
new file mode 100644
index 000000000..0fa721572
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__scale.html
@@ -0,0 +1,332 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Scale
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Scale
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
    
+Functions
    void arm_scale_f32 (float32_t *pSrc, float32_t scale, float32_t *pDst, uint32_t blockSize)
    void arm_scale_q31 (q31_t *pSrc, q31_t scaleFract, int8_t shift, q31_t *pDst, uint32_t blockSize)
    void arm_scale_q15 (q15_t *pSrc, q15_t scaleFract, int8_t shift, q15_t *pDst, uint32_t blockSize)
    void arm_scale_q7 (q7_t *pSrc, q7_t scaleFract, int8_t shift, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Multiply a vector by a scalar value. For floating-point data, the algorithm used is:
    
+
       
+     pDst[n] = pSrc[n] * scale,   0 <= n < blockSize.   
+ 
    In the fixed-point Q7, Q15, and Q31 functions, scale is represented by a fractional multiplication scaleFract and an arithmetic shift shift. The shift allows the gain of the scaling operation to exceed 1.0. The algorithm used with fixed-point data is:
    
+
       
+     pDst[n] = (pSrc[n] * scaleFract) << shift,   0 <= n < blockSize.   
+ 
    The overall scale factor applied to the fixed-point data is 
    
+
       
+     scale = scaleFract * 2^shift.   
+ 
     
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
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+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_scale_f32 (float32_t *  pSrc, 
    float32_t  scale, 
    float32_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Multiplies a floating-point vector by a scalar. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]scalescale factor to be applied 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c, and arm_signal_converge_example_f32.c.
    
+
    
+
    Definition at line 78 of file arm_scale_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
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+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_scale_q31 (q31_t *  pSrc, 
    q31_t  scaleFract, 
    int8_t  shift, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Multiplies a Q31 vector by a scalar. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]scaleFractfractional portion of the scale value 
    [in]shiftnumber of bits to shift the result by 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The input data *pSrc and scaleFract are in 1.31 format. These are multiplied to yield a 2.62 intermediate result and this is shifted with saturation to 1.31 format. 
    
+
    Examples: 
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    Definition at line 59 of file arm_scale_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
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+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_scale_q15 (q15_t *  pSrc, 
    q15_t  scaleFract, 
    int8_t  shift, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Multiplies a Q15 vector by a scalar. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]scaleFractfractional portion of the scale value 
    [in]shiftnumber of bits to shift the result by 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The input data *pSrc and scaleFract are in 1.15 format. These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format. 
    
+
+
    Definition at line 60 of file arm_scale_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
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+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_scale_q7 (q7_t *  pSrc, 
    q7_t  scaleFract, 
    int8_t  shift, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Multiplies a Q7 vector by a scalar. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]scaleFractfractional portion of the scale value 
    [in]shiftnumber of bits to shift the result by 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The input data *pSrc and scaleFract are in 1.7 format. These are multiplied to yield a 2.14 intermediate result and this is shifted with saturation to 1.7 format. 
    
+
+
    Definition at line 59 of file arm_scale_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__shift.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__shift.html
new file mode 100644
index 000000000..e6a73c1ca
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__shift.html
@@ -0,0 +1,250 @@
+
+
+
+
+CMSIS DSP Software Library: Vector Shift
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Vector Shift
    
+
+[Basic Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_shift_q31 (q31_t *pSrc, int8_t shiftBits, q31_t *pDst, uint32_t blockSize)
    void arm_shift_q15 (q15_t *pSrc, int8_t shiftBits, q15_t *pDst, uint32_t blockSize)
    void arm_shift_q7 (q7_t *pSrc, int8_t shiftBits, q7_t *pDst, uint32_t blockSize)
    
+
    Detailed Description
    
+
    Shifts the elements of a fixed-point vector by a specified number of bits. There are separate functions for Q7, Q15, and Q31 data types. The underlying algorithm used is:
    
+
       
+     pDst[n] = pSrc[n] << shift,   0 <= n < blockSize.   
+ 
    If shift is positive then the elements of the vector are shifted to the left. If shift is negative then the elements of the vector are shifted to the right. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
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+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_shift_q31 (q31_t *  pSrc, 
    int8_t  shiftBits, 
    q31_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Shifts the elements of a Q31 vector a specified number of bits. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]shiftBitsnumber of bits to shift. A positive value shifts left; a negative value shifts right. 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] will be saturated. 
    
+
+
    Definition at line 73 of file arm_shift_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
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+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_shift_q15 (q15_t *  pSrc, 
    int8_t  shiftBits, 
    q15_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Shifts the elements of a Q15 vector a specified number of bits. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]shiftBitsnumber of bits to shift. A positive value shifts left; a negative value shifts right. 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q15 range [0x8000 0x7FFF] will be saturated. 
    
+
+
    Definition at line 58 of file arm_shift_q15.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
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+        
+        
+          
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+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_shift_q7 (q7_t *  pSrc, 
    int8_t  shiftBits, 
    q7_t *  pDst, 
    uint32_t  blockSize 
    )
    
+
    
+
    
+
+
    Shifts the elements of a Q7 vector a specified number of bits. 
    
+
    Parameters:
    
+  
+    
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]shiftBitsnumber of bits to shift. A positive value shifts left; a negative value shifts right. 
    [out]*pDstpoints to the output vector 
    [in]blockSizenumber of samples in the vector 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior: 
    
+
    The function uses saturating arithmetic. Results outside of the allowable Q7 range [0x8 0x7F] will be saturated. 
    
+
+
    Definition at line 59 of file arm_shift_q7.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__sin.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__sin.html
new file mode 100644
index 000000000..8e1a751ad
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__sin.html
@@ -0,0 +1,261 @@
+
+
+
+
+CMSIS DSP Software Library: Sine
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions |
+Variables  
    
+  
    
+
    Sine
    
+
+[Fast Math Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
+
+
+
+
    
+Functions
    float32_t arm_sin_f32 (float32_t x)
    q31_t arm_sin_q31 (q31_t x)
    q15_t arm_sin_q15 (q15_t x)
    
+Variables
    static const float32_t sinTable [259]
    static const q31_t sinTableQ31 [259]
    static const q15_t sinTableQ15 [259]
    
+
    Detailed Description
    
+
    Computes the trigonometric sine function using a combination of table lookup and cubic interpolation. There are separate functions for Q15, Q31, and floating-point data types. The input to the floating-point version is in radians while the fixed-point Q15 and Q31 have a scaled input with the range [0 1) mapping to [0 2*pi).
    
+
    The implementation is based on table lookup using 256 values together with cubic interpolation. The steps used are:
    
+
      
+
    1. Calculation of the nearest integer table index
      2. 
+
    2. Fetch the four table values a, b, c, and d
      3. 
+
    3. Compute the fractional portion (fract) of the table index.
      4. 
+
    4. Calculation of wa, wb, wc, wd
      5. 
+
    5. The final result equals a*wa + b*wb + c*wc + d*wd
      6. 
+
    
+
    where 
    
+
       
+    a=Table[index-1];   
+    b=Table[index+0];   
+    c=Table[index+1];   
+    d=Table[index+2];   
+ 
     and 
    
+
       
+    wa=-(1/6)*fract.^3 + (1/2)*fract.^2 - (1/3)*fract;   
+    wb=(1/2)*fract.^3 - fract.^2 - (1/2)*fract + 1;   
+    wc=-(1/2)*fract.^3+(1/2)*fract.^2+fract;   
+    wd=(1/6)*fract.^3 - (1/6)*fract;   
+ 
     
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    float32_t arm_sin_f32 (float32_t  x )
    
+
    
+
    
+
+
    Fast approximation to the trigonometric sine function for floating-point data. 
    
+
    Parameters:
    
+  
+    
+  
    [in]xinput value in radians. 
    
+  
    
+
    
+
    Returns:
    sin(x). 
    
+
    Examples: 
    arm_linear_interp_example_f32.c, and arm_sin_cos_example_f32.c.
    
+
    
+
    Definition at line 195 of file arm_sin_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    q31_t arm_sin_q31 (q31_t  x )
    
+
    
+
    
+
+
    Fast approximation to the trigonometric sine function for Q31 data. 
    
+
    Parameters:
    
+  
+    
+  
    [in]xScaled input value in radians. 
    
+  
    
+
    
+
    Returns:
    sin(x).
    
+
    The Q31 input value is in the range [0 +1) and is mapped to a radian value in the range [0 2*pi). 
    
+
+
    Definition at line 136 of file arm_sin_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+          
+        
+      
    q15_t arm_sin_q15 (q15_t  x )
    
+
    
+
    
+
+
    Fast approximation to the trigonometric sine function for Q15 data. 
    
+
    Parameters:
    
+  
+    
+  
    [in]xScaled input value in radians. 
    
+  
    
+
    
+
    Returns:
    sin(x).
    
+
    The Q15 input value is in the range [0 +1) and is mapped to a radian value in the range [0 2*pi). 
    
+
+
    Definition at line 106 of file arm_sin_q15.c.
    
+
+
    
+
    
+
    Variable Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const float32_t sinTable[259] [static]
    
+
    
+
    
+
    Example code for Generation of Floating-point Sin Table: tableSize = 256; 
    for(n = -1; n < (tableSize + 1); n++)   
+ {   
+	sinTable[n+1]=sin(2*pi*n/tableSize);   
+ }
     
    
+
    where pi value is 3.14159265358979 
    
+
+
    Definition at line 88 of file arm_sin_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q31_t sinTableQ31[259] [static]
    
+
    
+
    
+
    Tables generated are in Q31(1.31 Fixed point format) Generation of sin values in floating point: 
    tableSize = 256;     
+ for(n = -1; n < (tableSize + 1); n++)   
+ {   
+	sinTable[n+1]= sin(2*pi*n/tableSize);   
+ } 
     where pi value is 3.14159265358979 
    
+
    Convert Floating point to Q31(Fixed point): (sinTable[i] * pow(2, 31)) 
    
+
    rounding to nearest integer is done sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5); 
    
+
+
    Definition at line 59 of file arm_sin_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    const q15_t sinTableQ15[259] [static]
    
+
    
+
    
+
    Example code for Generation of Q15 Sin Table: 
    
+
    tableSize = 256;   
+ for(n = -1; n < (tableSize + 1); n++)   
+ {   
+	sinTable[n+1]=sin(2*pi*n/tableSize);   
+ } 
     where pi value is 3.14159265358979 
    
+
    Convert Floating point to Q15(Fixed point): (sinTable[i] * pow(2, 15)) 
    
+
    rounding to nearest integer is done sinTable[i] += (sinTable[i] > 0 ? 0.5 :-0.5); 
    
+
+
    Definition at line 61 of file arm_sin_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:20 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__variance.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__variance.html
new file mode 100644
index 000000000..478f25ab3
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/group__variance.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: Variance
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Functions  
    
+  
    
+
    Variance
    
+
+[Statistics Functions]
+
      
    
+
    
+
    
+
+
+
+
+
+
    
+Functions
    void arm_var_f32 (float32_t *pSrc, uint32_t blockSize, float32_t *pResult)
    void arm_var_q31 (q31_t *pSrc, uint32_t blockSize, q63_t *pResult)
    void arm_var_q15 (q15_t *pSrc, uint32_t blockSize, q31_t *pResult)
    
+
    Detailed Description
    
+
    Calculates the variance of the elements in the input vector. The underlying algorithm is used:
    
+
       
+ 	Result = (sumOfSquares - sum2 / blockSize) / (blockSize - 1)
    	   where, sumOfSquares = pSrc[0] * pSrc[0] + pSrc[1] * pSrc[1] + ... + pSrc[blockSize-1] * pSrc[blockSize-1]
    	                   sum = pSrc[0] + pSrc[1] + pSrc[2] + ... + pSrc[blockSize-1]  
+ 
    There are separate functions for floating point, Q31, and Q15 data types. 
    
+
    Function Documentation
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_var_f32 (float32_t *  pSrc, 
    uint32_t  blockSize, 
    float32_t *  pResult 
    )
    
+
    
+
    
+
+
    Variance of the elements of a floating-point vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultvariance value returned here 
    
+  
    
+
    
+
    Returns:
    none. 
    
+
    Examples: 
    arm_class_marks_example_f32.c.
    
+
    
+
    Definition at line 69 of file arm_var_f32.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_var_q31 (q31_t *  pSrc, 
    uint32_t  blockSize, 
    q63_t *  pResult 
    )
    
+
    
+
    
+
+
    Variance of the elements of a Q31 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultvariance value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using an internal 64-bit accumulator. The input is represented in 1.31 format, and intermediate multiplication yields a 2.62 format. The accumulator maintains full precision of the intermediate multiplication results, but provides only a single guard bit. There is no saturation on intermediate additions. If the accumulator overflows it wraps around and distorts the result. In order to avoid overflows completely the input signal must be scaled down by log2(blockSize) bits, as a total of blockSize additions are performed internally. Finally, the 2.62 accumulator is right shifted by 31 bits to yield a 1.31 format value. 
    
+
+
    Definition at line 66 of file arm_var_q31.c.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+          
+        
+        
+          
+          
+          
+        
+      
    void arm_var_q15 (q15_t *  pSrc, 
    uint32_t  blockSize, 
    q31_t *  pResult 
    )
    
+
    
+
    
+
+
    Variance of the elements of a Q15 vector. 
    
+
    Parameters:
    
+  
+    
+    
+    
+  
    [in]*pSrcpoints to the input vector 
    [in]blockSizelength of the input vector 
    [out]*pResultvariance value returned here 
    
+  
    
+
    
+
    Returns:
    none.
    
+
    Scaling and Overflow Behavior:
    
+
    The function is implemented using a 64-bit internal accumulator. The input is represented in 1.15 format. Intermediate multiplication yields a 2.30 format, and this result is added without saturation to a 64-bit accumulator in 34.30 format. With 33 guard bits in the accumulator, there is no risk of overflow, and the full precision of the intermediate multiplication is preserved. Finally, the 34.30 result is truncated to 34.15 format by discarding the lower 15 bits, and then saturated to yield a result in 1.15 format. 
    
+
+
    Definition at line 64 of file arm_var_q15.c.
    
+
+
    
+
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:21 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/index.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/index.html
new file mode 100644
index 000000000..099de2dc9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/index.html
@@ -0,0 +1,124 @@
+
+
+
+
+CMSIS DSP Software Library: CMSIS DSP Software Library
+
+
+
+
+
+
+
+
+
+
    
+  
    
+
    CMSIS DSP Software Library 
      
    
+
    
+
    
+
    Version1.0.10 
    Introduction
    
+
    This user manual describes the CMSIS DSP software library, a suite of common signal processing functions for use on Cortex-M processor based devices.
    
+
    The library is divided into a number of modules each covering a specific category:
    
+
      
+
    • Basic math functions
      • 
+
    • Fast math functions
      • 
+
    • Complex math functions
      • 
+
    • Filters
      • 
+
    • Matrix functions
      • 
+
    • Transforms
      • 
+
    • Motor control functions
      • 
+
    • Statistical functions
      • 
+
    • Support functions
      • 
+
    • Interpolation functions
      • 
+
    
+
    The library has separate functions for operating on 8-bit integers, 16-bit integers, 32-bit integer and 32-bit floating-point values.
    
+
    Processor Support
    
+
    The library is completely written in C and is fully CMSIS compliant. High performance is achieved through maximum use of Cortex-M4 intrinsics.
    
+
    The supplied library source code also builds and runs on the Cortex-M3 and Cortex-M0 processor, with the DSP intrinsics being emulated through software.
    
+
    Toolchain Support
    
+
    The library has been developed and tested with MDK-ARM version 4.21. The library is being tested in GCC and IAR toolchains and updates on this activity will be made available shortly.
    
+
    Using the Library
    
+
    The library installer contains prebuilt versions of the libraries in the Lib folder.
    
+
      
+
    • arm_cortexM4lf_math.lib (Little endian and Floating Point Unit on Cortex-M4)
      • 
+
    • arm_cortexM4bf_math.lib (Big endian and Floating Point Unit on Cortex-M4)
      • 
+
    • arm_cortexM4l_math.lib (Little endian on Cortex-M4)
      • 
+
    • arm_cortexM4b_math.lib (Big endian on Cortex-M4)
      • 
+
    • arm_cortexM3l_math.lib (Little endian on Cortex-M3)
      • 
+
    • arm_cortexM3b_math.lib (Big endian on Cortex-M3)
      • 
+
    • arm_cortexM0l_math.lib (Little endian on Cortex-M0)
      • 
+
    • arm_cortexM0b_math.lib (Big endian on Cortex-M3)
      • 
+
    
+
    The library functions are declared in the public file arm_math.h which is placed in the Include folder. Simply include this file and link the appropriate library in the application and begin calling the library functions. The Library supports single public header file  arm_math.h for Cortex-M4/M3/M0 with little endian and big endian. Same header file will be used for floating point unit(FPU) variants. Define the appropriate pre processor MACRO ARM_MATH_CM4 or ARM_MATH_CM3 or ARM_MATH_CM0 depending on the target processor in the application.
    
+
    Examples
    
+
    The library ships with a number of examples which demonstrate how to use the library functions.
    
+
    Building the Library
    
+
    The library installer contains project files to re build libraries on MDK Tool chain in the CMSIS folder.
    
+
      
+
    • arm_cortexM0b_math.uvproj
      • 
+
    • arm_cortexM0l_math.uvproj
      • 
+
    • arm_cortexM3b_math.uvproj
      • 
+
    • arm_cortexM3l_math.uvproj
      • 
+
    • arm_cortexM4b_math.uvproj
      • 
+
    • arm_cortexM4l_math.uvproj
      • 
+
    • arm_cortexM4bf_math.uvproj
      • 
+
    • arm_cortexM4lf_math.uvproj
      • 
+
    
+
    Each library project have differant pre-processor macros.
    
+
    ARM_MATH_CMx: Define macro ARM_MATH_CM4 for building the library on Cortex-M4 target, ARM_MATH_CM3 for building library on Cortex-M3 target and ARM_MATH_CM0 for building library on cortex-M0 target.
    
+
    ARM_MATH_BIG_ENDIAN: Define macro ARM_MATH_BIG_ENDIAN to build the library for big endian targets. By default library builds for little endian targets.
    
+
    ARM_MATH_MATRIX_CHECK: Define macro for checking on the input and output sizes of matrices
    
+
    ARM_MATH_ROUNDING: Define macro for rounding on support functions
    
+
    __FPU_PRESENT: Initialize macro __FPU_PRESENT = 1 when building on FPU supported Targets. Enable this macro for M4bf and M4lf libraries
    
+
    The project can be built by opening the appropriate project in MDK-ARM 4.21 chain and defining the optional pre processor MACROs detailed above.
    
+
    Copyright Notice
    
+
    Copyright (C) 2010 ARM Limited. All rights reserved. 
    
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:15 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/installdox b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/installdox
new file mode 100644
index 000000000..2697a8177
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/installdox
@@ -0,0 +1,117 @@
+#!/usr/bin/perl
+
+%subst = ( );
+$quiet   = 0;
+
+if (open(F,"search.cfg"))
+{
+  $_= ; s/[ \t\n]*$//g ; $subst{"_doc"} = $_;
+  $_= ; s/[ \t\n]*$//g ; $subst{"_cgi"} = $_;
+}
+
+while ( @ARGV ) {
+  $_ = shift @ARGV;
+  if ( s/^-// ) {
+    if ( /^l(.*)/ ) {
+      $v = ($1 eq "") ? shift @ARGV : $1;
+      ($v =~ /\/$/) || ($v .= "/");
+      $_ = $v;
+      if ( /(.+)\@(.+)/ ) {
+        if ( exists $subst{$1} ) {
+          $subst{$1} = $2;
+        } else {
+          print STDERR "Unknown tag file $1 given with option -l\n";
+          &usage();
+        }
+      } else {
+        print STDERR "Argument $_ is invalid for option -l\n";
+        &usage();
+      }
+    }
+    elsif ( /^q/ ) {
+      $quiet = 1;
+    }
+    elsif ( /^\?|^h/ ) {
+      &usage();
+    }
+    else {
+      print STDERR "Illegal option -$_\n";
+      &usage();
+    }
+  }
+  else {
+    push (@files, $_ );
+  }
+}
+
+foreach $sub (keys %subst)
+{
+  if ( $subst{$sub} eq "" ) 
+  {
+    print STDERR "No substitute given for tag file `$sub'\n";
+    &usage();
+  }
+  elsif ( ! $quiet && $sub ne "_doc" && $sub ne "_cgi" )
+  {
+    print "Substituting $subst{$sub} for each occurrence of tag file $sub\n"; 
+  }
+}
+
+if ( ! @files ) {
+  if (opendir(D,".")) {
+    foreach $file ( readdir(D) ) {
+      $match = ".html";
+      next if ( $file =~ /^\.\.?$/ );
+      ($file =~ /$match/) && (push @files, $file);
+      ($file =~ "tree.js") && (push @files, $file);
+    }
+    closedir(D);
+  }
+}
+
+if ( ! @files ) {
+  print STDERR "Warning: No input files given and none found!\n";
+}
+
+foreach $f (@files)
+{
+  if ( ! $quiet ) {
+    print "Editing: $f...\n";
+  }
+  $oldf = $f;
+  $f   .= ".bak";
+  unless (rename $oldf,$f) {
+    print STDERR "Error: cannot rename file $oldf\n";
+    exit 1;
+  }
+  if (open(F,"<$f")) {
+    unless (open(G,">$oldf")) {
+      print STDERR "Error: opening file $oldf for writing\n";
+      exit 1;
+    }
+    if ($oldf ne "tree.js") {
+      while () {
+        s/doxygen\=\"([^ \"\:\t\>\<]*)\:([^ \"\t\>\<]*)\" (href|src)=\"\2/doxygen\=\"$1:$subst{$1}\" \3=\"$subst{$1}/g;
+        print G "$_";
+      }
+    }
+    else {
+      while () {
+        s/\"([^ \"\:\t\>\<]*)\:([^ \"\t\>\<]*)\", \"\2/\"$1:$subst{$1}\" ,\"$subst{$1}/g;
+        print G "$_";
+      }
+    }
+  } 
+  else {
+    print STDERR "Warning file $f does not exist\n";
+  }
+  unlink $f;
+}
+
+sub usage {
+  print STDERR "Usage: installdox [options] [html-file [html-file ...]]\n";
+  print STDERR "Options:\n";
+  print STDERR "     -l tagfile\@linkName   tag file + URL or directory \n";
+  print STDERR "     -q                    Quiet mode\n\n";
+  exit 1;
+}
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/linearInterpExampleMethod1.gif b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/linearInterpExampleMethod1.gif
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/linearInterpExampleMethod2.gif b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/linearInterpExampleMethod2.gif
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_63.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_63.html
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+  arm_cos_q15.c
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_64.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_64.html
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+  arm_signal_converge_example_f32.c
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+  arm_fft_bin_example_f32.c
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_65.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_65.html
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+  arm_signal_converge_example_f32.c
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+  arm_signal_converge_example_f32.c
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_66.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_66.html
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+  arm_fft_bin_example_f32.c
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+  arm_signal_converge_example_f32.c
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_67.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_67.html
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+  arm_graphic_equalizer_example_q31.c
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+  arm_signal_converge_example_f32.c
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_69.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_69.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6b.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6b.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6c.html
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+  arm_signal_converge_example_f32.c
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+  arm_signal_converge_example_f32.c
+ 
    
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+  arm_signal_converge_example_f32.c
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+  arm_signal_converge_example_f32.c
+ 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6d.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6d.html
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+  arm_class_marks_example_f32.c
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+  arm_math.h
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+  arm_dotproduct_example_f32.c
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6e.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6e.html
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+  arm_fir_example_f32.c
+ 
    
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+  NUMFRAMES
+  arm_signal_converge_example_f32.c
+ 
    
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+  arm_linear_interp_instance_f32
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6f.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_6f.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_70.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_70.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_71.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_71.html
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+  arm_math.h
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_72.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_72.html
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+  arm_rfft_init_f32.c
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+  arm_fft_bin_example_f32.c
+ 
    
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+
    
+ 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_73.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_73.html
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    Loading...
    
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+  arm_sin_cos_example_f32.c
+ 
    
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+ 
    
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+  arm_sin_cos_example_f32.c
+ 
    
+
    
+
+
    
+ 
    
+  sinTableQ15
+  arm_sin_q15.c
+ 
    
+
    
+
+
+
    
+ 
    
+  snr1
+  arm_linear_interp_example_f32.c
+ 
    
+
    
+
    
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+  arm_linear_interp_example_f32.c
+ 
    
+
    
+
+
+
    
+ 
    
+  srcA_buf_f32
+  arm_dotproduct_example_f32.c
+ 
    
+
    
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+ 
    
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+  arm_convolution_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  srcB_buf_f32
+  arm_dotproduct_example_f32.c
+ 
    
+
    
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+  arm_convolution_example_f32.c
+ 
    
+
    
+
+
+
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+ 
    
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+  arm_class_marks_example_f32.c
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+  arm_class_marks_example_f32.c
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_74.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_74.html
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    Loading...
    
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+  arm_math.h
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+  arm_math.h
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+ 
    
+
    
+
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+ 
    
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+
    
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+ 
    
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+
    
+
    
+ 
    
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+  arm_fft_bin_example_f32.c
+ 
    
+
    
+
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+ 
    
+  testInput_f32_10khz
+  arm_fft_bin_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  testInput_f32_1kHz_15kHz
+  arm_fir_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  testInputA_f32
+  arm_convolution_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  testInputB_f32
+  arm_convolution_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  testInputSin_f32
+  arm_linear_interp_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  TESTLENGTH
+  arm_graphic_equalizer_example_q31.c
+ 
    
+
    
+
    
+ 
    
+  testLinIntOutput
+  arm_linear_interp_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  testMarks_f32
+  arm_class_marks_example_f32.c
+ 
    
+
    
+
+
+
    
+ 
    
+  testRefSinOutput32_f32
+  arm_linear_interp_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  testUnity_f32
+  arm_class_marks_example_f32.c
+ 
    
+
    
+
+
+
    
+ 
    
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+  arm_cfft_radix4_init_f32.c
+ 
    
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+  arm_cfft_radix4_init_q15.c
+ 
    
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+  arm_cfft_radix4_init_q31.c
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_75.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/all_75.html
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+
+
+
+
    
+ 
    
+  arm_sin_f32.c
+ 
    
+
    
+
    
+ 
    
+  arm_sin_q15.c
+ 
    
+
    
+
    
+ 
    
+  arm_sin_q31.c
+ 
    
+
    
+
+
+
    
+ 
    
+  arm_std_f32.c
+ 
    
+
    
+
    
+ 
    
+  arm_std_q15.c
+ 
    
+
    
+
    
+ 
    
+  arm_std_q31.c
+ 
    
+
    
+
    
+ 
    
+  arm_sub_f32.c
+ 
    
+
    
+
    
+ 
    
+  arm_sub_q15.c
+ 
    
+
    
+
    
+ 
    
+  arm_sub_q31.c
+ 
    
+
    
+
    
+ 
    
+  arm_sub_q7.c
+ 
    
+
    
+
    
+ 
    
+  arm_var_f32.c
+ 
    
+
    
+
    
+ 
    
+  arm_var_q15.c
+ 
    
+
    
+
    
+ 
    
+  arm_var_q31.c
+ 
    
+
    
+
+
    Searching...
    
+
    No Matches
    
+
+
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_61.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_61.html
new file mode 100644
index 000000000..aa1936f4f
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_61.html
@@ -0,0 +1,2450 @@
+
+
+
+
+
+
+
+
    
+
    Loading...
    
+
+
+
+
+
+
+
+
+
    
+ 
    
+  arm_bilinear_interp_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_bilinear_interp_q15
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_bilinear_interp_q31
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_bilinear_interp_q7
+  arm_math.h
+ 
    
+
    
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+ 
    
+  arm_circularRead_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_circularRead_q15
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_circularRead_q7
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_circularWrite_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_circularWrite_q15
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_circularWrite_q7
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_clarke_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_clarke_q31
+  arm_math.h
+ 
    
+
    
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
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+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
    
+ 
    
+  arm_inv_clarke_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_inv_clarke_q31
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_inv_park_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_inv_park_q31
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_linear_interp_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_linear_interp_q15
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_linear_interp_q31
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_linear_interp_q7
+  arm_math.h
+ 
    
+
    
+
+
+
+
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+
+
    
+ 
    
+  arm_park_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_park_q31
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_pid_f32
+  arm_math.h
+ 
    
+
    
+
+
+
+
    
+ 
    
+  arm_pid_q15
+  arm_math.h
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+
    
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+  arm_math.h
+ 
    
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+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
    
+ 
    
+  arm_recip_q15
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_recip_q31
+  arm_math.h
+ 
    
+
    
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
    
+ 
    
+  arm_split_rfft_f32
+  arm_rfft_f32.c
+ 
    
+
    
+
    
+ 
    
+  arm_split_rfft_q15
+  arm_rfft_q15.c
+ 
    
+
    
+
    
+ 
    
+  arm_split_rfft_q31
+  arm_rfft_q31.c
+ 
    
+
    
+
    
+ 
    
+  arm_split_rifft_f32
+  arm_rfft_f32.c
+ 
    
+
    
+
    
+ 
    
+  arm_split_rifft_q15
+  arm_rfft_q15.c
+ 
    
+
    
+
    
+ 
    
+  arm_split_rifft_q31
+  arm_rfft_q31.c
+ 
    
+
    
+
    
+ 
    
+  arm_sqrt_f32
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  arm_sqrt_q15
+  arm_sqrt_q15.c
+ 
    
+
    
+
    
+ 
    
+  arm_sqrt_q31
+  arm_sqrt_q31.c
+ 
    
+
    
+
+
+
+
+
+
+
+
+
+
+
    Searching...
    
+
    No Matches
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_63.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_63.html
new file mode 100644
index 000000000..8f7169e08
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+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_63.html
@@ -0,0 +1,44 @@
+
+
+
+
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+
    Loading...
    
+
    
+ 
    
+  clip_q31_to_q15
+  arm_math.h
+ 
    
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+  arm_math.h
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_67.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_67.html
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@@ -0,0 +1,26 @@
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+
+
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+
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+
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+
    
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+  getinput
+  arm_signal_converge_example_f32.c
+ 
    
+
    
+
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_6d.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_6d.html
new file mode 100644
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@@ -0,0 +1,44 @@
+
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+  mult32x64
+  arm_math.h
+ 
    
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    Searching...
    
+
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+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_74.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/functions_74.html
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+  arm_signal_converge_example_f32.c
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+    var hasResultsPage;
+
+    if (indexSectionsWithContent[this.searchIndex].charAt(code) == '1')
+    {
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html';
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches.html';
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location.href = resultsPageWithSearch;  
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline';
+       if (this.insideFrame)
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         domPopupSearchResultsWindow.style.position = 'relative';
+         domPopupSearchResultsWindow.style.display  = 'block';
+         var width = document.body.clientWidth - 8; // the -8 is for IE :-(
+         domPopupSearchResultsWindow.style.width    = width + 'px';
+         domPopupSearchResults.style.width          = width + 'px';
+       }
+       else
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+         var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+         domPopupSearchResultsWindow.style.display = 'block';
+         left -= domPopupSearchResults.offsetWidth;
+         domPopupSearchResultsWindow.style.top     = top  + 'px';
+         domPopupSearchResultsWindow.style.left    = left + 'px';
+       }
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to 
+  // their default values if necessary. 
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block' 
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {  
+        searchField.value = '';  
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of .
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName == 'DIV' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName == 'DIV' && element.hasChildNodes())
+        {  
+           element = element.firstChild;  
+        }
+        else if (element.nextSibling)
+        {  
+           element = element.nextSibling;  
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {  
+            element = element.nextSibling;  
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length && 
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown") 
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex) 
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          { 
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           parent.document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem && elem.style.display == 'block') // children visible
+        {
+          focusItem = document.getElementById('Item'+itemIndex+'_c0');
+        }
+        if (!focusItem) focusItem = this.NavNext(newIndex);
+        if (focusItem)  focusItem.focus();
+      }
+      else if (this.lastKey==39) // Right
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'block';
+      }
+      else if (this.lastKey==37) // Left
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'none';
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        parent.searchBox.CloseResultsWindow();
+        parent.document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+
+    this.NavChild = function(evt,itemIndex,childIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        if (childIndex>0)
+        {
+          var newIndex = childIndex-1;
+          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+        }
+        else // already at first child, jump to parent
+        {
+          document.getElementById('Item'+itemIndex).focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = childIndex+1;
+        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+        if (!elem) // last child, jump to parent next parent
+        {
+          elem = this.NavNext(itemIndex+1);
+        }
+        if (elem)
+        {
+          elem.focus();
+        } 
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        parent.searchBox.CloseResultsWindow();
+        parent.document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+}
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/search_r.png b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/search_r.png
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+
+
+
+
+
+
+
    
+
    Loading...
    
+
    
+ 
    
+  float32_t
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  float64_t
+  arm_math.h
+ 
    
+
    
+
    Searching...
    
+
    No Matches
    
+
+
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/typedefs_71.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/typedefs_71.html
new file mode 100644
index 000000000..c889272b9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/typedefs_71.html
@@ -0,0 +1,44 @@
+
+
+
+
+
+
+
+
    
+
    Loading...
    
+
    
+ 
    
+  q15_t
+  arm_math.h
+ 
    
+
    
+
    
+ 
    
+  q31_t
+  arm_math.h
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+
    
+
    
+ 
    
+  q63_t
+  arm_math.h
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+
    
+
    
+ 
    
+  q7_t
+  arm_math.h
+ 
    
+
    
+
    Searching...
    
+
    No Matches
    
+
+
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_61.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_61.html
new file mode 100644
index 000000000..2da279f14
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_61.html
@@ -0,0 +1,109 @@
+
+
+
+
+
+
+
+
    
+
    Loading...
    
+
+
+
+
    
+ 
    
+  A_f32
+  arm_matrix_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  Ak
+  arm_convolution_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  arm_linear_interep_table
+  arm_linear_interp_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  armBitRevTable
+  arm_common_tables.c
+ 
    
+
    
+
    
+ 
    
+  armRecipTableQ15
+  arm_common_tables.c
+ 
    
+
    
+
    
+ 
    
+  armRecipTableQ31
+  arm_common_tables.c
+ 
    
+
    
+
    
+ 
    
+  AT_f32
+  arm_matrix_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  ATMA_f32
+  arm_matrix_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  ATMAI_f32
+  arm_matrix_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  AxB
+  arm_convolution_example_f32.c
+ 
    
+
    
+
    Searching...
    
+
    No Matches
    
+
+
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_62.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_62.html
new file mode 100644
index 000000000..edeb3083c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_62.html
@@ -0,0 +1,102 @@
+
+
+
+
+
+
+
+
    
+
    Loading...
    
+
    
+ 
    
+  B_f32
+  arm_matrix_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  biquadStateBand1Q31
+  arm_graphic_equalizer_example_q31.c
+ 
    
+
    
+
    
+ 
    
+  biquadStateBand2Q31
+  arm_graphic_equalizer_example_q31.c
+ 
    
+
    
+
    
+ 
    
+  biquadStateBand3Q31
+  arm_graphic_equalizer_example_q31.c
+ 
    
+
    
+
    
+ 
    
+  biquadStateBand4Q31
+  arm_graphic_equalizer_example_q31.c
+ 
    
+
    
+
    
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+  biquadStateBand5Q31
+  arm_graphic_equalizer_example_q31.c
+ 
    
+
    
+
+
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+
    
+ 
    
+  Bk
+  arm_convolution_example_f32.c
+ 
    
+
    
+
+
    Searching...
    
+
    No Matches
    
+
+
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_63.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_63.html
new file mode 100644
index 000000000..854bab0b1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_63.html
@@ -0,0 +1,116 @@
+
+
+
+
+
+
+
+
    
+
    Loading...
    
+
    
+ 
    
+  coeffTable
+  arm_graphic_equalizer_example_q31.c
+ 
    
+
    
+
    
+ 
    
+  cos_factors_128
+  arm_dct4_init_f32.c
+ 
    
+
    
+
    
+ 
    
+  cos_factors_2048
+  arm_dct4_init_f32.c
+ 
    
+
    
+
    
+ 
    
+  cos_factors_512
+  arm_dct4_init_f32.c
+ 
    
+
    
+
    
+ 
    
+  cos_factorsQ15_128
+  arm_dct4_init_q15.c
+ 
    
+
    
+
    
+ 
    
+  cos_factorsQ15_2048
+  arm_dct4_init_q15.c
+ 
    
+
    
+
    
+ 
    
+  cos_factorsQ15_512
+  arm_dct4_init_q15.c
+ 
    
+
    
+
    
+ 
    
+  cos_factorsQ31_128
+  arm_dct4_init_q31.c
+ 
    
+
    
+
    
+ 
    
+  cos_factorsQ31_2048
+  arm_dct4_init_q31.c
+ 
    
+
    
+
    
+ 
    
+  cos_factorsQ31_512
+  arm_dct4_init_q31.c
+ 
    
+
    
+
    
+ 
    
+  cosOutput
+  arm_sin_cos_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  cosSquareOutput
+  arm_sin_cos_example_f32.c
+ 
    
+
    
+
+
    
+ 
    
+  cosTableQ15
+  arm_cos_q15.c
+ 
    
+
    
+
+
    Searching...
    
+
    No Matches
    
+
+
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_64.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_64.html
new file mode 100644
index 000000000..7da528e30
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_64.html
@@ -0,0 +1,26 @@
+
+
+
+
+
+
+
+
    
+
    Loading...
    
+
    
+ 
    
+  doBitReverse
+  arm_fft_bin_example_f32.c
+ 
    
+
    
+
    Searching...
    
+
    No Matches
    
+
+
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_65.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_65.html
new file mode 100644
index 000000000..c06f61fb4
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_65.html
@@ -0,0 +1,42 @@
+
+
+
+
+
+
+
+
    
+
    Loading...
    
+
+
    
+ 
    
+  err_signal
+  arm_signal_converge_example_f32.c
+ 
    
+
    
+
    
+ 
    
+  errOutput
+  arm_signal_converge_example_f32.c
+ 
    
+
    
+
    Searching...
    
+
    No Matches
    
+
+
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_66.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_66.html
new file mode 100644
index 000000000..68114c4fa
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_66.html
@@ -0,0 +1,77 @@
+
+
+
+
+
+
+
+
    
+
    Loading...
    
+
+
+
+
    
+ 
    
+  fftSize
+  arm_fft_bin_example_f32.c
+ 
    
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_6b.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_6b.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_6c.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_6c.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_6d.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_6d.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_6f.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_6f.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_70.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_70.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_72.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_72.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_73.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_73.html
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_74.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/search/variables_74.html
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+
+
+
+CMSIS DSP Software Library: arm_bilinear_interp_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_bilinear_interp_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point bilinear interpolation function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numRows
    uint16_t numCols
    float32_t * pData
    
+
    Detailed Description
    
+
    Instance structure for the floating-point bilinear interpolation function. 
    
+
+
    Definition at line 1783 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_bilinear_interp_instance_f32::numRows
    
+
    
+
    
+
    number of rows in the data table. 
    
+
+
    Definition at line 1785 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_bilinear_interp_instance_f32::numCols
    
+
    
+
    
+
    number of columns in the data table. 
    
+
+
    Definition at line 1786 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_bilinear_interp_instance_f32::pData
    
+
    
+
    
+
    points to the data table. 
    
+
+
    Definition at line 1787 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__bilinear__interp__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__bilinear__interp__instance__q15.html
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@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_bilinear_interp_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_bilinear_interp_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 bilinear interpolation function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numRows
    uint16_t numCols
    q15_t * pData
    
+
    Detailed Description
    
+
    Instance structure for the Q15 bilinear interpolation function. 
    
+
+
    Definition at line 1805 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_bilinear_interp_instance_q15::numRows
    
+
    
+
    
+
    number of rows in the data table. 
    
+
+
    Definition at line 1807 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_bilinear_interp_instance_q15::numCols
    
+
    
+
    
+
    number of columns in the data table. 
    
+
+
    Definition at line 1808 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_bilinear_interp_instance_q15::pData
    
+
    
+
    
+
    points to the data table. 
    
+
+
    Definition at line 1809 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__bilinear__interp__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__bilinear__interp__instance__q31.html
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@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_bilinear_interp_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_bilinear_interp_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 bilinear interpolation function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numRows
    uint16_t numCols
    q31_t * pData
    
+
    Detailed Description
    
+
    Instance structure for the Q31 bilinear interpolation function. 
    
+
+
    Definition at line 1794 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_bilinear_interp_instance_q31::numRows
    
+
    
+
    
+
    number of rows in the data table. 
    
+
+
    Definition at line 1796 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_bilinear_interp_instance_q31::numCols
    
+
    
+
    
+
    number of columns in the data table. 
    
+
+
    Definition at line 1797 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_bilinear_interp_instance_q31::pData
    
+
    
+
    
+
    points to the data table. 
    
+
+
    Definition at line 1798 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__bilinear__interp__instance__q7.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__bilinear__interp__instance__q7.html
new file mode 100644
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+
+
+
+
+CMSIS DSP Software Library: arm_bilinear_interp_instance_q7 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_bilinear_interp_instance_q7 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 bilinear interpolation function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numRows
    uint16_t numCols
    q7_t * pData
    
+
    Detailed Description
    
+
    Instance structure for the Q15 bilinear interpolation function. 
    
+
+
    Definition at line 1816 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_bilinear_interp_instance_q7::numRows
    
+
    
+
    
+
    number of rows in the data table. 
    
+
+
    Definition at line 1818 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_bilinear_interp_instance_q7::numCols
    
+
    
+
    
+
    number of columns in the data table. 
    
+
+
    Definition at line 1819 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q7_t* arm_bilinear_interp_instance_q7::pData
    
+
    
+
    
+
    points to the data table. 
    
+
+
    Definition at line 1820 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__cas__df1__32x64__ins__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__cas__df1__32x64__ins__q31.html
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+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cas_df1_32x64_ins_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_biquad_cas_df1_32x64_ins_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the high precision Q31 Biquad cascade filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint8_t numStages
    q63_t * pState
    q31_t * pCoeffs
    uint8_t postShift
    
+
    Detailed Description
    
+
    Instance structure for the high precision Q31 Biquad cascade filter. 
    
+
    Examples: 
    
+
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    
+
    Definition at line 3539 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_biquad_cas_df1_32x64_ins_q31::numStages
    
+
    
+
    
+
    number of 2nd order stages in the filter. Overall order is 2*numStages. 
    
+
+
    Definition at line 3541 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q63_t* arm_biquad_cas_df1_32x64_ins_q31::pState
    
+
    
+
    
+
    points to the array of state coefficients. The array is of length 4*numStages. 
    
+
+
    Definition at line 3542 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_biquad_cas_df1_32x64_ins_q31::pCoeffs
    
+
    
+
    
+
    points to the array of coefficients. The array is of length 5*numStages. 
    
+
+
    Definition at line 3543 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_biquad_cas_df1_32x64_ins_q31::postShift
    
+
    
+
    
+
    additional shift, in bits, applied to each output sample. 
    
+
+
    Definition at line 3544 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__cascade__df2_t__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__cascade__df2_t__instance__f32.html
new file mode 100644
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+
+
+
+
+CMSIS DSP Software Library: arm_biquad_cascade_df2T_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_biquad_cascade_df2T_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point transposed direct form II Biquad cascade filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint8_t numStages
    float32_t * pState
    float32_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the floating-point transposed direct form II Biquad cascade filter. 
    
+
+
    Definition at line 3586 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_biquad_cascade_df2T_instance_f32::numStages
    
+
    
+
    
+
    number of 2nd order stages in the filter. Overall order is 2*numStages. 
    
+
+
    Definition at line 3588 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_biquad_cascade_df2T_instance_f32::pState
    
+
    
+
    
+
    points to the array of state coefficients. The array is of length 2*numStages. 
    
+
+
    Definition at line 3589 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_biquad_cascade_df2T_instance_f32::pCoeffs
    
+
    
+
    
+
    points to the array of coefficients. The array is of length 5*numStages. 
    
+
+
    Definition at line 3590 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__casd__df1__inst__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__casd__df1__inst__f32.html
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+
+
+
+
+CMSIS DSP Software Library: arm_biquad_casd_df1_inst_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_biquad_casd_df1_inst_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point Biquad cascade filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint32_t numStages
    float32_t * pState
    float32_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the floating-point Biquad cascade filter. 
    
+
+
    Definition at line 1195 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_biquad_casd_df1_inst_f32::numStages
    
+
    
+
    
+
    number of 2nd order stages in the filter. Overall order is 2*numStages. 
    
+
+
    Definition at line 1197 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_biquad_casd_df1_inst_f32::pState
    
+
    
+
    
+
    Points to the array of state coefficients. The array is of length 4*numStages. 
    
+
+
    Definition at line 1198 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_biquad_casd_df1_inst_f32::pCoeffs
    
+
    
+
    
+
    Points to the array of coefficients. The array is of length 5*numStages. 
    
+
+
    Definition at line 1199 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__casd__df1__inst__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__casd__df1__inst__q15.html
new file mode 100644
index 000000000..f0f77eb93
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+
+
+
+
+CMSIS DSP Software Library: arm_biquad_casd_df1_inst_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_biquad_casd_df1_inst_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 Biquad cascade filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    int8_t numStages
    q15_t * pState
    q15_t * pCoeffs
    int8_t postShift
    
+
    Detailed Description
    
+
    Instance structure for the Q15 Biquad cascade filter. 
    
+
+
    Definition at line 1170 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    int8_t arm_biquad_casd_df1_inst_q15::numStages
    
+
    
+
    
+
    number of 2nd order stages in the filter. Overall order is 2*numStages. 
    
+
+
    Definition at line 1172 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_biquad_casd_df1_inst_q15::pState
    
+
    
+
    
+
    Points to the array of state coefficients. The array is of length 4*numStages. 
    
+
+
    Definition at line 1173 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_biquad_casd_df1_inst_q15::pCoeffs
    
+
    
+
    
+
    Points to the array of coefficients. The array is of length 5*numStages. 
    
+
+
    Definition at line 1174 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    int8_t arm_biquad_casd_df1_inst_q15::postShift
    
+
    
+
    
+
    Additional shift, in bits, applied to each output sample. 
    
+
+
    Definition at line 1175 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__casd__df1__inst__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__casd__df1__inst__q31.html
new file mode 100644
index 000000000..2eb8acbcc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__biquad__casd__df1__inst__q31.html
@@ -0,0 +1,163 @@
+
+
+
+
+CMSIS DSP Software Library: arm_biquad_casd_df1_inst_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_biquad_casd_df1_inst_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 Biquad cascade filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint32_t numStages
    q31_t * pState
    q31_t * pCoeffs
    uint8_t postShift
    
+
    Detailed Description
    
+
    Instance structure for the Q31 Biquad cascade filter. 
    
+
    Examples: 
    
+
    arm_graphic_equalizer_example_q31.c.
    
+
    
+
    
+
    Definition at line 1183 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_biquad_casd_df1_inst_q31::numStages
    
+
    
+
    
+
    number of 2nd order stages in the filter. Overall order is 2*numStages. 
    
+
+
    Definition at line 1185 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_biquad_casd_df1_inst_q31::pState
    
+
    
+
    
+
    Points to the array of state coefficients. The array is of length 4*numStages. 
    
+
+
    Definition at line 1186 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_biquad_casd_df1_inst_q31::pCoeffs
    
+
    
+
    
+
    Points to the array of coefficients. The array is of length 5*numStages. 
    
+
+
    Definition at line 1187 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_biquad_casd_df1_inst_q31::postShift
    
+
    
+
    
+
    Additional shift, in bits, applied to each output sample. 
    
+
+
    Definition at line 1188 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__f32.html
new file mode 100644
index 000000000..eba95d4f9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__f32.html
@@ -0,0 +1,231 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cfft_radix4_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_cfft_radix4_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point CFFT/CIFFT function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t fftLen
    uint8_t ifftFlag
    uint8_t bitReverseFlag
    float32_t * pTwiddle
    uint16_t * pBitRevTable
    uint16_t twidCoefModifier
    uint16_t bitRevFactor
    float32_t onebyfftLen
    
+
    Detailed Description
    
+
    Instance structure for the floating-point CFFT/CIFFT function. 
    
+
    Examples: 
    
+
    arm_convolution_example_f32.c, and arm_fft_bin_example_f32.c.
    
+
    
+
    
+
    Definition at line 1919 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_f32::fftLen
    
+
    
+
    
+
    length of the FFT. 
    
+
+
    Definition at line 1921 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_cfft_radix4_instance_f32::ifftFlag
    
+
    
+
    
+
    flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. 
    
+
+
    Definition at line 1922 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_cfft_radix4_instance_f32::bitReverseFlag
    
+
    
+
    
+
    flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+
+
    Definition at line 1923 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_cfft_radix4_instance_f32::pTwiddle
    
+
    
+
    
+
    points to the twiddle factor table. 
    
+
+
    Definition at line 1924 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t* arm_cfft_radix4_instance_f32::pBitRevTable
    
+
    
+
    
+
    points to the bit reversal table. 
    
+
+
    Definition at line 1925 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_f32::twidCoefModifier
    
+
    
+
    
+
    twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+
+
    Definition at line 1926 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_f32::bitRevFactor
    
+
    
+
    
+
    bit reversal modifier that supports different size FFTs with the same bit reversal table. 
    
+
+
    Definition at line 1927 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_cfft_radix4_instance_f32::onebyfftLen
    
+
    
+
    
+
    value of 1/fftLen. 
    
+
+
    Definition at line 1928 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__q15.html
new file mode 100644
index 000000000..7604ba243
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__q15.html
@@ -0,0 +1,211 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cfft_radix4_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_cfft_radix4_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 CFFT/CIFFT function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t fftLen
    uint8_t ifftFlag
    uint8_t bitReverseFlag
    q15_t * pTwiddle
    uint16_t * pBitRevTable
    uint16_t twidCoefModifier
    uint16_t bitRevFactor
    
+
    Detailed Description
    
+
    Instance structure for the Q15 CFFT/CIFFT function. 
    
+
+
    Definition at line 1889 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_q15::fftLen
    
+
    
+
    
+
    length of the FFT. 
    
+
+
    Definition at line 1891 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_cfft_radix4_instance_q15::ifftFlag
    
+
    
+
    
+
    flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. 
    
+
+
    Definition at line 1892 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_cfft_radix4_instance_q15::bitReverseFlag
    
+
    
+
    
+
    flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+
+
    Definition at line 1893 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_cfft_radix4_instance_q15::pTwiddle
    
+
    
+
    
+
    points to the twiddle factor table. 
    
+
+
    Definition at line 1894 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t* arm_cfft_radix4_instance_q15::pBitRevTable
    
+
    
+
    
+
    points to the bit reversal table. 
    
+
+
    Definition at line 1895 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_q15::twidCoefModifier
    
+
    
+
    
+
    twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+
+
    Definition at line 1896 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_q15::bitRevFactor
    
+
    
+
    
+
    bit reversal modifier that supports different size FFTs with the same bit reversal table. 
    
+
+
    Definition at line 1897 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__q31.html
new file mode 100644
index 000000000..f8d1e7863
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__cfft__radix4__instance__q31.html
@@ -0,0 +1,211 @@
+
+
+
+
+CMSIS DSP Software Library: arm_cfft_radix4_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_cfft_radix4_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 CFFT/CIFFT function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t fftLen
    uint8_t ifftFlag
    uint8_t bitReverseFlag
    q31_t * pTwiddle
    uint16_t * pBitRevTable
    uint16_t twidCoefModifier
    uint16_t bitRevFactor
    
+
    Detailed Description
    
+
    Instance structure for the Q31 CFFT/CIFFT function. 
    
+
+
    Definition at line 1904 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_q31::fftLen
    
+
    
+
    
+
    length of the FFT. 
    
+
+
    Definition at line 1906 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_cfft_radix4_instance_q31::ifftFlag
    
+
    
+
    
+
    flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. 
    
+
+
    Definition at line 1907 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_cfft_radix4_instance_q31::bitReverseFlag
    
+
    
+
    
+
    flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. 
    
+
+
    Definition at line 1908 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_cfft_radix4_instance_q31::pTwiddle
    
+
    
+
    
+
    points to the twiddle factor table. 
    
+
+
    Definition at line 1909 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t* arm_cfft_radix4_instance_q31::pBitRevTable
    
+
    
+
    
+
    points to the bit reversal table. 
    
+
+
    Definition at line 1910 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_q31::twidCoefModifier
    
+
    
+
    
+
    twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+
+
    Definition at line 1911 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_cfft_radix4_instance_q31::bitRevFactor
    
+
    
+
    
+
    bit reversal modifier that supports different size FFTs with the same bit reversal table. 
    
+
+
    Definition at line 1912 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__f32.html
new file mode 100644
index 000000000..d3efbc52e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__f32.html
@@ -0,0 +1,211 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_dct4_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point DCT4/IDCT4 function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t N
    uint16_t Nby2
    float32_t normalize
    float32_t * pTwiddle
    float32_t * pCosFactor
    arm_rfft_instance_f32 * pRfft
    arm_cfft_radix4_instance_f32 * pCfft
    
+
    Detailed Description
    
+
    Instance structure for the floating-point DCT4/IDCT4 function. 
    
+
+
    Definition at line 2294 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_dct4_instance_f32::N
    
+
    
+
    
+
    length of the DCT4. 
    
+
+
    Definition at line 2296 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_dct4_instance_f32::Nby2
    
+
    
+
    
+
    half of the length of the DCT4. 
    
+
+
    Definition at line 2297 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_dct4_instance_f32::normalize
    
+
    
+
    
+
    normalizing factor. 
    
+
+
    Definition at line 2298 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_dct4_instance_f32::pTwiddle
    
+
    
+
    
+
    points to the twiddle factor table. 
    
+
+
    Definition at line 2299 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_dct4_instance_f32::pCosFactor
    
+
    
+
    
+
    points to the cosFactor table. 
    
+
+
    Definition at line 2300 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_rfft_instance_f32* arm_dct4_instance_f32::pRfft
    
+
    
+
    
+
    points to the real FFT instance. 
    
+
+
    Definition at line 2301 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_cfft_radix4_instance_f32* arm_dct4_instance_f32::pCfft
    
+
    
+
    
+
    points to the complex FFT instance. 
    
+
+
    Definition at line 2302 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__q15.html
new file mode 100644
index 000000000..426d11826
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__q15.html
@@ -0,0 +1,211 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_dct4_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 DCT4/IDCT4 function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t N
    uint16_t Nby2
    q15_t normalize
    q15_t * pTwiddle
    q15_t * pCosFactor
    arm_rfft_instance_q15 * pRfft
    arm_cfft_radix4_instance_q15 * pCfft
    
+
    Detailed Description
    
+
    Instance structure for the Q15 DCT4/IDCT4 function. 
    
+
+
    Definition at line 2388 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_dct4_instance_q15::N
    
+
    
+
    
+
    length of the DCT4. 
    
+
+
    Definition at line 2390 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_dct4_instance_q15::Nby2
    
+
    
+
    
+
    half of the length of the DCT4. 
    
+
+
    Definition at line 2391 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_dct4_instance_q15::normalize
    
+
    
+
    
+
    normalizing factor. 
    
+
+
    Definition at line 2392 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_dct4_instance_q15::pTwiddle
    
+
    
+
    
+
    points to the twiddle factor table. 
    
+
+
    Definition at line 2393 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_dct4_instance_q15::pCosFactor
    
+
    
+
    
+
    points to the cosFactor table. 
    
+
+
    Definition at line 2394 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_rfft_instance_q15* arm_dct4_instance_q15::pRfft
    
+
    
+
    
+
    points to the real FFT instance. 
    
+
+
    Definition at line 2395 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_cfft_radix4_instance_q15* arm_dct4_instance_q15::pCfft
    
+
    
+
    
+
    points to the complex FFT instance. 
    
+
+
    Definition at line 2396 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__q31.html
new file mode 100644
index 000000000..680576ee7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__dct4__instance__q31.html
@@ -0,0 +1,211 @@
+
+
+
+
+CMSIS DSP Software Library: arm_dct4_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_dct4_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 DCT4/IDCT4 function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t N
    uint16_t Nby2
    q31_t normalize
    q31_t * pTwiddle
    q31_t * pCosFactor
    arm_rfft_instance_q31 * pRfft
    arm_cfft_radix4_instance_q31 * pCfft
    
+
    Detailed Description
    
+
    Instance structure for the Q31 DCT4/IDCT4 function. 
    
+
+
    Definition at line 2341 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_dct4_instance_q31::N
    
+
    
+
    
+
    length of the DCT4. 
    
+
+
    Definition at line 2343 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_dct4_instance_q31::Nby2
    
+
    
+
    
+
    half of the length of the DCT4. 
    
+
+
    Definition at line 2344 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_dct4_instance_q31::normalize
    
+
    
+
    
+
    normalizing factor. 
    
+
+
    Definition at line 2345 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_dct4_instance_q31::pTwiddle
    
+
    
+
    
+
    points to the twiddle factor table. 
    
+
+
    Definition at line 2346 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_dct4_instance_q31::pCosFactor
    
+
    
+
    
+
    points to the cosFactor table. 
    
+
+
    Definition at line 2347 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_rfft_instance_q31* arm_dct4_instance_q31::pRfft
    
+
    
+
    
+
    points to the real FFT instance. 
    
+
+
    Definition at line 2348 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_cfft_radix4_instance_q31* arm_dct4_instance_q31::pCfft
    
+
    
+
    
+
    points to the complex FFT instance. 
    
+
+
    Definition at line 2349 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__f32.html
new file mode 100644
index 000000000..f77169ada
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__f32.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_decimate_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point FIR decimator.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint8_t M
    uint16_t numTaps
    float32_t * pCoeffs
    float32_t * pState
    
+
    Detailed Description
    
+
    Instance structure for the floating-point FIR decimator. 
    
+
+
    Definition at line 3239 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_fir_decimate_instance_f32::M
    
+
    
+
    
+
    decimation factor. 
    
+
+
    Definition at line 3241 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_decimate_instance_f32::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 3242 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_decimate_instance_f32::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 3243 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_decimate_instance_f32::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 3244 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__q15.html
new file mode 100644
index 000000000..1a9d0d6d9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__q15.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_decimate_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 FIR decimator.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint8_t M
    uint16_t numTaps
    q15_t * pCoeffs
    q15_t * pState
    
+
    Detailed Description
    
+
    Instance structure for the Q15 FIR decimator. 
    
+
+
    Definition at line 3214 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_fir_decimate_instance_q15::M
    
+
    
+
    
+
    decimation factor. 
    
+
+
    Definition at line 3216 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_decimate_instance_q15::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 3217 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_decimate_instance_q15::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 3218 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_decimate_instance_q15::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 3219 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:22 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__q31.html
new file mode 100644
index 000000000..60dfe5bec
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__decimate__instance__q31.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_decimate_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_decimate_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 FIR decimator.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint8_t M
    uint16_t numTaps
    q31_t * pCoeffs
    q31_t * pState
    
+
    Detailed Description
    
+
    Instance structure for the Q31 FIR decimator. 
    
+
+
    Definition at line 3226 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_fir_decimate_instance_q31::M
    
+
    
+
    
+
    decimation factor. 
    
+
+
    Definition at line 3228 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_decimate_instance_q31::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 3229 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_decimate_instance_q31::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 3230 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_decimate_instance_q31::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 3231 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__f32.html
new file mode 100644
index 000000000..ae49eef84
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__f32.html
@@ -0,0 +1,146 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point FIR filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    float32_t * pState
    float32_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the floating-point FIR filter. 
    
+
    Examples: 
    
+
    arm_fir_example_f32.c, and arm_signal_converge_example_f32.c.
    
+
    
+
    
+
    Definition at line 1006 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_instance_f32::numTaps
    
+
    
+
    
+
    number of filter coefficients in the filter. 
    
+
+
    Definition at line 1008 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_instance_f32::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 1009 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_instance_f32::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 1010 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q15.html
new file mode 100644
index 000000000..bd33eab79
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q15.html
@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 FIR filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    q15_t * pState
    q15_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the Q15 FIR filter. 
    
+
+
    Definition at line 986 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_instance_q15::numTaps
    
+
    
+
    
+
    number of filter coefficients in the filter. 
    
+
+
    Definition at line 988 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_instance_q15::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 989 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_instance_q15::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 990 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q31.html
new file mode 100644
index 000000000..3e6e20a8e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q31.html
@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 FIR filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    q31_t * pState
    q31_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the Q31 FIR filter. 
    
+
+
    Definition at line 996 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_instance_q31::numTaps
    
+
    
+
    
+
    number of filter coefficients in the filter. 
    
+
+
    Definition at line 998 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_instance_q31::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 999 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_instance_q31::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 1000 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q7.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q7.html
new file mode 100644
index 000000000..37e77a024
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__instance__q7.html
@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_instance_q7 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_instance_q7 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q7 FIR filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    q7_t * pState
    q7_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the Q7 FIR filter. 
    
+
+
    Definition at line 976 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_instance_q7::numTaps
    
+
    
+
    
+
    number of filter coefficients in the filter. 
    
+
+
    Definition at line 978 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q7_t* arm_fir_instance_q7::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 979 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q7_t* arm_fir_instance_q7::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 980 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__f32.html
new file mode 100644
index 000000000..3cbdb4768
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__f32.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_interpolate_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point FIR interpolator.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint8_t L
    uint16_t phaseLength
    float32_t * pCoeffs
    float32_t * pState
    
+
    Detailed Description
    
+
    Instance structure for the floating-point FIR interpolator. 
    
+
+
    Definition at line 3419 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_fir_interpolate_instance_f32::L
    
+
    
+
    
+
    upsample factor. 
    
+
+
    Definition at line 3421 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_interpolate_instance_f32::phaseLength
    
+
    
+
    
+
    length of each polyphase filter component. 
    
+
+
    Definition at line 3422 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_interpolate_instance_f32::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length L*phaseLength. 
    
+
+
    Definition at line 3423 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_interpolate_instance_f32::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length phaseLength+numTaps-1. 
    
+
+
    Definition at line 3424 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__q15.html
new file mode 100644
index 000000000..5ff68a783
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__q15.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_interpolate_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 FIR interpolator.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint8_t L
    uint16_t phaseLength
    q15_t * pCoeffs
    q15_t * pState
    
+
    Detailed Description
    
+
    Instance structure for the Q15 FIR interpolator. 
    
+
+
    Definition at line 3395 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_fir_interpolate_instance_q15::L
    
+
    
+
    
+
    upsample factor. 
    
+
+
    Definition at line 3397 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_interpolate_instance_q15::phaseLength
    
+
    
+
    
+
    length of each polyphase filter component. 
    
+
+
    Definition at line 3398 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_interpolate_instance_q15::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length L*phaseLength. 
    
+
+
    Definition at line 3399 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_interpolate_instance_q15::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length blockSize+phaseLength-1. 
    
+
+
    Definition at line 3400 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__q31.html
new file mode 100644
index 000000000..7c65829bd
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__interpolate__instance__q31.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_interpolate_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_interpolate_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 FIR interpolator.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint8_t L
    uint16_t phaseLength
    q31_t * pCoeffs
    q31_t * pState
    
+
    Detailed Description
    
+
    Instance structure for the Q31 FIR interpolator. 
    
+
+
    Definition at line 3407 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_fir_interpolate_instance_q31::L
    
+
    
+
    
+
    upsample factor. 
    
+
+
    Definition at line 3409 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_interpolate_instance_q31::phaseLength
    
+
    
+
    
+
    length of each polyphase filter component. 
    
+
+
    Definition at line 3410 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_interpolate_instance_q31::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length L*phaseLength. 
    
+
+
    Definition at line 3411 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_interpolate_instance_q31::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length blockSize+phaseLength-1. 
    
+
+
    Definition at line 3412 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__f32.html
new file mode 100644
index 000000000..0a4a838d8
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__f32.html
@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_lattice_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point FIR lattice filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numStages
    float32_t * pState
    float32_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the floating-point FIR lattice filter. 
    
+
+
    Definition at line 3653 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_lattice_instance_f32::numStages
    
+
    
+
    
+
    number of filter stages. 
    
+
+
    Definition at line 3655 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_lattice_instance_f32::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numStages. 
    
+
+
    Definition at line 3656 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_lattice_instance_f32::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numStages. 
    
+
+
    Definition at line 3657 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__q15.html
new file mode 100644
index 000000000..b98bfa6f9
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__q15.html
@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_lattice_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 FIR lattice filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numStages
    q15_t * pState
    q15_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the Q15 FIR lattice filter. 
    
+
+
    Definition at line 3631 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_lattice_instance_q15::numStages
    
+
    
+
    
+
    number of filter stages. 
    
+
+
    Definition at line 3633 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_lattice_instance_q15::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numStages. 
    
+
+
    Definition at line 3634 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_lattice_instance_q15::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numStages. 
    
+
+
    Definition at line 3635 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__q31.html
new file mode 100644
index 000000000..bbfdc9317
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__lattice__instance__q31.html
@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_lattice_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_lattice_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 FIR lattice filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numStages
    q31_t * pState
    q31_t * pCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the Q31 FIR lattice filter. 
    
+
+
    Definition at line 3642 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_lattice_instance_q31::numStages
    
+
    
+
    
+
    number of filter stages. 
    
+
+
    Definition at line 3644 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_lattice_instance_q31::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numStages. 
    
+
+
    Definition at line 3645 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_lattice_instance_q31::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numStages. 
    
+
+
    Definition at line 3646 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__f32.html
new file mode 100644
index 000000000..209ddd3eb
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__f32.html
@@ -0,0 +1,194 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_sparse_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point sparse FIR filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    uint16_t stateIndex
    float32_t * pState
    float32_t * pCoeffs
    uint16_t maxDelay
    int32_t * pTapDelay
    
+
    Detailed Description
    
+
    Instance structure for the floating-point sparse FIR filter. 
    
+
+
    Definition at line 4319 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_f32::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 4321 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_f32::stateIndex
    
+
    
+
    
+
    state buffer index. Points to the oldest sample in the state buffer. 
    
+
+
    Definition at line 4322 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_sparse_instance_f32::pState
    
+
    
+
    
+
    points to the state buffer array. The array is of length maxDelay+blockSize-1. 
    
+
+
    Definition at line 4323 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_fir_sparse_instance_f32::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 4324 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_f32::maxDelay
    
+
    
+
    
+
    maximum offset specified by the pTapDelay array. 
    
+
+
    Definition at line 4325 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    int32_t* arm_fir_sparse_instance_f32::pTapDelay
    
+
    
+
    
+
    points to the array of delay values. The array is of length numTaps. 
    
+
+
    Definition at line 4326 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q15.html
new file mode 100644
index 000000000..98cc50420
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q15.html
@@ -0,0 +1,194 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_sparse_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 sparse FIR filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    uint16_t stateIndex
    q15_t * pState
    q15_t * pCoeffs
    uint16_t maxDelay
    int32_t * pTapDelay
    
+
    Detailed Description
    
+
    Instance structure for the Q15 sparse FIR filter. 
    
+
+
    Definition at line 4347 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q15::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 4349 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q15::stateIndex
    
+
    
+
    
+
    state buffer index. Points to the oldest sample in the state buffer. 
    
+
+
    Definition at line 4350 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_sparse_instance_q15::pState
    
+
    
+
    
+
    points to the state buffer array. The array is of length maxDelay+blockSize-1. 
    
+
+
    Definition at line 4351 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_fir_sparse_instance_q15::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 4352 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q15::maxDelay
    
+
    
+
    
+
    maximum offset specified by the pTapDelay array. 
    
+
+
    Definition at line 4353 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    int32_t* arm_fir_sparse_instance_q15::pTapDelay
    
+
    
+
    
+
    points to the array of delay values. The array is of length numTaps. 
    
+
+
    Definition at line 4354 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q31.html
new file mode 100644
index 000000000..3071cb5c5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q31.html
@@ -0,0 +1,194 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_sparse_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 sparse FIR filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    uint16_t stateIndex
    q31_t * pState
    q31_t * pCoeffs
    uint16_t maxDelay
    int32_t * pTapDelay
    
+
    Detailed Description
    
+
    Instance structure for the Q31 sparse FIR filter. 
    
+
+
    Definition at line 4333 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q31::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 4335 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q31::stateIndex
    
+
    
+
    
+
    state buffer index. Points to the oldest sample in the state buffer. 
    
+
+
    Definition at line 4336 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_sparse_instance_q31::pState
    
+
    
+
    
+
    points to the state buffer array. The array is of length maxDelay+blockSize-1. 
    
+
+
    Definition at line 4337 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_fir_sparse_instance_q31::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 4338 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q31::maxDelay
    
+
    
+
    
+
    maximum offset specified by the pTapDelay array. 
    
+
+
    Definition at line 4339 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    int32_t* arm_fir_sparse_instance_q31::pTapDelay
    
+
    
+
    
+
    points to the array of delay values. The array is of length numTaps. 
    
+
+
    Definition at line 4340 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q7.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q7.html
new file mode 100644
index 000000000..6002906e6
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__fir__sparse__instance__q7.html
@@ -0,0 +1,194 @@
+
+
+
+
+CMSIS DSP Software Library: arm_fir_sparse_instance_q7 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_fir_sparse_instance_q7 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q7 sparse FIR filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    uint16_t stateIndex
    q7_t * pState
    q7_t * pCoeffs
    uint16_t maxDelay
    int32_t * pTapDelay
    
+
    Detailed Description
    
+
    Instance structure for the Q7 sparse FIR filter. 
    
+
+
    Definition at line 4361 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q7::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 4363 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q7::stateIndex
    
+
    
+
    
+
    state buffer index. Points to the oldest sample in the state buffer. 
    
+
+
    Definition at line 4364 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q7_t* arm_fir_sparse_instance_q7::pState
    
+
    
+
    
+
    points to the state buffer array. The array is of length maxDelay+blockSize-1. 
    
+
+
    Definition at line 4365 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q7_t* arm_fir_sparse_instance_q7::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 4366 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_fir_sparse_instance_q7::maxDelay
    
+
    
+
    
+
    maximum offset specified by the pTapDelay array. 
    
+
+
    Definition at line 4367 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    int32_t* arm_fir_sparse_instance_q7::pTapDelay
    
+
    
+
    
+
    points to the array of delay values. The array is of length numTaps. 
    
+
+
    Definition at line 4368 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__f32.html
new file mode 100644
index 000000000..0b4bbdfb2
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__f32.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_iir_lattice_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point IIR lattice filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numStages
    float32_t * pState
    float32_t * pkCoeffs
    float32_t * pvCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the floating-point IIR lattice filter. 
    
+
+
    Definition at line 3776 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_iir_lattice_instance_f32::numStages
    
+
    
+
    
+
    number of stages in the filter. 
    
+
+
    Definition at line 3778 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_iir_lattice_instance_f32::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numStages+blockSize. 
    
+
+
    Definition at line 3779 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_iir_lattice_instance_f32::pkCoeffs
    
+
    
+
    
+
    points to the reflection coefficient array. The array is of length numStages. 
    
+
+
    Definition at line 3780 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_iir_lattice_instance_f32::pvCoeffs
    
+
    
+
    
+
    points to the ladder coefficient array. The array is of length numStages+1. 
    
+
+
    Definition at line 3781 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__q15.html
new file mode 100644
index 000000000..8c1dfefa7
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__q15.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_iir_lattice_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 IIR lattice filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numStages
    q15_t * pState
    q15_t * pkCoeffs
    q15_t * pvCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the Q15 IIR lattice filter. 
    
+
+
    Definition at line 3754 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_iir_lattice_instance_q15::numStages
    
+
    
+
    
+
    number of stages in the filter. 
    
+
+
    Definition at line 3756 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_iir_lattice_instance_q15::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numStages+blockSize. 
    
+
+
    Definition at line 3757 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_iir_lattice_instance_q15::pkCoeffs
    
+
    
+
    
+
    points to the reflection coefficient array. The array is of length numStages. 
    
+
+
    Definition at line 3758 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_iir_lattice_instance_q15::pvCoeffs
    
+
    
+
    
+
    points to the ladder coefficient array. The array is of length numStages+1. 
    
+
+
    Definition at line 3759 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__q31.html
new file mode 100644
index 000000000..29ed0956c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__iir__lattice__instance__q31.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_iir_lattice_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_iir_lattice_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 IIR lattice filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numStages
    q31_t * pState
    q31_t * pkCoeffs
    q31_t * pvCoeffs
    
+
    Detailed Description
    
+
    Instance structure for the Q31 IIR lattice filter. 
    
+
+
    Definition at line 3765 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_iir_lattice_instance_q31::numStages
    
+
    
+
    
+
    number of stages in the filter. 
    
+
+
    Definition at line 3767 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_iir_lattice_instance_q31::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numStages+blockSize. 
    
+
+
    Definition at line 3768 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_iir_lattice_instance_q31::pkCoeffs
    
+
    
+
    
+
    points to the reflection coefficient array. The array is of length numStages. 
    
+
+
    Definition at line 3769 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_iir_lattice_instance_q31::pvCoeffs
    
+
    
+
    
+
    points to the ladder coefficient array. The array is of length numStages+1. 
    
+
+
    Definition at line 3770 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__linear__interp__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__linear__interp__instance__f32.html
new file mode 100644
index 000000000..6a7c4bafc
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__linear__interp__instance__f32.html
@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_linear_interp_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_linear_interp_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point Linear Interpolate function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint32_t nValues
    float32_t x1
    float32_t xSpacing
    float32_t * pYData
    
+
    Detailed Description
    
+
    Instance structure for the floating-point Linear Interpolate function. 
    
+
    Examples: 
    
+
    arm_linear_interp_example_f32.c.
    
+
    
+
    
+
    Definition at line 1771 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_linear_interp_instance_f32::nValues
    
+
    
+
    
+
+
    Definition at line 1773 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_linear_interp_instance_f32::x1
    
+
    
+
    
+
+
    Definition at line 1774 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_linear_interp_instance_f32::xSpacing
    
+
    
+
    
+
+
    Definition at line 1775 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_linear_interp_instance_f32::pYData
    
+
    
+
    
+
    pointer to the table of Y values 
    
+
+
    Definition at line 1776 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__instance__f32.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,160 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_lms_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point LMS filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    float32_t * pState
    float32_t * pCoeffs
    float32_t mu
    
+
    Detailed Description
    
+
    Instance structure for the floating-point LMS filter. 
    
+
+
    Definition at line 3894 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_lms_instance_f32::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 3896 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_lms_instance_f32::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 3897 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_lms_instance_f32::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 3898 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_lms_instance_f32::mu
    
+
    
+
    
+
    step size that controls filter coefficient updates. 
    
+
+
    Definition at line 3899 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__instance__q15.html
new file mode 100644
index 000000000..d9f5e32b1
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__instance__q15.html
@@ -0,0 +1,177 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_lms_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 LMS filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    q15_t * pState
    q15_t * pCoeffs
    q15_t mu
    uint32_t postShift
    
+
    Detailed Description
    
+
    Instance structure for the Q15 LMS filter. 
    
+
+
    Definition at line 3944 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_lms_instance_q15::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 3946 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_lms_instance_q15::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 3947 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_lms_instance_q15::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 3948 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_lms_instance_q15::mu
    
+
    
+
    
+
    step size that controls filter coefficient updates. 
    
+
+
    Definition at line 3949 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_lms_instance_q15::postShift
    
+
    
+
    
+
    bit shift applied to coefficients. 
    
+
+
    Definition at line 3950 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__instance__q31.html
new file mode 100644
index 000000000..0bddeb327
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__instance__q31.html
@@ -0,0 +1,177 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_lms_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 LMS filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    q31_t * pState
    q31_t * pCoeffs
    q31_t mu
    uint32_t postShift
    
+
    Detailed Description
    
+
    Instance structure for the Q31 LMS filter. 
    
+
+
    Definition at line 3999 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_lms_instance_q31::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 4001 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_lms_instance_q31::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 4002 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_lms_instance_q31::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 4003 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_lms_instance_q31::mu
    
+
    
+
    
+
    step size that controls filter coefficient updates. 
    
+
+
    Definition at line 4004 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_lms_instance_q31::postShift
    
+
    
+
    
+
    bit shift applied to coefficients. 
    
+
+
    Definition at line 4005 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__f32.html
new file mode 100644
index 000000000..b017ecdb0
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__f32.html
@@ -0,0 +1,197 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_lms_norm_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point normalized LMS filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    float32_t * pState
    float32_t * pCoeffs
    float32_t mu
    float32_t energy
    float32_t x0
    
+
    Detailed Description
    
+
    Instance structure for the floating-point normalized LMS filter. 
    
+
    Examples: 
    
+
    arm_signal_converge_example_f32.c.
    
+
    
+
    
+
    Definition at line 4053 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_lms_norm_instance_f32::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 4055 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_lms_norm_instance_f32::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 4056 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_lms_norm_instance_f32::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 4057 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_lms_norm_instance_f32::mu
    
+
    
+
    
+
    step size that control filter coefficient updates. 
    
+
+
    Definition at line 4058 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_lms_norm_instance_f32::energy
    
+
    
+
    
+
    saves previous frame energy. 
    
+
+
    Definition at line 4059 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_lms_norm_instance_f32::x0
    
+
    
+
    
+
    saves previous input sample. 
    
+
+
    Definition at line 4060 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__q15.html
new file mode 100644
index 000000000..da6419f54
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__q15.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_lms_norm_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 normalized LMS filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    q15_t * pState
    q15_t * pCoeffs
    q15_t mu
    uint8_t postShift
    q15_t * recipTable
    q15_t energy
    q15_t x0
    
+
    Detailed Description
    
+
    Instance structure for the Q15 normalized LMS filter. 
    
+
+
    Definition at line 4161 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_lms_norm_instance_q15::numTaps
    
+
    
+
    
+
    Number of coefficients in the filter. 
    
+
+
    Definition at line 4163 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_lms_norm_instance_q15::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 4164 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_lms_norm_instance_q15::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 4165 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_lms_norm_instance_q15::mu
    
+
    
+
    
+
    step size that controls filter coefficient updates. 
    
+
+
    Definition at line 4166 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_lms_norm_instance_q15::postShift
    
+
    
+
    
+
    bit shift applied to coefficients. 
    
+
+
    Definition at line 4167 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_lms_norm_instance_q15::recipTable
    
+
    
+
    
+
    Points to the reciprocal initial value table. 
    
+
+
    Definition at line 4168 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_lms_norm_instance_q15::energy
    
+
    
+
    
+
    saves previous frame energy. 
    
+
+
    Definition at line 4169 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_lms_norm_instance_q15::x0
    
+
    
+
    
+
    saves previous input sample. 
    
+
+
    Definition at line 4170 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__q31.html
new file mode 100644
index 000000000..1f12878b5
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__lms__norm__instance__q31.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: arm_lms_norm_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_lms_norm_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 normalized LMS filter.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint16_t numTaps
    q31_t * pState
    q31_t * pCoeffs
    q31_t mu
    uint8_t postShift
    q31_t * recipTable
    q31_t energy
    q31_t x0
    
+
    Detailed Description
    
+
    Instance structure for the Q31 normalized LMS filter. 
    
+
+
    Definition at line 4105 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_lms_norm_instance_q31::numTaps
    
+
    
+
    
+
    number of coefficients in the filter. 
    
+
+
    Definition at line 4107 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_lms_norm_instance_q31::pState
    
+
    
+
    
+
    points to the state variable array. The array is of length numTaps+blockSize-1. 
    
+
+
    Definition at line 4108 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_lms_norm_instance_q31::pCoeffs
    
+
    
+
    
+
    points to the coefficient array. The array is of length numTaps. 
    
+
+
    Definition at line 4109 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_lms_norm_instance_q31::mu
    
+
    
+
    
+
    step size that controls filter coefficient updates. 
    
+
+
    Definition at line 4110 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_lms_norm_instance_q31::postShift
    
+
    
+
    
+
    bit shift applied to coefficients. 
    
+
+
    Definition at line 4111 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_lms_norm_instance_q31::recipTable
    
+
    
+
    
+
    points to the reciprocal initial value table. 
    
+
+
    Definition at line 4112 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_lms_norm_instance_q31::energy
    
+
    
+
    
+
    saves previous frame energy. 
    
+
+
    Definition at line 4113 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_lms_norm_instance_q31::x0
    
+
    
+
    
+
    saves previous input sample. 
    
+
+
    Definition at line 4114 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__f32.html
new file mode 100644
index 000000000..ed0056058
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__f32.html
@@ -0,0 +1,146 @@
+
+
+
+
+CMSIS DSP Software Library: arm_matrix_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_matrix_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point matrix structure.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numRows
    uint16_t numCols
    float32_t * pData
    
+
    Detailed Description
    
+
    Instance structure for the floating-point matrix structure. 
    
+
    Examples: 
    
+
    arm_class_marks_example_f32.c, and arm_matrix_example_f32.c.
    
+
    
+
    
+
    Definition at line 1337 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_matrix_instance_f32::numRows
    
+
    
+
    
+
    number of rows of the matrix. 
    
+
+
    Definition at line 1339 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_matrix_instance_f32::numCols
    
+
    
+
    
+
    number of columns of the matrix. 
    
+
+
    Definition at line 1340 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_matrix_instance_f32::pData
    
+
    
+
    
+
    points to the data of the matrix. 
    
+
+
    Definition at line 1341 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__q15.html
new file mode 100644
index 000000000..ad220397d
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__q15.html
@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_matrix_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_matrix_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 matrix structure.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numRows
    uint16_t numCols
    q15_t * pData
    
+
    Detailed Description
    
+
    Instance structure for the Q15 matrix structure. 
    
+
+
    Definition at line 1348 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_matrix_instance_q15::numRows
    
+
    
+
    
+
    number of rows of the matrix. 
    
+
+
    Definition at line 1350 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_matrix_instance_q15::numCols
    
+
    
+
    
+
    number of columns of the matrix. 
    
+
+
    Definition at line 1351 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_matrix_instance_q15::pData
    
+
    
+
    
+
    points to the data of the matrix. 
    
+
+
    Definition at line 1352 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__q31.html
new file mode 100644
index 000000000..655ce0b4e
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__matrix__instance__q31.html
@@ -0,0 +1,143 @@
+
+
+
+
+CMSIS DSP Software Library: arm_matrix_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_matrix_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 matrix structure.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
    
+Data Fields
    uint16_t numRows
    uint16_t numCols
    q31_t * pData
    
+
    Detailed Description
    
+
    Instance structure for the Q31 matrix structure. 
    
+
+
    Definition at line 1360 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_matrix_instance_q31::numRows
    
+
    
+
    
+
    number of rows of the matrix. 
    
+
+
    Definition at line 1362 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_matrix_instance_q31::numCols
    
+
    
+
    
+
    number of columns of the matrix. 
    
+
+
    Definition at line 1363 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_matrix_instance_q31::pData
    
+
    
+
    
+
    points to the data of the matrix. 
    
+
+
    Definition at line 1364 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__f32.html
new file mode 100644
index 000000000..9dfc2579a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__f32.html
@@ -0,0 +1,211 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_pid_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point PID Control.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    float32_t A0
    float32_t A1
    float32_t A2
    float32_t state [3]
    float32_t Kp
    float32_t Ki
    float32_t Kd
    
+
    Detailed Description
    
+
    Instance structure for the floating-point PID Control. 
    
+
+
    Definition at line 1697 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_pid_instance_f32::A0
    
+
    
+
    
+
    The derived gain, A0 = Kp + Ki + Kd . 
    
+
+
    Definition at line 1699 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_pid_instance_f32::A1
    
+
    
+
    
+
    The derived gain, A1 = -Kp - 2Kd. 
    
+
+
    Definition at line 1700 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_pid_instance_f32::A2
    
+
    
+
    
+
    The derived gain, A2 = Kd . 
    
+
+
    Definition at line 1701 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_pid_instance_f32::state[3]
    
+
    
+
    
+
    The state array of length 3. 
    
+
+
    Definition at line 1702 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_pid_instance_f32::Kp
    
+
    
+
    
+
    The proportional gain. 
    
+
+
    Definition at line 1703 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_pid_instance_f32::Ki
    
+
    
+
    
+
    The integral gain. 
    
+
+
    Definition at line 1704 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t arm_pid_instance_f32::Kd
    
+
    
+
    
+
    The derivative gain. 
    
+
+
    Definition at line 1705 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__q15.html
new file mode 100644
index 000000000..a39c90993
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__q15.html
@@ -0,0 +1,194 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_pid_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 PID Control.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
    
+Data Fields
    q15_t A0
    q31_t A1
    q15_t state [3]
    q15_t Kp
    q15_t Ki
    q15_t Kd
    
+
    Detailed Description
    
+
    Instance structure for the Q15 PID Control. 
    
+
+
    Definition at line 1664 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_pid_instance_q15::A0
    
+
    
+
    
+
    The derived gain, A0 = Kp + Ki + Kd . 
    
+
+
    Definition at line 1666 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_pid_instance_q15::A1
    
+
    
+
    
+
    The derived gain A1 = -Kp - 2Kd | Kd. 
    
+
+
    Definition at line 1671 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_pid_instance_q15::state[3]
    
+
    
+
    
+
    The state array of length 3. 
    
+
+
    Definition at line 1673 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_pid_instance_q15::Kp
    
+
    
+
    
+
    The proportional gain. 
    
+
+
    Definition at line 1674 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_pid_instance_q15::Ki
    
+
    
+
    
+
    The integral gain. 
    
+
+
    Definition at line 1675 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t arm_pid_instance_q15::Kd
    
+
    
+
    
+
    The derivative gain. 
    
+
+
    Definition at line 1676 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__q31.html
new file mode 100644
index 000000000..ee06a18ca
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__pid__instance__q31.html
@@ -0,0 +1,211 @@
+
+
+
+
+CMSIS DSP Software Library: arm_pid_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_pid_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 PID Control.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    q31_t A0
    q31_t A1
    q31_t A2
    q31_t state [3]
    q31_t Kp
    q31_t Ki
    q31_t Kd
    
+
    Detailed Description
    
+
    Instance structure for the Q31 PID Control. 
    
+
+
    Definition at line 1682 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_pid_instance_q31::A0
    
+
    
+
    
+
    The derived gain, A0 = Kp + Ki + Kd . 
    
+
+
    Definition at line 1684 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_pid_instance_q31::A1
    
+
    
+
    
+
    The derived gain, A1 = -Kp - 2Kd. 
    
+
+
    Definition at line 1685 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_pid_instance_q31::A2
    
+
    
+
    
+
    The derived gain, A2 = Kd . 
    
+
+
    Definition at line 1686 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_pid_instance_q31::state[3]
    
+
    
+
    
+
    The state array of length 3. 
    
+
+
    Definition at line 1687 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_pid_instance_q31::Kp
    
+
    
+
    
+
    The proportional gain. 
    
+
+
    Definition at line 1688 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_pid_instance_q31::Ki
    
+
    
+
    
+
    The integral gain. 
    
+
+
    Definition at line 1689 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t arm_pid_instance_q31::Kd
    
+
    
+
    
+
    The derivative gain. 
    
+
+
    Definition at line 1690 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__f32.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__f32.html
new file mode 100644
index 000000000..852ee354c
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__f32.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_instance_f32 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_rfft_instance_f32 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the floating-point RFFT/RIFFT function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint32_t fftLenReal
    uint16_t fftLenBy2
    uint8_t ifftFlagR
    uint8_t bitReverseFlagR
    uint32_t twidCoefRModifier
    float32_t * pTwiddleAReal
    float32_t * pTwiddleBReal
    arm_cfft_radix4_instance_f32 * pCfft
    
+
    Detailed Description
    
+
    Instance structure for the floating-point RFFT/RIFFT function. 
    
+
+
    Definition at line 2188 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_rfft_instance_f32::fftLenReal
    
+
    
+
    
+
    length of the real FFT. 
    
+
+
    Definition at line 2190 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint16_t arm_rfft_instance_f32::fftLenBy2
    
+
    
+
    
+
    length of the complex FFT. 
    
+
+
    Definition at line 2191 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_rfft_instance_f32::ifftFlagR
    
+
    
+
    
+
    flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. 
    
+
+
    Definition at line 2192 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_rfft_instance_f32::bitReverseFlagR
    
+
    
+
    
+
    flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. 
    
+
+
    Definition at line 2193 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_rfft_instance_f32::twidCoefRModifier
    
+
    
+
    
+
    twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+
+
    Definition at line 2194 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_rfft_instance_f32::pTwiddleAReal
    
+
    
+
    
+
    points to the real twiddle factor table. 
    
+
+
    Definition at line 2195 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    float32_t* arm_rfft_instance_f32::pTwiddleBReal
    
+
    
+
    
+
    points to the imag twiddle factor table. 
    
+
+
    Definition at line 2196 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_cfft_radix4_instance_f32* arm_rfft_instance_f32::pCfft
    
+
    
+
    
+
    points to the complex FFT instance. 
    
+
+
    Definition at line 2197 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__q15.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__q15.html
new file mode 100644
index 000000000..7f5a1b2ed
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__q15.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_instance_q15 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_rfft_instance_q15 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q15 RFFT/RIFFT function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint32_t fftLenReal
    uint32_t fftLenBy2
    uint8_t ifftFlagR
    uint8_t bitReverseFlagR
    uint32_t twidCoefRModifier
    q15_t * pTwiddleAReal
    q15_t * pTwiddleBReal
    arm_cfft_radix4_instance_q15 * pCfft
    
+
    Detailed Description
    
+
    Instance structure for the Q15 RFFT/RIFFT function. 
    
+
+
    Definition at line 2156 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_rfft_instance_q15::fftLenReal
    
+
    
+
    
+
    length of the real FFT. 
    
+
+
    Definition at line 2158 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_rfft_instance_q15::fftLenBy2
    
+
    
+
    
+
    length of the complex FFT. 
    
+
+
    Definition at line 2159 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_rfft_instance_q15::ifftFlagR
    
+
    
+
    
+
    flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. 
    
+
+
    Definition at line 2160 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_rfft_instance_q15::bitReverseFlagR
    
+
    
+
    
+
    flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. 
    
+
+
    Definition at line 2161 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_rfft_instance_q15::twidCoefRModifier
    
+
    
+
    
+
    twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+
+
    Definition at line 2162 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_rfft_instance_q15::pTwiddleAReal
    
+
    
+
    
+
    points to the real twiddle factor table. 
    
+
+
    Definition at line 2163 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q15_t* arm_rfft_instance_q15::pTwiddleBReal
    
+
    
+
    
+
    points to the imag twiddle factor table. 
    
+
+
    Definition at line 2164 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_cfft_radix4_instance_q15* arm_rfft_instance_q15::pCfft
    
+
    
+
    
+
    points to the complex FFT instance. 
    
+
+
    Definition at line 2165 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__q31.html b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__q31.html
new file mode 100644
index 000000000..50d6ce98a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/structarm__rfft__instance__q31.html
@@ -0,0 +1,228 @@
+
+
+
+
+CMSIS DSP Software Library: arm_rfft_instance_q31 Struct Reference
+
+
+
+
+
+
+
+
+
+
    
+  
    
+Data Fields  
    
+  
    
+
    arm_rfft_instance_q31 Struct Reference
      
    
+
    
+
    
+
+
    Instance structure for the Q31 RFFT/RIFFT function.  
+More...
    
+
+
    #include <arm_math.h>
    
+
+
+
+
+
+
+
+
+
+
+
    
+Data Fields
    uint32_t fftLenReal
    uint32_t fftLenBy2
    uint8_t ifftFlagR
    uint8_t bitReverseFlagR
    uint32_t twidCoefRModifier
    q31_t * pTwiddleAReal
    q31_t * pTwiddleBReal
    arm_cfft_radix4_instance_q31 * pCfft
    
+
    Detailed Description
    
+
    Instance structure for the Q31 RFFT/RIFFT function. 
    
+
+
    Definition at line 2172 of file arm_math.h.
    
+
    Field Documentation
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_rfft_instance_q31::fftLenReal
    
+
    
+
    
+
    length of the real FFT. 
    
+
+
    Definition at line 2174 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_rfft_instance_q31::fftLenBy2
    
+
    
+
    
+
    length of the complex FFT. 
    
+
+
    Definition at line 2175 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_rfft_instance_q31::ifftFlagR
    
+
    
+
    
+
    flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. 
    
+
+
    Definition at line 2176 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint8_t arm_rfft_instance_q31::bitReverseFlagR
    
+
    
+
    
+
    flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. 
    
+
+
    Definition at line 2177 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    uint32_t arm_rfft_instance_q31::twidCoefRModifier
    
+
    
+
    
+
    twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. 
    
+
+
    Definition at line 2178 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_rfft_instance_q31::pTwiddleAReal
    
+
    
+
    
+
    points to the real twiddle factor table. 
    
+
+
    Definition at line 2179 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    q31_t* arm_rfft_instance_q31::pTwiddleBReal
    
+
    
+
    
+
    points to the imag twiddle factor table. 
    
+
+
    Definition at line 2180 of file arm_math.h.
    
+
+
    
+
    
+
+
    
+
    
+      
+        
+          
+        
+      
    arm_cfft_radix4_instance_q31* arm_rfft_instance_q31::pCfft
    
+
    
+
    
+
    points to the complex FFT instance. 
    
+
+
    Definition at line 2181 of file arm_math.h.
    
+
+
    
+
    
+
    The documentation for this struct was generated from the following file:
+
    
+
+
+
+
+
    
+
+
    
+
+
    Generated on Fri Jul 15 2011 13:16:23 for CMSIS DSP Software Library by 
+
+doxygen 1.7.2 
    
+
+
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tab_a.png b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tab_a.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d99ef23fed78c7683f0b5aa803d937060d288c4
GIT binary patch
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q?a6($SGQTzz1#QBzr0NMKf^0WCX-0bi?u-G89ZJ6T-G@yGywp8?ljB*

literal 0
HcmV?d00001

diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tab_b.png b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tab_b.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2c3d2be3c7e518fbca6bb30f571882e72fc506d
GIT binary patch
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zY<0Qbr;u&AtXD{o@41wH=7&d8=2Z_{M9Tsa=g*t*@A3H$UOlxZk7?f6RUWpx>Fc_L
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literal 0
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diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tab_s.png b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tab_s.png
new file mode 100644
index 0000000000000000000000000000000000000000..978943ac807718de0e69e5a585a8f0a1e5999285
GIT binary patch
literal 189
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zq^cq0=~}Z;b(!Zvb5Z%sTRFKGlz1=qOFg;myyu?$r`wZb^irPsN1a)6)TwB0r+)wb
zPL25;=adu89?fTK`qDR>$D*)b_WOmdKI;Vst02j(hg8%>k

literal 0
HcmV?d00001

diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tabs.css b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tabs.css
new file mode 100644
index 000000000..21920562a
--- /dev/null
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Documentation/DSP_Lib/html/tabs.css
@@ -0,0 +1,59 @@
+.tabs, .tabs2, .tabs3 {
+    background-image: url('tab_b.png');
+    width: 100%;
+    z-index: 101;
+    font-size: 13px;
+}
+
+.tabs2 {
+    font-size: 10px;
+}
+.tabs3 {
+    font-size: 9px;
+}
+
+.tablist {
+    margin: 0;
+    padding: 0;
+    display: table;
+}
+
+.tablist li {
+    float: left;
+    display: table-cell;
+    background-image: url('tab_b.png');
+    line-height: 36px;
+    list-style: none;
+}
+
+.tablist a {
+    display: block;
+    padding: 0 20px;
+    font-weight: bold;
+    background-image:url('tab_s.png');
+    background-repeat:no-repeat;
+    background-position:right;
+    color: #283A5D;
+    text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+    text-decoration: none;
+    outline: none;
+}
+
+.tabs3 .tablist a {
+    padding: 0 10px;
+}
+
+.tablist a:hover {
+    background-image: url('tab_h.png');
+    background-repeat:repeat-x;
+    color: #fff;
+    text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+    text-decoration: none;
+}
+
+.tablist li.current a {
+    background-image: url('tab_a.png');
+    background-repeat:repeat-x;
+    color: #fff;
+    text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+}
diff --git a/flight/PiOS/Common/Libraries/CMSIS2/Include/arm_math.h b/flight/PiOS/Common/Libraries/CMSIS2/Include/arm_math.h
index ffa03b6fd..e28f9fc0d 100644
--- a/flight/PiOS/Common/Libraries/CMSIS2/Include/arm_math.h
+++ b/flight/PiOS/Common/Libraries/CMSIS2/Include/arm_math.h
@@ -4819,10 +4819,11 @@ extern "C"
 	acc += (q31_t) S->A2  *  S->state[1] ;
 
 	#else
-
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstrict-aliasing"
     /* acc += A1 * x[n-1] + A2 * x[n-2]  */
     acc = __SMLALD(S->A1, (q31_t)__SIMD32(S->state), acc);
-
+#pragma GCC diagnostic push
 	#endif
 
     /* acc += y[n-1] */

From 79a949e1cabbcfed326ee077b7bdf28698959ddc Mon Sep 17 00:00:00 2001
From: Oleg Semyonov 
Date: Sun, 30 Dec 2012 15:17:37 +0200
Subject: [PATCH 04/36] [OP-775] Fix Makefile variables (CDEFS, EXTRAINCDIRS,
 EXTRA_LIBDIRS, EXTRA_LIBS, PYTHON)

---
 flight/Bootloaders/BootloaderUpdater/Makefile | 8 ++++----
 flight/Bootloaders/CopterControl/Makefile     | 8 ++++----
 flight/Bootloaders/OSD/Makefile               | 6 +++---
 flight/Bootloaders/PipXtreme/Makefile         | 8 ++++----
 flight/Bootloaders/RevoMini/Makefile          | 6 +++---
 flight/Bootloaders/Revolution/Makefile        | 6 +++---
 flight/CopterControl/Makefile                 | 8 ++++----
 flight/OSD/Makefile                           | 6 +++---
 flight/PipXtreme/Makefile                     | 8 ++++----
 flight/RevoMini/Makefile                      | 6 +++---
 flight/Revolution/Makefile                    | 6 +++---
 flight/SimPosix/Makefile                      | 6 +++---
 12 files changed, 41 insertions(+), 41 deletions(-)

diff --git a/flight/Bootloaders/BootloaderUpdater/Makefile b/flight/Bootloaders/BootloaderUpdater/Makefile
index 62fc2c056..f6ff44997 100644
--- a/flight/Bootloaders/BootloaderUpdater/Makefile
+++ b/flight/Bootloaders/BootloaderUpdater/Makefile
@@ -146,7 +146,7 @@ ASRCARM =
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.
-EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEM)
 EXTRAINCDIRS  += $(OPSYSTEMINC)
 EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
@@ -174,7 +174,7 @@ EXTRAINCDIRS  += $(HWDEFSINC)
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS = 
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -182,7 +182,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32F10X)
@@ -209,7 +209,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or 
 # -U options for C here.
-CDEFS = -DSTM32F10X_$(MODEL)
+CDEFS += -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 ifeq ($(ENABLE_DEBUG_PINS), YES)
diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile
index 8c22d37a7..f0de64455 100644
--- a/flight/Bootloaders/CopterControl/Makefile
+++ b/flight/Bootloaders/CopterControl/Makefile
@@ -180,7 +180,7 @@ ASRCARM =
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.
-EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEM)
 EXTRAINCDIRS  += $(OPSYSTEMINC)
 EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
@@ -206,7 +206,7 @@ EXTRAINCDIRS  += $(HWDEFSINC)
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS = 
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -214,7 +214,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32F10X)
@@ -241,7 +241,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or 
 # -U options for C here.
-CDEFS = -DSTM32F10X_$(MODEL)
+CDEFS += -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 ifeq ($(ENABLE_DEBUG_PINS), YES)
diff --git a/flight/Bootloaders/OSD/Makefile b/flight/Bootloaders/OSD/Makefile
index 3742a7f24..3926779b8 100644
--- a/flight/Bootloaders/OSD/Makefile
+++ b/flight/Bootloaders/OSD/Makefile
@@ -114,7 +114,7 @@ EXTRAINCDIRS  += $(HWDEFSINC)
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS = 
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -122,7 +122,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32FXX)
@@ -149,7 +149,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or 
 # -U options for C here.
-CDEFS = -DSTM32F4XX
+CDEFS += -DSTM32F4XX
 CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
 CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
 CDEFS += -DUSE_STDPERIPH_DRIVER
diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile
index 5747a0511..c29d2abc8 100644
--- a/flight/Bootloaders/PipXtreme/Makefile
+++ b/flight/Bootloaders/PipXtreme/Makefile
@@ -180,7 +180,7 @@ ASRCARM =
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.
-EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEM)
 EXTRAINCDIRS  += $(OPSYSTEMINC)
 EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
@@ -206,7 +206,7 @@ EXTRAINCDIRS  += $(HWDEFSINC)
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS = 
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -214,7 +214,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32F10X)
@@ -241,7 +241,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or 
 # -U options for C here.
-CDEFS = -DSTM32F10X_$(MODEL)
+CDEFS += -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 ifeq ($(ENABLE_DEBUG_PINS), YES)
diff --git a/flight/Bootloaders/RevoMini/Makefile b/flight/Bootloaders/RevoMini/Makefile
index d708a6c82..b488e7b91 100644
--- a/flight/Bootloaders/RevoMini/Makefile
+++ b/flight/Bootloaders/RevoMini/Makefile
@@ -114,7 +114,7 @@ EXTRAINCDIRS  += $(HWDEFSINC)
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS = 
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -122,7 +122,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32FXX)
@@ -149,7 +149,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or 
 # -U options for C here.
-CDEFS = -DSTM32F4XX
+CDEFS += -DSTM32F4XX
 CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
 CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
 CDEFS += -DUSE_STDPERIPH_DRIVER
diff --git a/flight/Bootloaders/Revolution/Makefile b/flight/Bootloaders/Revolution/Makefile
index d708a6c82..b488e7b91 100644
--- a/flight/Bootloaders/Revolution/Makefile
+++ b/flight/Bootloaders/Revolution/Makefile
@@ -114,7 +114,7 @@ EXTRAINCDIRS  += $(HWDEFSINC)
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS = 
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -122,7 +122,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32FXX)
@@ -149,7 +149,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or 
 # -U options for C here.
-CDEFS = -DSTM32F4XX
+CDEFS += -DSTM32F4XX
 CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
 CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
 CDEFS += -DUSE_STDPERIPH_DRIVER
diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 584210077..6a84d5426 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -371,7 +371,7 @@ ASRCARM =
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.
-EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEM)
 EXTRAINCDIRS  += $(OPSYSTEMINC)
 EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
@@ -404,7 +404,7 @@ EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/i
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -412,7 +412,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32F10X)
@@ -439,7 +439,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or
 # -U options for C here.
-CDEFS = -DSTM32F10X_$(MODEL)
+CDEFS += -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 ifeq ($(ENABLE_DEBUG_PINS), YES)
diff --git a/flight/OSD/Makefile b/flight/OSD/Makefile
index bac6235c6..7d1d24a52 100644
--- a/flight/OSD/Makefile
+++ b/flight/OSD/Makefile
@@ -255,7 +255,7 @@ ASRCARM =
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.
-EXTRAINCDIRS  +=  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEM)
 EXTRAINCDIRS  += $(OPSYSTEMINC)
 EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
@@ -283,7 +283,7 @@ EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/i
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -291,7 +291,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile
index e7d53b06c..80d58cdf4 100644
--- a/flight/PipXtreme/Makefile
+++ b/flight/PipXtreme/Makefile
@@ -268,7 +268,7 @@ ASRCARM =
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.
-EXTRAINCDIRS  =  $(OPSYSTEM)
+EXTRAINCDIRS  += $(OPSYSTEM)
 EXTRAINCDIRS  += $(OPSYSTEMINC)
 EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
@@ -301,7 +301,7 @@ EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/i
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -309,7 +309,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32F10X)
@@ -336,7 +336,7 @@ DEBUGF = dwarf-2
 
 # Place project-specific -D (define) and/or
 # -U options for C here.
-CDEFS = -DSTM32F10X_$(MODEL)
+CDEFS += -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 ifeq ($(ENABLE_DEBUG_PINS), YES)
diff --git a/flight/RevoMini/Makefile b/flight/RevoMini/Makefile
index bd2fec0a9..27505c190 100644
--- a/flight/RevoMini/Makefile
+++ b/flight/RevoMini/Makefile
@@ -253,7 +253,7 @@ EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/in
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -261,7 +261,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
@@ -387,7 +387,7 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-PYHON   = python
+PYTHON  = python
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile
index 12c8394ef..f060b33c5 100644
--- a/flight/Revolution/Makefile
+++ b/flight/Revolution/Makefile
@@ -268,7 +268,7 @@ EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES} ${PYMODULES}, $(OPMODULE
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -276,7 +276,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
@@ -405,7 +405,7 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-PYHON   = python
+PYTHON  = python
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
diff --git a/flight/SimPosix/Makefile b/flight/SimPosix/Makefile
index 984dfa3a4..82c814c92 100644
--- a/flight/SimPosix/Makefile
+++ b/flight/SimPosix/Makefile
@@ -229,7 +229,7 @@ EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/in
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
+#EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -237,7 +237,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+#EXTRA_LIBS +=
 
 # Path to Linker-Scripts
 #LINKERSCRIPTPATH = $(PIOSSTM32F4XX)
@@ -366,7 +366,7 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-PYHON   = python
+PYTHON  = python
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)

From 333d0fe8c92d76121e09a1499e2350c69832377b Mon Sep 17 00:00:00 2001
From: Oleg Semyonov 
Date: Sun, 30 Dec 2012 14:02:12 +0200
Subject: [PATCH 05/36] [OP-775] Consistently use PIOSCOMMONLIB

---
 flight/Bootloaders/BootloaderUpdater/Makefile | 1 +
 flight/Bootloaders/CopterControl/Makefile     | 1 +
 flight/Bootloaders/PipXtreme/Makefile         | 1 +
 flight/CopterControl/Makefile                 | 1 +
 flight/PipXtreme/Makefile                     | 1 +
 5 files changed, 5 insertions(+)

diff --git a/flight/Bootloaders/BootloaderUpdater/Makefile b/flight/Bootloaders/BootloaderUpdater/Makefile
index f6ff44997..2756d4540 100644
--- a/flight/Bootloaders/BootloaderUpdater/Makefile
+++ b/flight/Bootloaders/BootloaderUpdater/Makefile
@@ -74,6 +74,7 @@ PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
 PIOSCOMMON = $(PIOS)/Common
 PIOSBOARDS = $(PIOS)/Boards
+PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
 APPLIBDIR = $(PIOSSTM32F10X)/Libraries
 STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile
index f0de64455..6d48b9d5c 100644
--- a/flight/Bootloaders/CopterControl/Makefile
+++ b/flight/Bootloaders/CopterControl/Makefile
@@ -71,6 +71,7 @@ PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
 PIOSCOMMON = $(PIOS)/Common
 PIOSBOARDS = $(PIOS)/Boards
+PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
 APPLIBDIR = $(PIOSSTM32F10X)/Libraries
 STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile
index c29d2abc8..6dcfa9c3e 100644
--- a/flight/Bootloaders/PipXtreme/Makefile
+++ b/flight/Bootloaders/PipXtreme/Makefile
@@ -71,6 +71,7 @@ PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
 PIOSCOMMON = $(PIOS)/Common
 PIOSBOARDS = $(PIOS)/Boards
+PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
 APPLIBDIR = $(PIOSSTM32F10X)/Libraries
 STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 6a84d5426..458de3cf6 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -128,6 +128,7 @@ PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
 PIOSCOMMON = $(PIOS)/Common
 PIOSBOARDS = $(PIOS)/Boards
+PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
 APPLIBDIR = $(PIOSSTM32F10X)/Libraries
 STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile
index 80d58cdf4..342e3f31e 100644
--- a/flight/PipXtreme/Makefile
+++ b/flight/PipXtreme/Makefile
@@ -92,6 +92,7 @@ PIOSINC = $(PIOS)/inc
 PIOSSTM32F10X = $(PIOS)/STM32F10x
 PIOSCOMMON = $(PIOS)/Common
 PIOSBOARDS = $(PIOS)/Boards
+PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
 APPLIBDIR = $(PIOSSTM32F10X)/Libraries
 STMLIBDIR = $(APPLIBDIR)
 STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver

From 89cb49733ee5ab97f354ccd5a8660377a1275165 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov 
Date: Sun, 30 Dec 2012 14:28:20 +0200
Subject: [PATCH 06/36] [OP-775] Use new core_cm3.h

---
 flight/Bootloaders/BootloaderUpdater/Makefile |    1 +
 flight/Bootloaders/CopterControl/Makefile     |    1 +
 flight/Bootloaders/PipXtreme/Makefile         |    1 +
 flight/CopterControl/Makefile                 |    1 +
 .../Libraries/CMSIS/Core/CM3/core_cm3.h       | 1818 -----------------
 flight/PiOS/STM32F10x/library.mk              |   13 +
 flight/PiOS/STM32F4xx/library.mk              |   39 +-
 flight/PipXtreme/Makefile                     |    1 +
 8 files changed, 38 insertions(+), 1837 deletions(-)
 delete mode 100755 flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/core_cm3.h
 create mode 100644 flight/PiOS/STM32F10x/library.mk

diff --git a/flight/Bootloaders/BootloaderUpdater/Makefile b/flight/Bootloaders/BootloaderUpdater/Makefile
index 2756d4540..acd2bfcd6 100644
--- a/flight/Bootloaders/BootloaderUpdater/Makefile
+++ b/flight/Bootloaders/BootloaderUpdater/Makefile
@@ -101,6 +101,7 @@ SRC += $(OPSYSTEM)/pios_board.c
 
 
 ## PIOS Hardware (STM32F10x)
+include $(PIOS)/STM32F10x/library.mk
 SRC += $(PIOSSTM32F10X)/pios_sys.c
 SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c
diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile
index 6d48b9d5c..b7865d021 100644
--- a/flight/Bootloaders/CopterControl/Makefile
+++ b/flight/Bootloaders/CopterControl/Makefile
@@ -98,6 +98,7 @@ SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/op_dfu.c
 
 ## PIOS Hardware (STM32F10x)
+include $(PIOS)/STM32F10x/library.mk
 SRC += $(PIOSSTM32F10X)/pios_sys.c
 SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c
diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile
index 6dcfa9c3e..aee348952 100644
--- a/flight/Bootloaders/PipXtreme/Makefile
+++ b/flight/Bootloaders/PipXtreme/Makefile
@@ -98,6 +98,7 @@ SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/op_dfu.c
 
 ## PIOS Hardware (STM32F10x)
+include $(PIOS)/STM32F10x/library.mk
 SRC += $(PIOSSTM32F10X)/pios_sys.c
 SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c
diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 458de3cf6..50fff2470 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -229,6 +229,7 @@ SRC += $(OPUAVSYNTHDIR)/airspeedactual.c
 endif
 
 ## PIOS Hardware (STM32F10x)
+include $(PIOS)/STM32F10x/library.mk
 SRC += $(PIOSSTM32F10X)/pios_sys.c
 SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c
diff --git a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/core_cm3.h b/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/core_cm3.h
deleted file mode 100755
index 2b6b51a7d..000000000
--- a/flight/PiOS/STM32F10x/Libraries/CMSIS/Core/CM3/core_cm3.h
+++ /dev/null
@@ -1,1818 +0,0 @@
-/**************************************************************************//**
- * @file     core_cm3.h
- * @brief    CMSIS Cortex-M3 Core Peripheral Access Layer Header File
- * @version  V1.30
- * @date     30. October 2009
- *
- * @note
- * Copyright (C) 2009 ARM Limited. All rights reserved.
- *
- * @par
- * ARM Limited (ARM) is supplying this software for use with Cortex-M 
- * processor based microcontrollers.  This file can be freely distributed 
- * within development tools that are supporting such ARM based processors. 
- *
- * @par
- * THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
- * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
- * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
- * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
- *
- ******************************************************************************/
-
-#ifndef __CM3_CORE_H__
-#define __CM3_CORE_H__
-
-/** @addtogroup CMSIS_CM3_core_LintCinfiguration CMSIS CM3 Core Lint Configuration
- *
- * List of Lint messages which will be suppressed and not shown:
- *   - Error 10: \n
- *     register uint32_t __regBasePri         __asm("basepri"); \n
- *     Error 10: Expecting ';'
- * .
- *   - Error 530: \n
- *     return(__regBasePri); \n
- *     Warning 530: Symbol '__regBasePri' (line 264) not initialized
- * . 
- *   - Error 550: \n
- *     __regBasePri = (basePri & 0x1ff); \n
- *     Warning 550: Symbol '__regBasePri' (line 271) not accessed
- * .
- *   - Error 754: \n
- *     uint32_t RESERVED0[24]; \n
- *     Info 754: local structure member '' (line 109, file ./cm3_core.h) not referenced
- * .
- *   - Error 750: \n
- *     #define __CM3_CORE_H__ \n
- *     Info 750: local macro '__CM3_CORE_H__' (line 43, file./cm3_core.h) not referenced
- * .
- *   - Error 528: \n
- *     static __INLINE void NVIC_DisableIRQ(uint32_t IRQn) \n
- *     Warning 528: Symbol 'NVIC_DisableIRQ(unsigned int)' (line 419, file ./cm3_core.h) not referenced
- * .
- *   - Error 751: \n
- *     } InterruptType_Type; \n
- *     Info 751: local typedef 'InterruptType_Type' (line 170, file ./cm3_core.h) not referenced
- * .
- * Note:  To re-enable a Message, insert a space before 'lint' *
- *
- */
-
-/*lint -save */
-/*lint -e10  */
-/*lint -e530 */
-/*lint -e550 */
-/*lint -e754 */
-/*lint -e750 */
-/*lint -e528 */
-/*lint -e751 */
-
-
-/** @addtogroup CMSIS_CM3_core_definitions CM3 Core Definitions
-  This file defines all structures and symbols for CMSIS core:
-    - CMSIS version number
-    - Cortex-M core registers and bitfields
-    - Cortex-M core peripheral base address
-  @{
- */
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-#define __CM3_CMSIS_VERSION_MAIN  (0x01)                                                       /*!< [31:16] CMSIS HAL main version */
-#define __CM3_CMSIS_VERSION_SUB   (0x30)                                                       /*!< [15:0]  CMSIS HAL sub version  */
-#define __CM3_CMSIS_VERSION       ((__CM3_CMSIS_VERSION_MAIN << 16) | __CM3_CMSIS_VERSION_SUB) /*!< CMSIS HAL version number       */
-
-#define __CORTEX_M                (0x03)                                                       /*!< Cortex core                    */
-
-#include                            /* Include standard types */
-
-#if defined (__ICCARM__)
-  #include                      /* IAR Intrinsics   */
-#endif
-
-
-#ifndef __NVIC_PRIO_BITS
-  #define __NVIC_PRIO_BITS    4               /*!< standard definition for NVIC Priority Bits */
-#endif
-
-
-
-
-/**
- * IO definitions
- *
- * define access restrictions to peripheral registers
- */
-
-#ifdef __cplusplus
-  #define     __I     volatile                /*!< defines 'read only' permissions      */
-#else
-  #define     __I     volatile const          /*!< defines 'read only' permissions      */
-#endif
-#define     __O     volatile                  /*!< defines 'write only' permissions     */
-#define     __IO    volatile                  /*!< defines 'read / write' permissions   */
-
-
-
-/*******************************************************************************
- *                 Register Abstraction
- ******************************************************************************/
-/** @addtogroup CMSIS_CM3_core_register CMSIS CM3 Core Register
- @{
-*/
-
-
-/** @addtogroup CMSIS_CM3_NVIC CMSIS CM3 NVIC
-  memory mapped structure for Nested Vectored Interrupt Controller (NVIC)
-  @{
- */
-typedef struct
-{
-  __IO uint32_t ISER[8];                      /*!< Offset: 0x000  Interrupt Set Enable Register           */
-       uint32_t RESERVED0[24];                                   
-  __IO uint32_t ICER[8];                      /*!< Offset: 0x080  Interrupt Clear Enable Register         */
-       uint32_t RSERVED1[24];                                    
-  __IO uint32_t ISPR[8];                      /*!< Offset: 0x100  Interrupt Set Pending Register          */
-       uint32_t RESERVED2[24];                                   
-  __IO uint32_t ICPR[8];                      /*!< Offset: 0x180  Interrupt Clear Pending Register        */
-       uint32_t RESERVED3[24];                                   
-  __IO uint32_t IABR[8];                      /*!< Offset: 0x200  Interrupt Active bit Register           */
-       uint32_t RESERVED4[56];                                   
-  __IO uint8_t  IP[240];                      /*!< Offset: 0x300  Interrupt Priority Register (8Bit wide) */
-       uint32_t RESERVED5[644];                                  
-  __O  uint32_t STIR;                         /*!< Offset: 0xE00  Software Trigger Interrupt Register     */
-}  NVIC_Type;                                               
-/*@}*/ /* end of group CMSIS_CM3_NVIC */
-
-
-/** @addtogroup CMSIS_CM3_SCB CMSIS CM3 SCB
-  memory mapped structure for System Control Block (SCB)
-  @{
- */
-typedef struct
-{
-  __I  uint32_t CPUID;                        /*!< Offset: 0x00  CPU ID Base Register                                  */
-  __IO uint32_t ICSR;                         /*!< Offset: 0x04  Interrupt Control State Register                      */
-  __IO uint32_t VTOR;                         /*!< Offset: 0x08  Vector Table Offset Register                          */
-  __IO uint32_t AIRCR;                        /*!< Offset: 0x0C  Application Interrupt / Reset Control Register        */
-  __IO uint32_t SCR;                          /*!< Offset: 0x10  System Control Register                               */
-  __IO uint32_t CCR;                          /*!< Offset: 0x14  Configuration Control Register                        */
-  __IO uint8_t  SHP[12];                      /*!< Offset: 0x18  System Handlers Priority Registers (4-7, 8-11, 12-15) */
-  __IO uint32_t SHCSR;                        /*!< Offset: 0x24  System Handler Control and State Register             */
-  __IO uint32_t CFSR;                         /*!< Offset: 0x28  Configurable Fault Status Register                    */
-  __IO uint32_t HFSR;                         /*!< Offset: 0x2C  Hard Fault Status Register                            */
-  __IO uint32_t DFSR;                         /*!< Offset: 0x30  Debug Fault Status Register                           */
-  __IO uint32_t MMFAR;                        /*!< Offset: 0x34  Mem Manage Address Register                           */
-  __IO uint32_t BFAR;                         /*!< Offset: 0x38  Bus Fault Address Register                            */
-  __IO uint32_t AFSR;                         /*!< Offset: 0x3C  Auxiliary Fault Status Register                       */
-  __I  uint32_t PFR[2];                       /*!< Offset: 0x40  Processor Feature Register                            */
-  __I  uint32_t DFR;                          /*!< Offset: 0x48  Debug Feature Register                                */
-  __I  uint32_t ADR;                          /*!< Offset: 0x4C  Auxiliary Feature Register                            */
-  __I  uint32_t MMFR[4];                      /*!< Offset: 0x50  Memory Model Feature Register                         */
-  __I  uint32_t ISAR[5];                      /*!< Offset: 0x60  ISA Feature Register                                  */
-} SCB_Type;                                                
-
-/* SCB CPUID Register Definitions */
-#define SCB_CPUID_IMPLEMENTER_Pos          24                                             /*!< SCB CPUID: IMPLEMENTER Position */
-#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFul << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */
-
-#define SCB_CPUID_VARIANT_Pos              20                                             /*!< SCB CPUID: VARIANT Position */
-#define SCB_CPUID_VARIANT_Msk              (0xFul << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */
-
-#define SCB_CPUID_PARTNO_Pos                4                                             /*!< SCB CPUID: PARTNO Position */
-#define SCB_CPUID_PARTNO_Msk               (0xFFFul << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */
-
-#define SCB_CPUID_REVISION_Pos              0                                             /*!< SCB CPUID: REVISION Position */
-#define SCB_CPUID_REVISION_Msk             (0xFul << SCB_CPUID_REVISION_Pos)              /*!< SCB CPUID: REVISION Mask */
-
-/* SCB Interrupt Control State Register Definitions */
-#define SCB_ICSR_NMIPENDSET_Pos            31                                             /*!< SCB ICSR: NMIPENDSET Position */
-#define SCB_ICSR_NMIPENDSET_Msk            (1ul << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */
-
-#define SCB_ICSR_PENDSVSET_Pos             28                                             /*!< SCB ICSR: PENDSVSET Position */
-#define SCB_ICSR_PENDSVSET_Msk             (1ul << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */
-
-#define SCB_ICSR_PENDSVCLR_Pos             27                                             /*!< SCB ICSR: PENDSVCLR Position */
-#define SCB_ICSR_PENDSVCLR_Msk             (1ul << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */
-
-#define SCB_ICSR_PENDSTSET_Pos             26                                             /*!< SCB ICSR: PENDSTSET Position */
-#define SCB_ICSR_PENDSTSET_Msk             (1ul << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */
-
-#define SCB_ICSR_PENDSTCLR_Pos             25                                             /*!< SCB ICSR: PENDSTCLR Position */
-#define SCB_ICSR_PENDSTCLR_Msk             (1ul << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */
-
-#define SCB_ICSR_ISRPREEMPT_Pos            23                                             /*!< SCB ICSR: ISRPREEMPT Position */
-#define SCB_ICSR_ISRPREEMPT_Msk            (1ul << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */
-
-#define SCB_ICSR_ISRPENDING_Pos            22                                             /*!< SCB ICSR: ISRPENDING Position */
-#define SCB_ICSR_ISRPENDING_Msk            (1ul << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */
-
-#define SCB_ICSR_VECTPENDING_Pos           12                                             /*!< SCB ICSR: VECTPENDING Position */
-#define SCB_ICSR_VECTPENDING_Msk           (0x1FFul << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */
-
-#define SCB_ICSR_RETTOBASE_Pos             11                                             /*!< SCB ICSR: RETTOBASE Position */
-#define SCB_ICSR_RETTOBASE_Msk             (1ul << SCB_ICSR_RETTOBASE_Pos)                /*!< SCB ICSR: RETTOBASE Mask */
-
-#define SCB_ICSR_VECTACTIVE_Pos             0                                             /*!< SCB ICSR: VECTACTIVE Position */
-#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFul << SCB_ICSR_VECTACTIVE_Pos)           /*!< SCB ICSR: VECTACTIVE Mask */
-
-/* SCB Interrupt Control State Register Definitions */
-#define SCB_VTOR_TBLBASE_Pos               29                                             /*!< SCB VTOR: TBLBASE Position */
-#define SCB_VTOR_TBLBASE_Msk               (0x1FFul << SCB_VTOR_TBLBASE_Pos)              /*!< SCB VTOR: TBLBASE Mask */
-
-#define SCB_VTOR_TBLOFF_Pos                 7                                             /*!< SCB VTOR: TBLOFF Position */
-#define SCB_VTOR_TBLOFF_Msk                (0x3FFFFFul << SCB_VTOR_TBLOFF_Pos)            /*!< SCB VTOR: TBLOFF Mask */
-
-/* SCB Application Interrupt and Reset Control Register Definitions */
-#define SCB_AIRCR_VECTKEY_Pos              16                                             /*!< SCB AIRCR: VECTKEY Position */
-#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFul << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
-
-#define SCB_AIRCR_VECTKEYSTAT_Pos          16                                             /*!< SCB AIRCR: VECTKEYSTAT Position */
-#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFul << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */
-
-#define SCB_AIRCR_ENDIANESS_Pos            15                                             /*!< SCB AIRCR: ENDIANESS Position */
-#define SCB_AIRCR_ENDIANESS_Msk            (1ul << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */
-
-#define SCB_AIRCR_PRIGROUP_Pos              8                                             /*!< SCB AIRCR: PRIGROUP Position */
-#define SCB_AIRCR_PRIGROUP_Msk             (7ul << SCB_AIRCR_PRIGROUP_Pos)                /*!< SCB AIRCR: PRIGROUP Mask */
-
-#define SCB_AIRCR_SYSRESETREQ_Pos           2                                             /*!< SCB AIRCR: SYSRESETREQ Position */
-#define SCB_AIRCR_SYSRESETREQ_Msk          (1ul << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */
-
-#define SCB_AIRCR_VECTCLRACTIVE_Pos         1                                             /*!< SCB AIRCR: VECTCLRACTIVE Position */
-#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1ul << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */
-
-#define SCB_AIRCR_VECTRESET_Pos             0                                             /*!< SCB AIRCR: VECTRESET Position */
-#define SCB_AIRCR_VECTRESET_Msk            (1ul << SCB_AIRCR_VECTRESET_Pos)               /*!< SCB AIRCR: VECTRESET Mask */
-
-/* SCB System Control Register Definitions */
-#define SCB_SCR_SEVONPEND_Pos               4                                             /*!< SCB SCR: SEVONPEND Position */
-#define SCB_SCR_SEVONPEND_Msk              (1ul << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */
-
-#define SCB_SCR_SLEEPDEEP_Pos               2                                             /*!< SCB SCR: SLEEPDEEP Position */
-#define SCB_SCR_SLEEPDEEP_Msk              (1ul << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */
-
-#define SCB_SCR_SLEEPONEXIT_Pos             1                                             /*!< SCB SCR: SLEEPONEXIT Position */
-#define SCB_SCR_SLEEPONEXIT_Msk            (1ul << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */
-
-/* SCB Configuration Control Register Definitions */
-#define SCB_CCR_STKALIGN_Pos                9                                             /*!< SCB CCR: STKALIGN Position */
-#define SCB_CCR_STKALIGN_Msk               (1ul << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */
-
-#define SCB_CCR_BFHFNMIGN_Pos               8                                             /*!< SCB CCR: BFHFNMIGN Position */
-#define SCB_CCR_BFHFNMIGN_Msk              (1ul << SCB_CCR_BFHFNMIGN_Pos)                 /*!< SCB CCR: BFHFNMIGN Mask */
-
-#define SCB_CCR_DIV_0_TRP_Pos               4                                             /*!< SCB CCR: DIV_0_TRP Position */
-#define SCB_CCR_DIV_0_TRP_Msk              (1ul << SCB_CCR_DIV_0_TRP_Pos)                 /*!< SCB CCR: DIV_0_TRP Mask */
-
-#define SCB_CCR_UNALIGN_TRP_Pos             3                                             /*!< SCB CCR: UNALIGN_TRP Position */
-#define SCB_CCR_UNALIGN_TRP_Msk            (1ul << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */
-
-#define SCB_CCR_USERSETMPEND_Pos            1                                             /*!< SCB CCR: USERSETMPEND Position */
-#define SCB_CCR_USERSETMPEND_Msk           (1ul << SCB_CCR_USERSETMPEND_Pos)              /*!< SCB CCR: USERSETMPEND Mask */
-
-#define SCB_CCR_NONBASETHRDENA_Pos          0                                             /*!< SCB CCR: NONBASETHRDENA Position */
-#define SCB_CCR_NONBASETHRDENA_Msk         (1ul << SCB_CCR_NONBASETHRDENA_Pos)            /*!< SCB CCR: NONBASETHRDENA Mask */
-
-/* SCB System Handler Control and State Register Definitions */
-#define SCB_SHCSR_USGFAULTENA_Pos          18                                             /*!< SCB SHCSR: USGFAULTENA Position */
-#define SCB_SHCSR_USGFAULTENA_Msk          (1ul << SCB_SHCSR_USGFAULTENA_Pos)             /*!< SCB SHCSR: USGFAULTENA Mask */
-
-#define SCB_SHCSR_BUSFAULTENA_Pos          17                                             /*!< SCB SHCSR: BUSFAULTENA Position */
-#define SCB_SHCSR_BUSFAULTENA_Msk          (1ul << SCB_SHCSR_BUSFAULTENA_Pos)             /*!< SCB SHCSR: BUSFAULTENA Mask */
-
-#define SCB_SHCSR_MEMFAULTENA_Pos          16                                             /*!< SCB SHCSR: MEMFAULTENA Position */
-#define SCB_SHCSR_MEMFAULTENA_Msk          (1ul << SCB_SHCSR_MEMFAULTENA_Pos)             /*!< SCB SHCSR: MEMFAULTENA Mask */
-
-#define SCB_SHCSR_SVCALLPENDED_Pos         15                                             /*!< SCB SHCSR: SVCALLPENDED Position */
-#define SCB_SHCSR_SVCALLPENDED_Msk         (1ul << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */
-
-#define SCB_SHCSR_BUSFAULTPENDED_Pos       14                                             /*!< SCB SHCSR: BUSFAULTPENDED Position */
-#define SCB_SHCSR_BUSFAULTPENDED_Msk       (1ul << SCB_SHCSR_BUSFAULTPENDED_Pos)          /*!< SCB SHCSR: BUSFAULTPENDED Mask */
-
-#define SCB_SHCSR_MEMFAULTPENDED_Pos       13                                             /*!< SCB SHCSR: MEMFAULTPENDED Position */
-#define SCB_SHCSR_MEMFAULTPENDED_Msk       (1ul << SCB_SHCSR_MEMFAULTPENDED_Pos)          /*!< SCB SHCSR: MEMFAULTPENDED Mask */
-
-#define SCB_SHCSR_USGFAULTPENDED_Pos       12                                             /*!< SCB SHCSR: USGFAULTPENDED Position */
-#define SCB_SHCSR_USGFAULTPENDED_Msk       (1ul << SCB_SHCSR_USGFAULTPENDED_Pos)          /*!< SCB SHCSR: USGFAULTPENDED Mask */
-
-#define SCB_SHCSR_SYSTICKACT_Pos           11                                             /*!< SCB SHCSR: SYSTICKACT Position */
-#define SCB_SHCSR_SYSTICKACT_Msk           (1ul << SCB_SHCSR_SYSTICKACT_Pos)              /*!< SCB SHCSR: SYSTICKACT Mask */
-
-#define SCB_SHCSR_PENDSVACT_Pos            10                                             /*!< SCB SHCSR: PENDSVACT Position */
-#define SCB_SHCSR_PENDSVACT_Msk            (1ul << SCB_SHCSR_PENDSVACT_Pos)               /*!< SCB SHCSR: PENDSVACT Mask */
-
-#define SCB_SHCSR_MONITORACT_Pos            8                                             /*!< SCB SHCSR: MONITORACT Position */
-#define SCB_SHCSR_MONITORACT_Msk           (1ul << SCB_SHCSR_MONITORACT_Pos)              /*!< SCB SHCSR: MONITORACT Mask */
-
-#define SCB_SHCSR_SVCALLACT_Pos             7                                             /*!< SCB SHCSR: SVCALLACT Position */
-#define SCB_SHCSR_SVCALLACT_Msk            (1ul << SCB_SHCSR_SVCALLACT_Pos)               /*!< SCB SHCSR: SVCALLACT Mask */
-                                     
-#define SCB_SHCSR_USGFAULTACT_Pos           3                                             /*!< SCB SHCSR: USGFAULTACT Position */
-#define SCB_SHCSR_USGFAULTACT_Msk          (1ul << SCB_SHCSR_USGFAULTACT_Pos)             /*!< SCB SHCSR: USGFAULTACT Mask */
-
-#define SCB_SHCSR_BUSFAULTACT_Pos           1                                             /*!< SCB SHCSR: BUSFAULTACT Position */
-#define SCB_SHCSR_BUSFAULTACT_Msk          (1ul << SCB_SHCSR_BUSFAULTACT_Pos)             /*!< SCB SHCSR: BUSFAULTACT Mask */
-
-#define SCB_SHCSR_MEMFAULTACT_Pos           0                                             /*!< SCB SHCSR: MEMFAULTACT Position */
-#define SCB_SHCSR_MEMFAULTACT_Msk          (1ul << SCB_SHCSR_MEMFAULTACT_Pos)             /*!< SCB SHCSR: MEMFAULTACT Mask */
-
-/* SCB Configurable Fault Status Registers Definitions */
-#define SCB_CFSR_USGFAULTSR_Pos            16                                             /*!< SCB CFSR: Usage Fault Status Register Position */
-#define SCB_CFSR_USGFAULTSR_Msk            (0xFFFFul << SCB_CFSR_USGFAULTSR_Pos)          /*!< SCB CFSR: Usage Fault Status Register Mask */
-
-#define SCB_CFSR_BUSFAULTSR_Pos             8                                             /*!< SCB CFSR: Bus Fault Status Register Position */
-#define SCB_CFSR_BUSFAULTSR_Msk            (0xFFul << SCB_CFSR_BUSFAULTSR_Pos)            /*!< SCB CFSR: Bus Fault Status Register Mask */
-
-#define SCB_CFSR_MEMFAULTSR_Pos             0                                             /*!< SCB CFSR: Memory Manage Fault Status Register Position */
-#define SCB_CFSR_MEMFAULTSR_Msk            (0xFFul << SCB_CFSR_MEMFAULTSR_Pos)            /*!< SCB CFSR: Memory Manage Fault Status Register Mask */
-
-/* SCB Hard Fault Status Registers Definitions */
-#define SCB_HFSR_DEBUGEVT_Pos              31                                             /*!< SCB HFSR: DEBUGEVT Position */
-#define SCB_HFSR_DEBUGEVT_Msk              (1ul << SCB_HFSR_DEBUGEVT_Pos)                 /*!< SCB HFSR: DEBUGEVT Mask */
-
-#define SCB_HFSR_FORCED_Pos                30                                             /*!< SCB HFSR: FORCED Position */
-#define SCB_HFSR_FORCED_Msk                (1ul << SCB_HFSR_FORCED_Pos)                   /*!< SCB HFSR: FORCED Mask */
-
-#define SCB_HFSR_VECTTBL_Pos                1                                             /*!< SCB HFSR: VECTTBL Position */
-#define SCB_HFSR_VECTTBL_Msk               (1ul << SCB_HFSR_VECTTBL_Pos)                  /*!< SCB HFSR: VECTTBL Mask */
-
-/* SCB Debug Fault Status Register Definitions */
-#define SCB_DFSR_EXTERNAL_Pos               4                                             /*!< SCB DFSR: EXTERNAL Position */
-#define SCB_DFSR_EXTERNAL_Msk              (1ul << SCB_DFSR_EXTERNAL_Pos)                 /*!< SCB DFSR: EXTERNAL Mask */
-
-#define SCB_DFSR_VCATCH_Pos                 3                                             /*!< SCB DFSR: VCATCH Position */
-#define SCB_DFSR_VCATCH_Msk                (1ul << SCB_DFSR_VCATCH_Pos)                   /*!< SCB DFSR: VCATCH Mask */
-
-#define SCB_DFSR_DWTTRAP_Pos                2                                             /*!< SCB DFSR: DWTTRAP Position */
-#define SCB_DFSR_DWTTRAP_Msk               (1ul << SCB_DFSR_DWTTRAP_Pos)                  /*!< SCB DFSR: DWTTRAP Mask */
-
-#define SCB_DFSR_BKPT_Pos                   1                                             /*!< SCB DFSR: BKPT Position */
-#define SCB_DFSR_BKPT_Msk                  (1ul << SCB_DFSR_BKPT_Pos)                     /*!< SCB DFSR: BKPT Mask */
-
-#define SCB_DFSR_HALTED_Pos                 0                                             /*!< SCB DFSR: HALTED Position */
-#define SCB_DFSR_HALTED_Msk                (1ul << SCB_DFSR_HALTED_Pos)                   /*!< SCB DFSR: HALTED Mask */
-/*@}*/ /* end of group CMSIS_CM3_SCB */
-
-
-/** @addtogroup CMSIS_CM3_SysTick CMSIS CM3 SysTick
-  memory mapped structure for SysTick
-  @{
- */
-typedef struct
-{
-  __IO uint32_t CTRL;                         /*!< Offset: 0x00  SysTick Control and Status Register */
-  __IO uint32_t LOAD;                         /*!< Offset: 0x04  SysTick Reload Value Register       */
-  __IO uint32_t VAL;                          /*!< Offset: 0x08  SysTick Current Value Register      */
-  __I  uint32_t CALIB;                        /*!< Offset: 0x0C  SysTick Calibration Register        */
-} SysTick_Type;
-
-/* SysTick Control / Status Register Definitions */
-#define SysTick_CTRL_COUNTFLAG_Pos         16                                             /*!< SysTick CTRL: COUNTFLAG Position */
-#define SysTick_CTRL_COUNTFLAG_Msk         (1ul << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
-
-#define SysTick_CTRL_CLKSOURCE_Pos          2                                             /*!< SysTick CTRL: CLKSOURCE Position */
-#define SysTick_CTRL_CLKSOURCE_Msk         (1ul << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
-
-#define SysTick_CTRL_TICKINT_Pos            1                                             /*!< SysTick CTRL: TICKINT Position */
-#define SysTick_CTRL_TICKINT_Msk           (1ul << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
-
-#define SysTick_CTRL_ENABLE_Pos             0                                             /*!< SysTick CTRL: ENABLE Position */
-#define SysTick_CTRL_ENABLE_Msk            (1ul << SysTick_CTRL_ENABLE_Pos)               /*!< SysTick CTRL: ENABLE Mask */
-
-/* SysTick Reload Register Definitions */
-#define SysTick_LOAD_RELOAD_Pos             0                                             /*!< SysTick LOAD: RELOAD Position */
-#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFul << SysTick_LOAD_RELOAD_Pos)        /*!< SysTick LOAD: RELOAD Mask */
-
-/* SysTick Current Register Definitions */
-#define SysTick_VAL_CURRENT_Pos             0                                             /*!< SysTick VAL: CURRENT Position */
-#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFul << SysTick_VAL_CURRENT_Pos)        /*!< SysTick VAL: CURRENT Mask */
-
-/* SysTick Calibration Register Definitions */
-#define SysTick_CALIB_NOREF_Pos            31                                             /*!< SysTick CALIB: NOREF Position */
-#define SysTick_CALIB_NOREF_Msk            (1ul << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
-
-#define SysTick_CALIB_SKEW_Pos             30                                             /*!< SysTick CALIB: SKEW Position */
-#define SysTick_CALIB_SKEW_Msk             (1ul << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
-
-#define SysTick_CALIB_TENMS_Pos             0                                             /*!< SysTick CALIB: TENMS Position */
-#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFul << SysTick_VAL_CURRENT_Pos)        /*!< SysTick CALIB: TENMS Mask */
-/*@}*/ /* end of group CMSIS_CM3_SysTick */
-
-
-/** @addtogroup CMSIS_CM3_ITM CMSIS CM3 ITM
-  memory mapped structure for Instrumentation Trace Macrocell (ITM)
-  @{
- */
-typedef struct
-{
-  __O  union  
-  {
-    __O  uint8_t    u8;                       /*!< Offset:       ITM Stimulus Port 8-bit                   */
-    __O  uint16_t   u16;                      /*!< Offset:       ITM Stimulus Port 16-bit                  */
-    __O  uint32_t   u32;                      /*!< Offset:       ITM Stimulus Port 32-bit                  */
-  }  PORT [32];                               /*!< Offset: 0x00  ITM Stimulus Port Registers               */
-       uint32_t RESERVED0[864];                                 
-  __IO uint32_t TER;                          /*!< Offset:       ITM Trace Enable Register                 */
-       uint32_t RESERVED1[15];                                  
-  __IO uint32_t TPR;                          /*!< Offset:       ITM Trace Privilege Register              */
-       uint32_t RESERVED2[15];                                  
-  __IO uint32_t TCR;                          /*!< Offset:       ITM Trace Control Register                */
-       uint32_t RESERVED3[29];                                  
-  __IO uint32_t IWR;                          /*!< Offset:       ITM Integration Write Register            */
-  __IO uint32_t IRR;                          /*!< Offset:       ITM Integration Read Register             */
-  __IO uint32_t IMCR;                         /*!< Offset:       ITM Integration Mode Control Register     */
-       uint32_t RESERVED4[43];                                  
-  __IO uint32_t LAR;                          /*!< Offset:       ITM Lock Access Register                  */
-  __IO uint32_t LSR;                          /*!< Offset:       ITM Lock Status Register                  */
-       uint32_t RESERVED5[6];                                   
-  __I  uint32_t PID4;                         /*!< Offset:       ITM Peripheral Identification Register #4 */
-  __I  uint32_t PID5;                         /*!< Offset:       ITM Peripheral Identification Register #5 */
-  __I  uint32_t PID6;                         /*!< Offset:       ITM Peripheral Identification Register #6 */
-  __I  uint32_t PID7;                         /*!< Offset:       ITM Peripheral Identification Register #7 */
-  __I  uint32_t PID0;                         /*!< Offset:       ITM Peripheral Identification Register #0 */
-  __I  uint32_t PID1;                         /*!< Offset:       ITM Peripheral Identification Register #1 */
-  __I  uint32_t PID2;                         /*!< Offset:       ITM Peripheral Identification Register #2 */
-  __I  uint32_t PID3;                         /*!< Offset:       ITM Peripheral Identification Register #3 */
-  __I  uint32_t CID0;                         /*!< Offset:       ITM Component  Identification Register #0 */
-  __I  uint32_t CID1;                         /*!< Offset:       ITM Component  Identification Register #1 */
-  __I  uint32_t CID2;                         /*!< Offset:       ITM Component  Identification Register #2 */
-  __I  uint32_t CID3;                         /*!< Offset:       ITM Component  Identification Register #3 */
-} ITM_Type;                                                
-
-/* ITM Trace Privilege Register Definitions */
-#define ITM_TPR_PRIVMASK_Pos                0                                             /*!< ITM TPR: PRIVMASK Position */
-#define ITM_TPR_PRIVMASK_Msk               (0xFul << ITM_TPR_PRIVMASK_Pos)                /*!< ITM TPR: PRIVMASK Mask */
-
-/* ITM Trace Control Register Definitions */
-#define ITM_TCR_BUSY_Pos                   23                                             /*!< ITM TCR: BUSY Position */
-#define ITM_TCR_BUSY_Msk                   (1ul << ITM_TCR_BUSY_Pos)                      /*!< ITM TCR: BUSY Mask */
-
-#define ITM_TCR_ATBID_Pos                  16                                             /*!< ITM TCR: ATBID Position */
-#define ITM_TCR_ATBID_Msk                  (0x7Ful << ITM_TCR_ATBID_Pos)                  /*!< ITM TCR: ATBID Mask */
-
-#define ITM_TCR_TSPrescale_Pos              8                                             /*!< ITM TCR: TSPrescale Position */
-#define ITM_TCR_TSPrescale_Msk             (3ul << ITM_TCR_TSPrescale_Pos)                /*!< ITM TCR: TSPrescale Mask */
-
-#define ITM_TCR_SWOENA_Pos                  4                                             /*!< ITM TCR: SWOENA Position */
-#define ITM_TCR_SWOENA_Msk                 (1ul << ITM_TCR_SWOENA_Pos)                    /*!< ITM TCR: SWOENA Mask */
-
-#define ITM_TCR_DWTENA_Pos                  3                                             /*!< ITM TCR: DWTENA Position */
-#define ITM_TCR_DWTENA_Msk                 (1ul << ITM_TCR_DWTENA_Pos)                    /*!< ITM TCR: DWTENA Mask */
-
-#define ITM_TCR_SYNCENA_Pos                 2                                             /*!< ITM TCR: SYNCENA Position */
-#define ITM_TCR_SYNCENA_Msk                (1ul << ITM_TCR_SYNCENA_Pos)                   /*!< ITM TCR: SYNCENA Mask */
-
-#define ITM_TCR_TSENA_Pos                   1                                             /*!< ITM TCR: TSENA Position */
-#define ITM_TCR_TSENA_Msk                  (1ul << ITM_TCR_TSENA_Pos)                     /*!< ITM TCR: TSENA Mask */
-
-#define ITM_TCR_ITMENA_Pos                  0                                             /*!< ITM TCR: ITM Enable bit Position */
-#define ITM_TCR_ITMENA_Msk                 (1ul << ITM_TCR_ITMENA_Pos)                    /*!< ITM TCR: ITM Enable bit Mask */
-
-/* ITM Integration Write Register Definitions */
-#define ITM_IWR_ATVALIDM_Pos                0                                             /*!< ITM IWR: ATVALIDM Position */
-#define ITM_IWR_ATVALIDM_Msk               (1ul << ITM_IWR_ATVALIDM_Pos)                  /*!< ITM IWR: ATVALIDM Mask */
-
-/* ITM Integration Read Register Definitions */
-#define ITM_IRR_ATREADYM_Pos                0                                             /*!< ITM IRR: ATREADYM Position */
-#define ITM_IRR_ATREADYM_Msk               (1ul << ITM_IRR_ATREADYM_Pos)                  /*!< ITM IRR: ATREADYM Mask */
-
-/* ITM Integration Mode Control Register Definitions */
-#define ITM_IMCR_INTEGRATION_Pos            0                                             /*!< ITM IMCR: INTEGRATION Position */
-#define ITM_IMCR_INTEGRATION_Msk           (1ul << ITM_IMCR_INTEGRATION_Pos)              /*!< ITM IMCR: INTEGRATION Mask */
-
-/* ITM Lock Status Register Definitions */
-#define ITM_LSR_ByteAcc_Pos                 2                                             /*!< ITM LSR: ByteAcc Position */
-#define ITM_LSR_ByteAcc_Msk                (1ul << ITM_LSR_ByteAcc_Pos)                   /*!< ITM LSR: ByteAcc Mask */
-
-#define ITM_LSR_Access_Pos                  1                                             /*!< ITM LSR: Access Position */
-#define ITM_LSR_Access_Msk                 (1ul << ITM_LSR_Access_Pos)                    /*!< ITM LSR: Access Mask */
-
-#define ITM_LSR_Present_Pos                 0                                             /*!< ITM LSR: Present Position */
-#define ITM_LSR_Present_Msk                (1ul << ITM_LSR_Present_Pos)                   /*!< ITM LSR: Present Mask */
-/*@}*/ /* end of group CMSIS_CM3_ITM */
-
-
-/** @addtogroup CMSIS_CM3_InterruptType CMSIS CM3 Interrupt Type
-  memory mapped structure for Interrupt Type
-  @{
- */
-typedef struct
-{
-       uint32_t RESERVED0;
-  __I  uint32_t ICTR;                         /*!< Offset: 0x04  Interrupt Control Type Register */
-#if ((defined __CM3_REV) && (__CM3_REV >= 0x200))
-  __IO uint32_t ACTLR;                        /*!< Offset: 0x08  Auxiliary Control Register      */
-#else
-       uint32_t RESERVED1;
-#endif
-} InterruptType_Type;
-
-/* Interrupt Controller Type Register Definitions */
-#define InterruptType_ICTR_INTLINESNUM_Pos  0                                             /*!< InterruptType ICTR: INTLINESNUM Position */
-#define InterruptType_ICTR_INTLINESNUM_Msk (0x1Ful << InterruptType_ICTR_INTLINESNUM_Pos) /*!< InterruptType ICTR: INTLINESNUM Mask */
-
-/* Auxiliary Control Register Definitions */
-#define InterruptType_ACTLR_DISFOLD_Pos     2                                             /*!< InterruptType ACTLR: DISFOLD Position */
-#define InterruptType_ACTLR_DISFOLD_Msk    (1ul << InterruptType_ACTLR_DISFOLD_Pos)       /*!< InterruptType ACTLR: DISFOLD Mask */
-
-#define InterruptType_ACTLR_DISDEFWBUF_Pos  1                                             /*!< InterruptType ACTLR: DISDEFWBUF Position */
-#define InterruptType_ACTLR_DISDEFWBUF_Msk (1ul << InterruptType_ACTLR_DISDEFWBUF_Pos)    /*!< InterruptType ACTLR: DISDEFWBUF Mask */
-
-#define InterruptType_ACTLR_DISMCYCINT_Pos  0                                             /*!< InterruptType ACTLR: DISMCYCINT Position */
-#define InterruptType_ACTLR_DISMCYCINT_Msk (1ul << InterruptType_ACTLR_DISMCYCINT_Pos)    /*!< InterruptType ACTLR: DISMCYCINT Mask */
-/*@}*/ /* end of group CMSIS_CM3_InterruptType */
-
-
-#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1)
-/** @addtogroup CMSIS_CM3_MPU CMSIS CM3 MPU
-  memory mapped structure for Memory Protection Unit (MPU)
-  @{
- */
-typedef struct
-{
-  __I  uint32_t TYPE;                         /*!< Offset: 0x00  MPU Type Register                              */
-  __IO uint32_t CTRL;                         /*!< Offset: 0x04  MPU Control Register                           */
-  __IO uint32_t RNR;                          /*!< Offset: 0x08  MPU Region RNRber Register                     */
-  __IO uint32_t RBAR;                         /*!< Offset: 0x0C  MPU Region Base Address Register               */
-  __IO uint32_t RASR;                         /*!< Offset: 0x10  MPU Region Attribute and Size Register         */
-  __IO uint32_t RBAR_A1;                      /*!< Offset: 0x14  MPU Alias 1 Region Base Address Register       */
-  __IO uint32_t RASR_A1;                      /*!< Offset: 0x18  MPU Alias 1 Region Attribute and Size Register */
-  __IO uint32_t RBAR_A2;                      /*!< Offset: 0x1C  MPU Alias 2 Region Base Address Register       */
-  __IO uint32_t RASR_A2;                      /*!< Offset: 0x20  MPU Alias 2 Region Attribute and Size Register */
-  __IO uint32_t RBAR_A3;                      /*!< Offset: 0x24  MPU Alias 3 Region Base Address Register       */
-  __IO uint32_t RASR_A3;                      /*!< Offset: 0x28  MPU Alias 3 Region Attribute and Size Register */
-} MPU_Type;                                                
-
-/* MPU Type Register */
-#define MPU_TYPE_IREGION_Pos               16                                             /*!< MPU TYPE: IREGION Position */
-#define MPU_TYPE_IREGION_Msk               (0xFFul << MPU_TYPE_IREGION_Pos)               /*!< MPU TYPE: IREGION Mask */
-
-#define MPU_TYPE_DREGION_Pos                8                                             /*!< MPU TYPE: DREGION Position */
-#define MPU_TYPE_DREGION_Msk               (0xFFul << MPU_TYPE_DREGION_Pos)               /*!< MPU TYPE: DREGION Mask */
-
-#define MPU_TYPE_SEPARATE_Pos               0                                             /*!< MPU TYPE: SEPARATE Position */
-#define MPU_TYPE_SEPARATE_Msk              (1ul << MPU_TYPE_SEPARATE_Pos)                 /*!< MPU TYPE: SEPARATE Mask */
-
-/* MPU Control Register */
-#define MPU_CTRL_PRIVDEFENA_Pos             2                                             /*!< MPU CTRL: PRIVDEFENA Position */
-#define MPU_CTRL_PRIVDEFENA_Msk            (1ul << MPU_CTRL_PRIVDEFENA_Pos)               /*!< MPU CTRL: PRIVDEFENA Mask */
-
-#define MPU_CTRL_HFNMIENA_Pos               1                                             /*!< MPU CTRL: HFNMIENA Position */
-#define MPU_CTRL_HFNMIENA_Msk              (1ul << MPU_CTRL_HFNMIENA_Pos)                 /*!< MPU CTRL: HFNMIENA Mask */
-
-#define MPU_CTRL_ENABLE_Pos                 0                                             /*!< MPU CTRL: ENABLE Position */
-#define MPU_CTRL_ENABLE_Msk                (1ul << MPU_CTRL_ENABLE_Pos)                   /*!< MPU CTRL: ENABLE Mask */
-
-/* MPU Region Number Register */
-#define MPU_RNR_REGION_Pos                  0                                             /*!< MPU RNR: REGION Position */
-#define MPU_RNR_REGION_Msk                 (0xFFul << MPU_RNR_REGION_Pos)                 /*!< MPU RNR: REGION Mask */
-
-/* MPU Region Base Address Register */
-#define MPU_RBAR_ADDR_Pos                   5                                             /*!< MPU RBAR: ADDR Position */
-#define MPU_RBAR_ADDR_Msk                  (0x7FFFFFFul << MPU_RBAR_ADDR_Pos)             /*!< MPU RBAR: ADDR Mask */
-
-#define MPU_RBAR_VALID_Pos                  4                                             /*!< MPU RBAR: VALID Position */
-#define MPU_RBAR_VALID_Msk                 (1ul << MPU_RBAR_VALID_Pos)                    /*!< MPU RBAR: VALID Mask */
-
-#define MPU_RBAR_REGION_Pos                 0                                             /*!< MPU RBAR: REGION Position */
-#define MPU_RBAR_REGION_Msk                (0xFul << MPU_RBAR_REGION_Pos)                 /*!< MPU RBAR: REGION Mask */
-
-/* MPU Region Attribute and Size Register */
-#define MPU_RASR_XN_Pos                    28                                             /*!< MPU RASR: XN Position */
-#define MPU_RASR_XN_Msk                    (1ul << MPU_RASR_XN_Pos)                       /*!< MPU RASR: XN Mask */
-
-#define MPU_RASR_AP_Pos                    24                                             /*!< MPU RASR: AP Position */
-#define MPU_RASR_AP_Msk                    (7ul << MPU_RASR_AP_Pos)                       /*!< MPU RASR: AP Mask */
-
-#define MPU_RASR_TEX_Pos                   19                                             /*!< MPU RASR: TEX Position */
-#define MPU_RASR_TEX_Msk                   (7ul << MPU_RASR_TEX_Pos)                      /*!< MPU RASR: TEX Mask */
-
-#define MPU_RASR_S_Pos                     18                                             /*!< MPU RASR: Shareable bit Position */
-#define MPU_RASR_S_Msk                     (1ul << MPU_RASR_S_Pos)                        /*!< MPU RASR: Shareable bit Mask */
-
-#define MPU_RASR_C_Pos                     17                                             /*!< MPU RASR: Cacheable bit Position */
-#define MPU_RASR_C_Msk                     (1ul << MPU_RASR_C_Pos)                        /*!< MPU RASR: Cacheable bit Mask */
-
-#define MPU_RASR_B_Pos                     16                                             /*!< MPU RASR: Bufferable bit Position */
-#define MPU_RASR_B_Msk                     (1ul << MPU_RASR_B_Pos)                        /*!< MPU RASR: Bufferable bit Mask */
-
-#define MPU_RASR_SRD_Pos                    8                                             /*!< MPU RASR: Sub-Region Disable Position */
-#define MPU_RASR_SRD_Msk                   (0xFFul << MPU_RASR_SRD_Pos)                   /*!< MPU RASR: Sub-Region Disable Mask */
-
-#define MPU_RASR_SIZE_Pos                   1                                             /*!< MPU RASR: Region Size Field Position */
-#define MPU_RASR_SIZE_Msk                  (0x1Ful << MPU_RASR_SIZE_Pos)                  /*!< MPU RASR: Region Size Field Mask */
-
-#define MPU_RASR_ENA_Pos                     0                                            /*!< MPU RASR: Region enable bit Position */
-#define MPU_RASR_ENA_Msk                    (0x1Ful << MPU_RASR_ENA_Pos)                  /*!< MPU RASR: Region enable bit Disable Mask */
-
-/*@}*/ /* end of group CMSIS_CM3_MPU */
-#endif
-
-
-/** @addtogroup CMSIS_CM3_CoreDebug CMSIS CM3 Core Debug
-  memory mapped structure for Core Debug Register
-  @{
- */
-typedef struct
-{
-  __IO uint32_t DHCSR;                        /*!< Offset: 0x00  Debug Halting Control and Status Register    */
-  __O  uint32_t DCRSR;                        /*!< Offset: 0x04  Debug Core Register Selector Register        */
-  __IO uint32_t DCRDR;                        /*!< Offset: 0x08  Debug Core Register Data Register            */
-  __IO uint32_t DEMCR;                        /*!< Offset: 0x0C  Debug Exception and Monitor Control Register */
-} CoreDebug_Type;
-
-/* Debug Halting Control and Status Register */
-#define CoreDebug_DHCSR_DBGKEY_Pos         16                                             /*!< CoreDebug DHCSR: DBGKEY Position */
-#define CoreDebug_DHCSR_DBGKEY_Msk         (0xFFFFul << CoreDebug_DHCSR_DBGKEY_Pos)       /*!< CoreDebug DHCSR: DBGKEY Mask */
-
-#define CoreDebug_DHCSR_S_RESET_ST_Pos     25                                             /*!< CoreDebug DHCSR: S_RESET_ST Position */
-#define CoreDebug_DHCSR_S_RESET_ST_Msk     (1ul << CoreDebug_DHCSR_S_RESET_ST_Pos)        /*!< CoreDebug DHCSR: S_RESET_ST Mask */
-
-#define CoreDebug_DHCSR_S_RETIRE_ST_Pos    24                                             /*!< CoreDebug DHCSR: S_RETIRE_ST Position */
-#define CoreDebug_DHCSR_S_RETIRE_ST_Msk    (1ul << CoreDebug_DHCSR_S_RETIRE_ST_Pos)       /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */
-
-#define CoreDebug_DHCSR_S_LOCKUP_Pos       19                                             /*!< CoreDebug DHCSR: S_LOCKUP Position */
-#define CoreDebug_DHCSR_S_LOCKUP_Msk       (1ul << CoreDebug_DHCSR_S_LOCKUP_Pos)          /*!< CoreDebug DHCSR: S_LOCKUP Mask */
-
-#define CoreDebug_DHCSR_S_SLEEP_Pos        18                                             /*!< CoreDebug DHCSR: S_SLEEP Position */
-#define CoreDebug_DHCSR_S_SLEEP_Msk        (1ul << CoreDebug_DHCSR_S_SLEEP_Pos)           /*!< CoreDebug DHCSR: S_SLEEP Mask */
-
-#define CoreDebug_DHCSR_S_HALT_Pos         17                                             /*!< CoreDebug DHCSR: S_HALT Position */
-#define CoreDebug_DHCSR_S_HALT_Msk         (1ul << CoreDebug_DHCSR_S_HALT_Pos)            /*!< CoreDebug DHCSR: S_HALT Mask */
-
-#define CoreDebug_DHCSR_S_REGRDY_Pos       16                                             /*!< CoreDebug DHCSR: S_REGRDY Position */
-#define CoreDebug_DHCSR_S_REGRDY_Msk       (1ul << CoreDebug_DHCSR_S_REGRDY_Pos)          /*!< CoreDebug DHCSR: S_REGRDY Mask */
-
-#define CoreDebug_DHCSR_C_SNAPSTALL_Pos     5                                             /*!< CoreDebug DHCSR: C_SNAPSTALL Position */
-#define CoreDebug_DHCSR_C_SNAPSTALL_Msk    (1ul << CoreDebug_DHCSR_C_SNAPSTALL_Pos)       /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */
-
-#define CoreDebug_DHCSR_C_MASKINTS_Pos      3                                             /*!< CoreDebug DHCSR: C_MASKINTS Position */
-#define CoreDebug_DHCSR_C_MASKINTS_Msk     (1ul << CoreDebug_DHCSR_C_MASKINTS_Pos)        /*!< CoreDebug DHCSR: C_MASKINTS Mask */
-
-#define CoreDebug_DHCSR_C_STEP_Pos          2                                             /*!< CoreDebug DHCSR: C_STEP Position */
-#define CoreDebug_DHCSR_C_STEP_Msk         (1ul << CoreDebug_DHCSR_C_STEP_Pos)            /*!< CoreDebug DHCSR: C_STEP Mask */
-
-#define CoreDebug_DHCSR_C_HALT_Pos          1                                             /*!< CoreDebug DHCSR: C_HALT Position */
-#define CoreDebug_DHCSR_C_HALT_Msk         (1ul << CoreDebug_DHCSR_C_HALT_Pos)            /*!< CoreDebug DHCSR: C_HALT Mask */
-
-#define CoreDebug_DHCSR_C_DEBUGEN_Pos       0                                             /*!< CoreDebug DHCSR: C_DEBUGEN Position */
-#define CoreDebug_DHCSR_C_DEBUGEN_Msk      (1ul << CoreDebug_DHCSR_C_DEBUGEN_Pos)         /*!< CoreDebug DHCSR: C_DEBUGEN Mask */
-
-/* Debug Core Register Selector Register */
-#define CoreDebug_DCRSR_REGWnR_Pos         16                                             /*!< CoreDebug DCRSR: REGWnR Position */
-#define CoreDebug_DCRSR_REGWnR_Msk         (1ul << CoreDebug_DCRSR_REGWnR_Pos)            /*!< CoreDebug DCRSR: REGWnR Mask */
-
-#define CoreDebug_DCRSR_REGSEL_Pos          0                                             /*!< CoreDebug DCRSR: REGSEL Position */
-#define CoreDebug_DCRSR_REGSEL_Msk         (0x1Ful << CoreDebug_DCRSR_REGSEL_Pos)         /*!< CoreDebug DCRSR: REGSEL Mask */
-
-/* Debug Exception and Monitor Control Register */
-#define CoreDebug_DEMCR_TRCENA_Pos         24                                             /*!< CoreDebug DEMCR: TRCENA Position */
-#define CoreDebug_DEMCR_TRCENA_Msk         (1ul << CoreDebug_DEMCR_TRCENA_Pos)            /*!< CoreDebug DEMCR: TRCENA Mask */
-
-#define CoreDebug_DEMCR_MON_REQ_Pos        19                                             /*!< CoreDebug DEMCR: MON_REQ Position */
-#define CoreDebug_DEMCR_MON_REQ_Msk        (1ul << CoreDebug_DEMCR_MON_REQ_Pos)           /*!< CoreDebug DEMCR: MON_REQ Mask */
-
-#define CoreDebug_DEMCR_MON_STEP_Pos       18                                             /*!< CoreDebug DEMCR: MON_STEP Position */
-#define CoreDebug_DEMCR_MON_STEP_Msk       (1ul << CoreDebug_DEMCR_MON_STEP_Pos)          /*!< CoreDebug DEMCR: MON_STEP Mask */
-
-#define CoreDebug_DEMCR_MON_PEND_Pos       17                                             /*!< CoreDebug DEMCR: MON_PEND Position */
-#define CoreDebug_DEMCR_MON_PEND_Msk       (1ul << CoreDebug_DEMCR_MON_PEND_Pos)          /*!< CoreDebug DEMCR: MON_PEND Mask */
-
-#define CoreDebug_DEMCR_MON_EN_Pos         16                                             /*!< CoreDebug DEMCR: MON_EN Position */
-#define CoreDebug_DEMCR_MON_EN_Msk         (1ul << CoreDebug_DEMCR_MON_EN_Pos)            /*!< CoreDebug DEMCR: MON_EN Mask */
-
-#define CoreDebug_DEMCR_VC_HARDERR_Pos     10                                             /*!< CoreDebug DEMCR: VC_HARDERR Position */
-#define CoreDebug_DEMCR_VC_HARDERR_Msk     (1ul << CoreDebug_DEMCR_VC_HARDERR_Pos)        /*!< CoreDebug DEMCR: VC_HARDERR Mask */
-
-#define CoreDebug_DEMCR_VC_INTERR_Pos       9                                             /*!< CoreDebug DEMCR: VC_INTERR Position */
-#define CoreDebug_DEMCR_VC_INTERR_Msk      (1ul << CoreDebug_DEMCR_VC_INTERR_Pos)         /*!< CoreDebug DEMCR: VC_INTERR Mask */
-
-#define CoreDebug_DEMCR_VC_BUSERR_Pos       8                                             /*!< CoreDebug DEMCR: VC_BUSERR Position */
-#define CoreDebug_DEMCR_VC_BUSERR_Msk      (1ul << CoreDebug_DEMCR_VC_BUSERR_Pos)         /*!< CoreDebug DEMCR: VC_BUSERR Mask */
-
-#define CoreDebug_DEMCR_VC_STATERR_Pos      7                                             /*!< CoreDebug DEMCR: VC_STATERR Position */
-#define CoreDebug_DEMCR_VC_STATERR_Msk     (1ul << CoreDebug_DEMCR_VC_STATERR_Pos)        /*!< CoreDebug DEMCR: VC_STATERR Mask */
-
-#define CoreDebug_DEMCR_VC_CHKERR_Pos       6                                             /*!< CoreDebug DEMCR: VC_CHKERR Position */
-#define CoreDebug_DEMCR_VC_CHKERR_Msk      (1ul << CoreDebug_DEMCR_VC_CHKERR_Pos)         /*!< CoreDebug DEMCR: VC_CHKERR Mask */
-
-#define CoreDebug_DEMCR_VC_NOCPERR_Pos      5                                             /*!< CoreDebug DEMCR: VC_NOCPERR Position */
-#define CoreDebug_DEMCR_VC_NOCPERR_Msk     (1ul << CoreDebug_DEMCR_VC_NOCPERR_Pos)        /*!< CoreDebug DEMCR: VC_NOCPERR Mask */
-
-#define CoreDebug_DEMCR_VC_MMERR_Pos        4                                             /*!< CoreDebug DEMCR: VC_MMERR Position */
-#define CoreDebug_DEMCR_VC_MMERR_Msk       (1ul << CoreDebug_DEMCR_VC_MMERR_Pos)          /*!< CoreDebug DEMCR: VC_MMERR Mask */
-
-#define CoreDebug_DEMCR_VC_CORERESET_Pos    0                                             /*!< CoreDebug DEMCR: VC_CORERESET Position */
-#define CoreDebug_DEMCR_VC_CORERESET_Msk   (1ul << CoreDebug_DEMCR_VC_CORERESET_Pos)      /*!< CoreDebug DEMCR: VC_CORERESET Mask */
-/*@}*/ /* end of group CMSIS_CM3_CoreDebug */
-
-
-/* Memory mapping of Cortex-M3 Hardware */
-#define SCS_BASE            (0xE000E000)                              /*!< System Control Space Base Address */
-#define ITM_BASE            (0xE0000000)                              /*!< ITM Base Address                  */
-#define CoreDebug_BASE      (0xE000EDF0)                              /*!< Core Debug Base Address           */
-#define SysTick_BASE        (SCS_BASE +  0x0010)                      /*!< SysTick Base Address              */
-#define NVIC_BASE           (SCS_BASE +  0x0100)                      /*!< NVIC Base Address                 */
-#define SCB_BASE            (SCS_BASE +  0x0D00)                      /*!< System Control Block Base Address */
-
-#define InterruptType       ((InterruptType_Type *) SCS_BASE)         /*!< Interrupt Type Register           */
-#define SCB                 ((SCB_Type *)           SCB_BASE)         /*!< SCB configuration struct          */
-#define SysTick             ((SysTick_Type *)       SysTick_BASE)     /*!< SysTick configuration struct      */
-#define NVIC                ((NVIC_Type *)          NVIC_BASE)        /*!< NVIC configuration struct         */
-#define ITM                 ((ITM_Type *)           ITM_BASE)         /*!< ITM configuration struct          */
-#define CoreDebug           ((CoreDebug_Type *)     CoreDebug_BASE)   /*!< Core Debug configuration struct   */
-
-#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1)
-  #define MPU_BASE          (SCS_BASE +  0x0D90)                      /*!< Memory Protection Unit            */
-  #define MPU               ((MPU_Type*)            MPU_BASE)         /*!< Memory Protection Unit            */
-#endif
-
-/*@}*/ /* end of group CMSIS_CM3_core_register */
-
-
-/*******************************************************************************
- *                Hardware Abstraction Layer
- ******************************************************************************/
-
-#if defined ( __CC_ARM   )
-  #define __ASM            __asm                                      /*!< asm keyword for ARM Compiler          */
-  #define __INLINE         __inline                                   /*!< inline keyword for ARM Compiler       */
-
-#elif defined ( __ICCARM__ )
-  #define __ASM           __asm                                       /*!< asm keyword for IAR Compiler          */
-  #define __INLINE        inline                                      /*!< inline keyword for IAR Compiler. Only avaiable in High optimization mode! */
-
-#elif defined   (  __GNUC__  )
-  #define __ASM            __asm                                      /*!< asm keyword for GNU Compiler          */
-  #define __INLINE         inline                                     /*!< inline keyword for GNU Compiler       */
-
-#elif defined   (  __TASKING__  )
-  #define __ASM            __asm                                      /*!< asm keyword for TASKING Compiler      */
-  #define __INLINE         inline                                     /*!< inline keyword for TASKING Compiler   */
-
-#endif
-
-
-/* ###################  Compiler specific Intrinsics  ########################### */
-
-#if defined ( __CC_ARM   ) /*------------------RealView Compiler -----------------*/
-/* ARM armcc specific functions */
-
-#define __enable_fault_irq                __enable_fiq
-#define __disable_fault_irq               __disable_fiq
-
-#define __NOP                             __nop
-#define __WFI                             __wfi
-#define __WFE                             __wfe
-#define __SEV                             __sev
-#define __ISB()                           __isb(0)
-#define __DSB()                           __dsb(0)
-#define __DMB()                           __dmb(0)
-#define __REV                             __rev
-#define __RBIT                            __rbit
-#define __LDREXB(ptr)                     ((unsigned char ) __ldrex(ptr))
-#define __LDREXH(ptr)                     ((unsigned short) __ldrex(ptr))
-#define __LDREXW(ptr)                     ((unsigned int  ) __ldrex(ptr))
-#define __STREXB(value, ptr)              __strex(value, ptr)
-#define __STREXH(value, ptr)              __strex(value, ptr)
-#define __STREXW(value, ptr)              __strex(value, ptr)
-
-
-/* intrinsic unsigned long long __ldrexd(volatile void *ptr) */
-/* intrinsic int __strexd(unsigned long long val, volatile void *ptr) */
-/* intrinsic void __enable_irq();     */
-/* intrinsic void __disable_irq();    */
-
-
-/**
- * @brief  Return the Process Stack Pointer
- *
- * @return ProcessStackPointer
- *
- * Return the actual process stack pointer
- */
-extern uint32_t __get_PSP(void);
-
-/**
- * @brief  Set the Process Stack Pointer
- *
- * @param  topOfProcStack  Process Stack Pointer
- *
- * Assign the value ProcessStackPointer to the MSP 
- * (process stack pointer) Cortex processor register
- */
-extern void __set_PSP(uint32_t topOfProcStack);
-
-/**
- * @brief  Return the Main Stack Pointer
- *
- * @return Main Stack Pointer
- *
- * Return the current value of the MSP (main stack pointer)
- * Cortex processor register
- */
-extern uint32_t __get_MSP(void);
-
-/**
- * @brief  Set the Main Stack Pointer
- *
- * @param  topOfMainStack  Main Stack Pointer
- *
- * Assign the value mainStackPointer to the MSP 
- * (main stack pointer) Cortex processor register
- */
-extern void __set_MSP(uint32_t topOfMainStack);
-
-/**
- * @brief  Reverse byte order in unsigned short value
- *
- * @param   value  value to reverse
- * @return         reversed value
- *
- * Reverse byte order in unsigned short value
- */
-extern uint32_t __REV16(uint16_t value);
-
-/**
- * @brief  Reverse byte order in signed short value with sign extension to integer
- *
- * @param   value  value to reverse
- * @return         reversed value
- *
- * Reverse byte order in signed short value with sign extension to integer
- */
-extern int32_t __REVSH(int16_t value);
-
-
-#if (__ARMCC_VERSION < 400000)
-
-/**
- * @brief  Remove the exclusive lock created by ldrex
- *
- * Removes the exclusive lock which is created by ldrex.
- */
-extern void __CLREX(void);
-
-/**
- * @brief  Return the Base Priority value
- *
- * @return BasePriority
- *
- * Return the content of the base priority register
- */
-extern uint32_t __get_BASEPRI(void);
-
-/**
- * @brief  Set the Base Priority value
- *
- * @param  basePri  BasePriority
- *
- * Set the base priority register
- */
-extern void __set_BASEPRI(uint32_t basePri);
-
-/**
- * @brief  Return the Priority Mask value
- *
- * @return PriMask
- *
- * Return state of the priority mask bit from the priority mask register
- */
-extern uint32_t __get_PRIMASK(void);
-
-/**
- * @brief  Set the Priority Mask value
- *
- * @param   priMask  PriMask
- *
- * Set the priority mask bit in the priority mask register
- */
-extern void __set_PRIMASK(uint32_t priMask);
-
-/**
- * @brief  Return the Fault Mask value
- *
- * @return FaultMask
- *
- * Return the content of the fault mask register
- */
-extern uint32_t __get_FAULTMASK(void);
-
-/**
- * @brief  Set the Fault Mask value
- *
- * @param  faultMask faultMask value
- *
- * Set the fault mask register
- */
-extern void __set_FAULTMASK(uint32_t faultMask);
-
-/**
- * @brief  Return the Control Register value
- * 
- * @return Control value
- *
- * Return the content of the control register
- */
-extern uint32_t __get_CONTROL(void);
-
-/**
- * @brief  Set the Control Register value
- *
- * @param  control  Control value
- *
- * Set the control register
- */
-extern void __set_CONTROL(uint32_t control);
-
-#else  /* (__ARMCC_VERSION >= 400000)  */
-
-/**
- * @brief  Remove the exclusive lock created by ldrex
- *
- * Removes the exclusive lock which is created by ldrex.
- */
-#define __CLREX                           __clrex
-
-/**
- * @brief  Return the Base Priority value
- *
- * @return BasePriority
- *
- * Return the content of the base priority register
- */
-static __INLINE uint32_t  __get_BASEPRI(void)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  return(__regBasePri);
-}
-
-/**
- * @brief  Set the Base Priority value
- *
- * @param  basePri  BasePriority
- *
- * Set the base priority register
- */
-static __INLINE void __set_BASEPRI(uint32_t basePri)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  __regBasePri = (basePri & 0xff);
-}
-
-/**
- * @brief  Return the Priority Mask value
- *
- * @return PriMask
- *
- * Return state of the priority mask bit from the priority mask register
- */
-static __INLINE uint32_t __get_PRIMASK(void)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  return(__regPriMask);
-}
-
-/**
- * @brief  Set the Priority Mask value
- *
- * @param  priMask  PriMask
- *
- * Set the priority mask bit in the priority mask register
- */
-static __INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  __regPriMask = (priMask);
-}
-
-/**
- * @brief  Return the Fault Mask value
- *
- * @return FaultMask
- *
- * Return the content of the fault mask register
- */
-static __INLINE uint32_t __get_FAULTMASK(void)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  return(__regFaultMask);
-}
-
-/**
- * @brief  Set the Fault Mask value
- *
- * @param  faultMask  faultMask value
- *
- * Set the fault mask register
- */
-static __INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  __regFaultMask = (faultMask & 1);
-}
-
-/**
- * @brief  Return the Control Register value
- * 
- * @return Control value
- *
- * Return the content of the control register
- */
-static __INLINE uint32_t __get_CONTROL(void)
-{
-  register uint32_t __regControl         __ASM("control");
-  return(__regControl);
-}
-
-/**
- * @brief  Set the Control Register value
- *
- * @param  control  Control value
- *
- * Set the control register
- */
-static __INLINE void __set_CONTROL(uint32_t control)
-{
-  register uint32_t __regControl         __ASM("control");
-  __regControl = control;
-}
-
-#endif /* __ARMCC_VERSION  */ 
-
-
-
-#elif (defined (__ICCARM__)) /*------------------ ICC Compiler -------------------*/
-/* IAR iccarm specific functions */
-
-#define __enable_irq                              __enable_interrupt        /*!< global Interrupt enable */
-#define __disable_irq                             __disable_interrupt       /*!< global Interrupt disable */
-
-static __INLINE void __enable_fault_irq()         { __ASM ("cpsie f"); }
-static __INLINE void __disable_fault_irq()        { __ASM ("cpsid f"); }
-
-#define __NOP                                     __no_operation            /*!< no operation intrinsic in IAR Compiler */ 
-static __INLINE  void __WFI()                     { __ASM ("wfi"); }
-static __INLINE  void __WFE()                     { __ASM ("wfe"); }
-static __INLINE  void __SEV()                     { __ASM ("sev"); }
-static __INLINE  void __CLREX()                   { __ASM ("clrex"); }
-
-/* intrinsic void __ISB(void)                                     */
-/* intrinsic void __DSB(void)                                     */
-/* intrinsic void __DMB(void)                                     */
-/* intrinsic void __set_PRIMASK();                                */
-/* intrinsic void __get_PRIMASK();                                */
-/* intrinsic void __set_FAULTMASK();                              */
-/* intrinsic void __get_FAULTMASK();                              */
-/* intrinsic uint32_t __REV(uint32_t value);                      */
-/* intrinsic uint32_t __REVSH(uint32_t value);                    */
-/* intrinsic unsigned long __STREX(unsigned long, unsigned long); */
-/* intrinsic unsigned long __LDREX(unsigned long *);              */
-
-
-/**
- * @brief  Return the Process Stack Pointer
- *
- * @return ProcessStackPointer
- *
- * Return the actual process stack pointer
- */
-extern uint32_t __get_PSP(void);
-
-/**
- * @brief  Set the Process Stack Pointer
- *
- * @param  topOfProcStack  Process Stack Pointer
- *
- * Assign the value ProcessStackPointer to the MSP 
- * (process stack pointer) Cortex processor register
- */
-extern void __set_PSP(uint32_t topOfProcStack);
-
-/**
- * @brief  Return the Main Stack Pointer
- *
- * @return Main Stack Pointer
- *
- * Return the current value of the MSP (main stack pointer)
- * Cortex processor register
- */
-extern uint32_t __get_MSP(void);
-
-/**
- * @brief  Set the Main Stack Pointer
- *
- * @param  topOfMainStack  Main Stack Pointer
- *
- * Assign the value mainStackPointer to the MSP 
- * (main stack pointer) Cortex processor register
- */
-extern void __set_MSP(uint32_t topOfMainStack);
-
-/**
- * @brief  Reverse byte order in unsigned short value
- *
- * @param  value  value to reverse
- * @return        reversed value
- *
- * Reverse byte order in unsigned short value
- */
-extern uint32_t __REV16(uint16_t value);
-
-/**
- * @brief  Reverse bit order of value
- *
- * @param  value  value to reverse
- * @return        reversed value
- *
- * Reverse bit order of value
- */
-extern uint32_t __RBIT(uint32_t value);
-
-/**
- * @brief  LDR Exclusive (8 bit)
- *
- * @param  *addr  address pointer
- * @return        value of (*address)
- *
- * Exclusive LDR command for 8 bit values)
- */
-extern uint8_t __LDREXB(uint8_t *addr);
-
-/**
- * @brief  LDR Exclusive (16 bit)
- *
- * @param  *addr  address pointer
- * @return        value of (*address)
- *
- * Exclusive LDR command for 16 bit values
- */
-extern uint16_t __LDREXH(uint16_t *addr);
-
-/**
- * @brief  LDR Exclusive (32 bit)
- *
- * @param  *addr  address pointer
- * @return        value of (*address)
- *
- * Exclusive LDR command for 32 bit values
- */
-extern uint32_t __LDREXW(uint32_t *addr);
-
-/**
- * @brief  STR Exclusive (8 bit)
- *
- * @param  value  value to store
- * @param  *addr  address pointer
- * @return        successful / failed
- *
- * Exclusive STR command for 8 bit values
- */
-extern uint32_t __STREXB(uint8_t value, uint8_t *addr);
-
-/**
- * @brief  STR Exclusive (16 bit)
- *
- * @param  value  value to store
- * @param  *addr  address pointer
- * @return        successful / failed
- *
- * Exclusive STR command for 16 bit values
- */
-extern uint32_t __STREXH(uint16_t value, uint16_t *addr);
-
-/**
- * @brief  STR Exclusive (32 bit)
- *
- * @param  value  value to store
- * @param  *addr  address pointer
- * @return        successful / failed
- *
- * Exclusive STR command for 32 bit values
- */
-extern uint32_t __STREXW(uint32_t value, uint32_t *addr);
-
-
-
-#elif (defined (__GNUC__)) /*------------------ GNU Compiler ---------------------*/
-/* GNU gcc specific functions */
-
-static __INLINE void __enable_irq()               { __ASM volatile ("cpsie i"); }
-static __INLINE void __disable_irq()              { __ASM volatile ("cpsid i"); }
-
-static __INLINE void __enable_fault_irq()         { __ASM volatile ("cpsie f"); }
-static __INLINE void __disable_fault_irq()        { __ASM volatile ("cpsid f"); }
-
-static __INLINE void __NOP()                      { __ASM volatile ("nop"); }
-static __INLINE void __WFI()                      { __ASM volatile ("wfi"); }
-static __INLINE void __WFE()                      { __ASM volatile ("wfe"); }
-static __INLINE void __SEV()                      { __ASM volatile ("sev"); }
-static __INLINE void __ISB()                      { __ASM volatile ("isb"); }
-static __INLINE void __DSB()                      { __ASM volatile ("dsb"); }
-static __INLINE void __DMB()                      { __ASM volatile ("dmb"); }
-static __INLINE void __CLREX()                    { __ASM volatile ("clrex"); }
-
-
-/**
- * @brief  Return the Process Stack Pointer
- *
- * @return ProcessStackPointer
- *
- * Return the actual process stack pointer
- */
-extern uint32_t __get_PSP(void);
-
-/**
- * @brief  Set the Process Stack Pointer
- *
- * @param  topOfProcStack  Process Stack Pointer
- *
- * Assign the value ProcessStackPointer to the MSP 
- * (process stack pointer) Cortex processor register
- */
-extern void __set_PSP(uint32_t topOfProcStack);
-
-/**
- * @brief  Return the Main Stack Pointer
- *
- * @return Main Stack Pointer
- *
- * Return the current value of the MSP (main stack pointer)
- * Cortex processor register
- */
-extern uint32_t __get_MSP(void);
-
-/**
- * @brief  Set the Main Stack Pointer
- *
- * @param  topOfMainStack  Main Stack Pointer
- *
- * Assign the value mainStackPointer to the MSP 
- * (main stack pointer) Cortex processor register
- */
-extern void __set_MSP(uint32_t topOfMainStack);
-
-/**
- * @brief  Return the Base Priority value
- *
- * @return BasePriority
- *
- * Return the content of the base priority register
- */
-extern uint32_t __get_BASEPRI(void);
-
-/**
- * @brief  Set the Base Priority value
- *
- * @param  basePri  BasePriority
- *
- * Set the base priority register
- */
-extern void __set_BASEPRI(uint32_t basePri);
-
-/**
- * @brief  Return the Priority Mask value
- *
- * @return PriMask
- *
- * Return state of the priority mask bit from the priority mask register
- */
-extern uint32_t  __get_PRIMASK(void);
-
-/**
- * @brief  Set the Priority Mask value
- *
- * @param  priMask  PriMask
- *
- * Set the priority mask bit in the priority mask register
- */
-extern void __set_PRIMASK(uint32_t priMask);
-
-/**
- * @brief  Return the Fault Mask value
- *
- * @return FaultMask
- *
- * Return the content of the fault mask register
- */
-extern uint32_t __get_FAULTMASK(void);
-
-/**
- * @brief  Set the Fault Mask value
- *
- * @param  faultMask  faultMask value
- *
- * Set the fault mask register
- */
-extern void __set_FAULTMASK(uint32_t faultMask);
-
-/**
- * @brief  Return the Control Register value
-* 
-*  @return Control value
- *
- * Return the content of the control register
- */
-extern uint32_t __get_CONTROL(void);
-
-/**
- * @brief  Set the Control Register value
- *
- * @param  control  Control value
- *
- * Set the control register
- */
-extern void __set_CONTROL(uint32_t control);
-
-/**
- * @brief  Reverse byte order in integer value
- *
- * @param  value  value to reverse
- * @return        reversed value
- *
- * Reverse byte order in integer value
- */
-extern uint32_t __REV(uint32_t value);
-
-/**
- * @brief  Reverse byte order in unsigned short value
- *
- * @param  value  value to reverse
- * @return        reversed value
- *
- * Reverse byte order in unsigned short value
- */
-extern uint32_t __REV16(uint16_t value);
-
-/**
- * @brief  Reverse byte order in signed short value with sign extension to integer
- *
- * @param  value  value to reverse
- * @return        reversed value
- *
- * Reverse byte order in signed short value with sign extension to integer
- */
-extern int32_t __REVSH(int16_t value);
-
-/**
- * @brief  Reverse bit order of value
- *
- * @param  value  value to reverse
- * @return        reversed value
- *
- * Reverse bit order of value
- */
-extern uint32_t __RBIT(uint32_t value);
-
-/**
- * @brief  LDR Exclusive (8 bit)
- *
- * @param  *addr  address pointer
- * @return        value of (*address)
- *
- * Exclusive LDR command for 8 bit value
- */
-extern uint8_t __LDREXB(uint8_t *addr);
-
-/**
- * @brief  LDR Exclusive (16 bit)
- *
- * @param  *addr  address pointer
- * @return        value of (*address)
- *
- * Exclusive LDR command for 16 bit values
- */
-extern uint16_t __LDREXH(uint16_t *addr);
-
-/**
- * @brief  LDR Exclusive (32 bit)
- *
- * @param  *addr  address pointer
- * @return        value of (*address)
- *
- * Exclusive LDR command for 32 bit values
- */
-extern uint32_t __LDREXW(uint32_t *addr);
-
-/**
- * @brief  STR Exclusive (8 bit)
- *
- * @param  value  value to store
- * @param  *addr  address pointer
- * @return        successful / failed
- *
- * Exclusive STR command for 8 bit values
- */
-extern uint32_t __STREXB(uint8_t value, uint8_t *addr);
-
-/**
- * @brief  STR Exclusive (16 bit)
- *
- * @param  value  value to store
- * @param  *addr  address pointer
- * @return        successful / failed
- *
- * Exclusive STR command for 16 bit values
- */
-extern uint32_t __STREXH(uint16_t value, uint16_t *addr);
-
-/**
- * @brief  STR Exclusive (32 bit)
- *
- * @param  value  value to store
- * @param  *addr  address pointer
- * @return        successful / failed
- *
- * Exclusive STR command for 32 bit values
- */
-extern uint32_t __STREXW(uint32_t value, uint32_t *addr);
-
-
-#elif (defined (__TASKING__)) /*------------------ TASKING Compiler ---------------------*/
-/* TASKING carm specific functions */
-
-/*
- * The CMSIS functions have been implemented as intrinsics in the compiler.
- * Please use "carm -?i" to get an up to date list of all instrinsics,
- * Including the CMSIS ones.
- */
-
-#endif
-
-
-/** @addtogroup CMSIS_CM3_Core_FunctionInterface CMSIS CM3 Core Function Interface
-  Core  Function Interface containing:
-  - Core NVIC Functions
-  - Core SysTick Functions
-  - Core Reset Functions
-*/
-/*@{*/
-
-/* ##########################   NVIC functions  #################################### */
-
-/**
- * @brief  Set the Priority Grouping in NVIC Interrupt Controller
- *
- * @param  PriorityGroup is priority grouping field
- *
- * Set the priority grouping field using the required unlock sequence.
- * The parameter priority_grouping is assigned to the field 
- * SCB->AIRCR [10:8] PRIGROUP field. Only values from 0..7 are used.
- * In case of a conflict between priority grouping and available
- * priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set.
- */
-static __INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup)
-{
-  uint32_t reg_value;
-  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);                         /* only values 0..7 are used          */
-  
-  reg_value  =  SCB->AIRCR;                                                   /* read old register configuration    */
-  reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk);             /* clear bits to change               */
-  reg_value  =  (reg_value                       |
-                (0x5FA << SCB_AIRCR_VECTKEY_Pos) | 
-                (PriorityGroupTmp << 8));                                     /* Insert write key and priorty group */
-  SCB->AIRCR =  reg_value;
-}
-
-/**
- * @brief  Get the Priority Grouping from NVIC Interrupt Controller
- *
- * @return priority grouping field 
- *
- * Get the priority grouping from NVIC Interrupt Controller.
- * priority grouping is SCB->AIRCR [10:8] PRIGROUP field.
- */
-static __INLINE uint32_t NVIC_GetPriorityGrouping(void)
-{
-  return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos);   /* read priority grouping field */
-}
-
-/**
- * @brief  Enable Interrupt in NVIC Interrupt Controller
- *
- * @param  IRQn   The positive number of the external interrupt to enable
- *
- * Enable a device specific interupt in the NVIC interrupt controller.
- * The interrupt number cannot be a negative value.
- */
-static __INLINE void NVIC_EnableIRQ(IRQn_Type IRQn)
-{
-  NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* enable interrupt */
-}
-
-/**
- * @brief  Disable the interrupt line for external interrupt specified
- * 
- * @param  IRQn   The positive number of the external interrupt to disable
- * 
- * Disable a device specific interupt in the NVIC interrupt controller.
- * The interrupt number cannot be a negative value.
- */
-static __INLINE void NVIC_DisableIRQ(IRQn_Type IRQn)
-{
-  NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */
-}
-
-/**
- * @brief  Read the interrupt pending bit for a device specific interrupt source
- * 
- * @param  IRQn    The number of the device specifc interrupt
- * @return         1 = interrupt pending, 0 = interrupt not pending
- *
- * Read the pending register in NVIC and return 1 if its status is pending, 
- * otherwise it returns 0
- */
-static __INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn)
-{
-  return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */
-}
-
-/**
- * @brief  Set the pending bit for an external interrupt
- * 
- * @param  IRQn    The number of the interrupt for set pending
- *
- * Set the pending bit for the specified interrupt.
- * The interrupt number cannot be a negative value.
- */
-static __INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn)
-{
-  NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */
-}
-
-/**
- * @brief  Clear the pending bit for an external interrupt
- *
- * @param  IRQn    The number of the interrupt for clear pending
- *
- * Clear the pending bit for the specified interrupt. 
- * The interrupt number cannot be a negative value.
- */
-static __INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn)
-{
-  NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */
-}
-
-/**
- * @brief  Read the active bit for an external interrupt
- *
- * @param  IRQn    The number of the interrupt for read active bit
- * @return         1 = interrupt active, 0 = interrupt not active
- *
- * Read the active register in NVIC and returns 1 if its status is active, 
- * otherwise it returns 0.
- */
-static __INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn)
-{
-  return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */
-}
-
-/**
- * @brief  Set the priority for an interrupt
- *
- * @param  IRQn      The number of the interrupt for set priority
- * @param  priority  The priority to set
- *
- * Set the priority for the specified interrupt. The interrupt 
- * number can be positive to specify an external (device specific) 
- * interrupt, or negative to specify an internal (core) interrupt.
- *
- * Note: The priority cannot be set for every core interrupt.
- */
-static __INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
-{
-  if(IRQn < 0) {
-    SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M3 System Interrupts */
-  else {
-    NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff);    }        /* set Priority for device specific Interrupts  */
-}
-
-/**
- * @brief  Read the priority for an interrupt
- *
- * @param  IRQn      The number of the interrupt for get priority
- * @return           The priority for the interrupt
- *
- * Read the priority for the specified interrupt. The interrupt 
- * number can be positive to specify an external (device specific) 
- * interrupt, or negative to specify an internal (core) interrupt.
- *
- * The returned priority value is automatically aligned to the implemented
- * priority bits of the microcontroller.
- *
- * Note: The priority cannot be set for every core interrupt.
- */
-static __INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn)
-{
-
-  if(IRQn < 0) {
-    return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for Cortex-M3 system interrupts */
-  else {
-    return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)]           >> (8 - __NVIC_PRIO_BITS)));  } /* get priority for device specific interrupts  */
-}
-
-
-/**
- * @brief  Encode the priority for an interrupt
- *
- * @param  PriorityGroup    The used priority group
- * @param  PreemptPriority  The preemptive priority value (starting from 0)
- * @param  SubPriority      The sub priority value (starting from 0)
- * @return                  The encoded priority for the interrupt
- *
- * Encode the priority for an interrupt with the given priority group,
- * preemptive priority value and sub priority value.
- * In case of a conflict between priority grouping and available
- * priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set.
- *
- * The returned priority value can be used for NVIC_SetPriority(...) function
- */
-static __INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
-  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
- 
-  return (
-           ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) |
-           ((SubPriority     & ((1 << (SubPriorityBits    )) - 1)))
-         );
-}
-
-
-/**
- * @brief  Decode the priority of an interrupt
- *
- * @param  Priority           The priority for the interrupt
- * @param  PriorityGroup      The used priority group
- * @param  pPreemptPriority   The preemptive priority value (starting from 0)
- * @param  pSubPriority       The sub priority value (starting from 0)
- *
- * Decode an interrupt priority value with the given priority group to 
- * preemptive priority value and sub priority value.
- * In case of a conflict between priority grouping and available
- * priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set.
- *
- * The priority value can be retrieved with NVIC_GetPriority(...) function
- */
-static __INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & 0x07);          /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp;
-  SubPriorityBits     = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS;
-  
-  *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1);
-  *pSubPriority     = (Priority                   ) & ((1 << (SubPriorityBits    )) - 1);
-}
-
-
-
-/* ##################################    SysTick function  ############################################ */
-
-#if (!defined (__Vendor_SysTickConfig)) || (__Vendor_SysTickConfig == 0)
-
-/**
- * @brief  Initialize and start the SysTick counter and its interrupt.
- *
- * @param   ticks   number of ticks between two interrupts
- * @return  1 = failed, 0 = successful
- *
- * Initialise the system tick timer and its interrupt and start the
- * system tick timer / counter in free running mode to generate 
- * periodical interrupts.
- */
-static __INLINE uint32_t SysTick_Config(uint32_t ticks)
-{ 
-  if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */
-                                                               
-  SysTick->LOAD  = (ticks & SysTick_LOAD_RELOAD_Msk) - 1;      /* set reload register */
-  NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Cortex-M0 System Interrupts */
-  SysTick->VAL   = 0;                                          /* Load the SysTick Counter Value */
-  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk | 
-                   SysTick_CTRL_TICKINT_Msk   | 
-                   SysTick_CTRL_ENABLE_Msk;                    /* Enable SysTick IRQ and SysTick Timer */
-  return (0);                                                  /* Function successful */
-}
-
-#endif
-
-
-
-
-/* ##################################    Reset function  ############################################ */
-
-/**
- * @brief  Initiate a system reset request.
- *
- * Initiate a system reset request to reset the MCU
- */
-static __INLINE void NVIC_SystemReset(void)
-{
-  SCB->AIRCR  = ((0x5FA << SCB_AIRCR_VECTKEY_Pos)      | 
-                 (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) | 
-                 SCB_AIRCR_SYSRESETREQ_Msk);                   /* Keep priority group unchanged */
-  __DSB();                                                     /* Ensure completion of memory access */              
-  while(1);                                                    /* wait until reset */
-}
-
-/*@}*/ /* end of group CMSIS_CM3_Core_FunctionInterface */
-
-
-
-/* ##################################### Debug In/Output function ########################################### */
-
-/** @addtogroup CMSIS_CM3_CoreDebugInterface CMSIS CM3 Core Debug Interface
-  Core Debug Interface containing:
-  - Core Debug Receive / Transmit Functions
-  - Core Debug Defines
-  - Core Debug Variables
-*/
-/*@{*/
-
-extern volatile int ITM_RxBuffer;                    /*!< variable to receive characters                             */
-#define             ITM_RXBUFFER_EMPTY    0x5AA55AA5 /*!< value identifying ITM_RxBuffer is ready for next character */
-
-
-/**
- * @brief  Outputs a character via the ITM channel 0
- *
- * @param  ch   character to output
- * @return      character to output
- *
- * The function outputs a character via the ITM channel 0. 
- * The function returns when no debugger is connected that has booked the output.  
- * It is blocking when a debugger is connected, but the previous character send is not transmitted. 
- */
-static __INLINE uint32_t ITM_SendChar (uint32_t ch)
-{
-  if ((CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk)  &&      /* Trace enabled */
-      (ITM->TCR & ITM_TCR_ITMENA_Msk)                  &&      /* ITM enabled */
-      (ITM->TER & (1ul << 0)        )                    )     /* ITM Port #0 enabled */
-  {
-    while (ITM->PORT[0].u32 == 0);
-    ITM->PORT[0].u8 = (uint8_t) ch;
-  }  
-  return (ch);
-}
-
-
-/**
- * @brief  Inputs a character via variable ITM_RxBuffer
- *
- * @return      received character, -1 = no character received
- *
- * The function inputs a character via variable ITM_RxBuffer. 
- * The function returns when no debugger is connected that has booked the output.  
- * It is blocking when a debugger is connected, but the previous character send is not transmitted. 
- */
-static __INLINE int ITM_ReceiveChar (void) {
-  int ch = -1;                               /* no character available */
-
-  if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) {
-    ch = ITM_RxBuffer;
-    ITM_RxBuffer = ITM_RXBUFFER_EMPTY;       /* ready for next character */
-  }
-  
-  return (ch); 
-}
-
-
-/**
- * @brief  Check if a character via variable ITM_RxBuffer is available
- *
- * @return      1 = character available, 0 = no character available
- *
- * The function checks  variable ITM_RxBuffer whether a character is available or not. 
- * The function returns '1' if a character is available and '0' if no character is available. 
- */
-static __INLINE int ITM_CheckChar (void) {
-
-  if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) {
-    return (0);                                 /* no character available */
-  } else {
-    return (1);                                 /*    character available */
-  }
-}
-
-/*@}*/ /* end of group CMSIS_CM3_core_DebugInterface */
-
-
-#ifdef __cplusplus
-}
-#endif
-
-/*@}*/ /* end of group CMSIS_CM3_core_definitions */
-
-#endif /* __CM3_CORE_H__ */
-
-/*lint -restore */
diff --git a/flight/PiOS/STM32F10x/library.mk b/flight/PiOS/STM32F10x/library.mk
new file mode 100644
index 000000000..e0af6b637
--- /dev/null
+++ b/flight/PiOS/STM32F10x/library.mk
@@ -0,0 +1,13 @@
+#
+# Rules to (help) build the F10x device support.
+#
+
+#
+# Compiler options implied by the F1xx
+#
+CDEFS				+= -DARM_MATH_CM3
+
+#
+# CMSIS for the F1
+#
+include $(PIOSCOMMONLIB)/CMSIS2/library.mk
diff --git a/flight/PiOS/STM32F4xx/library.mk b/flight/PiOS/STM32F4xx/library.mk
index 11e07a66f..cbd65e53f 100644
--- a/flight/PiOS/STM32F4xx/library.mk
+++ b/flight/PiOS/STM32F4xx/library.mk
@@ -5,29 +5,30 @@
 #
 # Directory containing this makefile
 #
-PIOS_DEVLIB			:=	$(dir $(lastword $(MAKEFILE_LIST)))
+PIOS_DEVLIB		:=	$(dir $(lastword $(MAKEFILE_LIST)))
 
 #
 # Hardcoded linker script names for now
 #
-LINKER_SCRIPTS_APP	 =	$(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \
+LINKER_SCRIPTS_APP	=	$(PIOS_DEVLIB)/link_STM32F4xx_OP_memory.ld \
 						$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
 
-LINKER_SCRIPTS_BL	 =	$(PIOS_DEVLIB)/link_STM32F4xx_BL_memory.ld \
+LINKER_SCRIPTS_BL	=	$(PIOS_DEVLIB)/link_STM32F4xx_BL_memory.ld \
 						$(PIOS_DEVLIB)/link_STM32F4xx_sections.ld
 
 #
 # Compiler options implied by the F4xx
 #
-CDEFS				+= -DSTM32F4XX
-CDEFS				+= -DHSE_VALUE=$(OSCILLATOR_FREQ)
-CDEFS 				+= -DUSE_STDPERIPH_DRIVER
-ARCHFLAGS			+= -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
+CDEFS			+=	-DSTM32F4XX
+CDEFS			+=	-DHSE_VALUE=$(OSCILLATOR_FREQ)
+CDEFS 			+=	-DUSE_STDPERIPH_DRIVER
+CDEFS			+=	-DARM_MATH_CM4 -D__FPU_PRESENT=1
+ARCHFLAGS		+=	-mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
 
 #
 # PIOS device library source and includes
 #
-SRC					+=	$(wildcard $(PIOS_DEVLIB)*.c)
+SRC			+=	$(wildcard $(PIOS_DEVLIB)*.c)
 EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 
 #
@@ -35,30 +36,30 @@ EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 #
 include $(PIOSCOMMONLIB)/CMSIS2/library.mk
 CMSIS2_DEVICEDIR	:=	$(PIOS_DEVLIB)/Libraries/CMSIS2/Device/ST/STM32F4xx
-SRC					+=	$(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c)
+SRC			+=	$(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c)
 EXTRAINCDIRS		+=	$(CMSIS2_DEVICEDIR)/Include
 
 #
 # ST Peripheral library
 #
-PERIPHLIB			 =	$(PIOS_DEVLIB)/Libraries/STM32F4xx_StdPeriph_Driver
-SRC					+=	$(wildcard $(PERIPHLIB)/src/*.c)
+PERIPHLIB		 =	$(PIOS_DEVLIB)/Libraries/STM32F4xx_StdPeriph_Driver
+SRC			+=	$(wildcard $(PERIPHLIB)/src/*.c)
 EXTRAINCDIRS		+=	$(PERIPHLIB)/inc
 
 #
 # ST USB OTG library
 #
-USBOTGLIB			=	$(PIOS_DEVLIB)/Libraries/STM32_USB_OTG_Driver
-USBOTGLIB_SRC			=	usb_core.c usb_dcd.c usb_dcd_int.c
-SRC				+=	$(addprefix $(USBOTGLIB)/src/,$(USBOTGLIB_SRC))
-EXTRAINCDIRS			+=	$(USBOTGLIB)/inc
+USBOTGLIB		=	$(PIOS_DEVLIB)/Libraries/STM32_USB_OTG_Driver
+USBOTGLIB_SRC		=	usb_core.c usb_dcd.c usb_dcd_int.c
+SRC			+=	$(addprefix $(USBOTGLIB)/src/,$(USBOTGLIB_SRC))
+EXTRAINCDIRS		+=	$(USBOTGLIB)/inc
 
 #
 # ST USB Device library
 #
-USBDEVLIB			=	$(PIOS_DEVLIB)/Libraries/STM32_USB_Device_Library
-SRC				+=	$(wildcard $(USBDEVLIB)/Core/src/*.c)
-EXTRAINCDIRS			+=	$(USBDEVLIB)/Core/inc
+USBDEVLIB		=	$(PIOS_DEVLIB)/Libraries/STM32_USB_Device_Library
+SRC			+=	$(wildcard $(USBDEVLIB)/Core/src/*.c)
+EXTRAINCDIRS		+=	$(USBDEVLIB)/Core/inc
 
 #
 # FreeRTOS
@@ -68,6 +69,6 @@ EXTRAINCDIRS			+=	$(USBDEVLIB)/Core/inc
 #
 ifneq ($(FREERTOS_DIR),)
 FREERTOS_PORTDIR	:=	$(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
-SRC					+=	$(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c)
+SRC			+=	$(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c)
 EXTRAINCDIRS		+=	$(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F
 endif
diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile
index 342e3f31e..f0ac42911 100644
--- a/flight/PipXtreme/Makefile
+++ b/flight/PipXtreme/Makefile
@@ -154,6 +154,7 @@ SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
 endif
 
 ## PIOS Hardware (STM32F10x)
+include $(PIOS)/STM32F10x/library.mk
 SRC += $(PIOSSTM32F10X)/pios_sys.c
 SRC += $(PIOSSTM32F10X)/pios_led.c
 SRC += $(PIOSSTM32F10X)/pios_delay.c

From 95f16e25c4407cfcf5d89d9d11a6832e69e0edb8 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov 
Date: Sun, 30 Dec 2012 21:15:46 +0200
Subject: [PATCH 07/36] [OP-775] Provide rules to build DSP library

---
 .../PiOS/Common/Libraries/CMSIS2/library.mk   | 23 +++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/flight/PiOS/Common/Libraries/CMSIS2/library.mk b/flight/PiOS/Common/Libraries/CMSIS2/library.mk
index a2b8636ea..d965c1b63 100644
--- a/flight/PiOS/Common/Libraries/CMSIS2/library.mk
+++ b/flight/PiOS/Common/Libraries/CMSIS2/library.mk
@@ -4,3 +4,26 @@
 
 CMSIS2_DIR		:=	$(dir $(lastword $(MAKEFILE_LIST)))
 EXTRAINCDIRS		+=	$(CMSIS2_DIR)/Include
+
+# Rules to build the ARM DSP library
+ifeq ($(USE_DSP_LIB), YES)
+
+DSPLIB_NAME		:=	dsp
+CMSIS_DSPLIB		:=	$(CMSIS2_DIR)/DSP_Lib/Source
+
+# Compile all files into output directory
+DSPLIB_SRC		:=	$(wildcard $(CMSIS_DSPLIB)/*/*.c)
+DSPLIB_SRCBASE		:=	$(notdir $(basename $(DSPLIB_SRC)))
+$(foreach src, $(DSPLIB_SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
+
+# Define the object files directory and a list of object files for the library
+DSPLIB_OBJDIR		=	$(OUTDIR)
+DSPLIB_OBJ		=	$(addprefix $(DSPLIB_OBJDIR)/, $(addsuffix .o, $(DSPLIB_SRCBASE)))
+
+# Create a library file
+$(eval $(call ARCHIVE_TEMPLATE, $(OUTDIR)/lib$(DSPLIB_NAME).a, $(DSPLIB_OBJ), $(DSPLIB_OBJDIR)))
+
+# Add library to the list of linked objects
+ALLLIB			+=	$(OUTDIR)/lib$(DSPLIB_NAME).a
+
+endif

From c18cba4dda901315ffaa0c744137cd75c79f6db8 Mon Sep 17 00:00:00 2001
From: Oleg Semyonov 
Date: Sun, 30 Dec 2012 21:37:35 +0200
Subject: [PATCH 08/36] [OP-775] Provide options to enable DSP library when
 needed

---
 flight/CopterControl/Makefile | 3 +++
 flight/RevoMini/Makefile      | 3 +++
 flight/Revolution/Makefile    | 3 +++
 3 files changed, 9 insertions(+)

diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 50fff2470..745606412 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -110,6 +110,9 @@ MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
 # Telemetry must be last to grab the optional modules (why?)
 MODULES += Telemetry
 
+# Enable ARM DSP library
+USE_DSP_LIB = NO
+
 # Paths
 OPSYSTEM = ./System
 OPSYSTEMINC = $(OPSYSTEM)/inc
diff --git a/flight/RevoMini/Makefile b/flight/RevoMini/Makefile
index 27505c190..2f06b750e 100644
--- a/flight/RevoMini/Makefile
+++ b/flight/RevoMini/Makefile
@@ -65,6 +65,9 @@ MODULES += Telemetry
 PYMODULES = 
 #FlightPlan
 
+# Enable ARM DSP library
+USE_DSP_LIB = NO
+
 # Paths
 OPSYSTEM = ./System
 OPSYSTEMINC = $(OPSYSTEM)/inc
diff --git a/flight/Revolution/Makefile b/flight/Revolution/Makefile
index f060b33c5..67d7d04c6 100644
--- a/flight/Revolution/Makefile
+++ b/flight/Revolution/Makefile
@@ -87,6 +87,9 @@ MODULES += Telemetry
 PYMODULES = 
 #FlightPlan
 
+# Enable ARM DSP library
+USE_DSP_LIB = NO
+
 # Paths
 OPSYSTEM = ./System
 OPSYSTEMINC = $(OPSYSTEM)/inc

From c83bb4b450ffefdd14e3fefb2d5ca4020371b598 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Thu, 3 Jan 2013 13:59:06 +0100
Subject: [PATCH 09/36] My first commit... Rescan sources to get new strings to
 be translated, Updated openpilotgcs_fr.ts, translation in progress, Little
 changes in Qml files used in Welcome plugin : Titles translations with
 qsTr(), dont work in labels.

---
 .../translations/openpilotgcs_de.ts           | 8666 ++++++++++++---
 .../translations/openpilotgcs_es.ts           | 8668 ++++++++++++---
 .../translations/openpilotgcs_fr.ts           | 9249 ++++++++++++++---
 .../translations/openpilotgcs_ru.ts           | 8743 +++++++++++++---
 .../translations/openpilotgcs_zh_CN.ts        | 8604 ++++++++++++---
 .../src/plugins/welcome/qml/NewsPanel.qml     |    2 +-
 .../src/plugins/welcome/qml/SitesPanel.qml    |    2 +-
 7 files changed, 37586 insertions(+), 6348 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_de.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_de.ts
index 509769cf1..554a8c5c7 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_de.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_de.ts
@@ -4,7 +4,7 @@
 
     Application
     
-        
+        
         Failed to load core: %1
         Das Core-Plugin konnte nicht geladen werden: %1
     
@@ -14,12 +14,12 @@
         Die Kommandozeilen-Argumente konnten nicht an die laufende Instanz übermittelt werden. Sie antwortet nicht.
     
     
-        
+        
         Could not find 'Core.pluginspec' in %1
         Die Datei 'Core.pluginspec' konnte im Verzeichnis %1 nicht gefunden werden
     
     
-        
+        
         OpenPilot GCS - Plugin loader messages
         
     
@@ -35,7 +35,7 @@
 
     Core::Internal::GeneralSettings
     
-        
+        
         General
         Allgemein
     
@@ -45,10 +45,25 @@
         Allgemeine Einstellungen
     
     
-        
+        
+        <System Language>
+        
+    
+    
+        
         Variables
         Variablen
     
+    
+        
+        Restart required
+        
+    
+    
+        
+        The language change will take effect after a restart of the OpenPilot GCS.
+        
+    
     
         
         General settings
@@ -64,56 +79,51 @@
         R
         R
     
-    
-        
-        Terminal:
-        Terminal:
-    
-    
-        
-        External editor:
-        Externer Editor:
-    
-    
-        
-        ?
-        ?
-    
-    
-        
-        When files are externally modified:
-        Wenn externe Änderungen an Dateien festgestellt werden:
-    
-    
-        
-        Always ask
-        Stets fragen
-    
-    
-        
-        Ignore modifications
-        Änderungen ignorieren
-    
-    
-        
-        Reload all modified files
-        Alle geänderten Dateien neu laden
-    
     
         
         User interface color:
         
     
+    
+        
+        Save configuration settings on exit:
+        
+    
+    
+        
+        Automatically connect an OpenPilot USB device:
+        
+    
+    
+        
+        Automatically select an OpenPilot USB device:
+        
+    
+    
+        
+        Use UDP Mirror
+        
+    
+    
+        
+        Expert Mode
+        
+    
+    
+        
+        Language:
+        
+    
 
 
     Core::Internal::MainWindow
     
-        
+        
         OpenPilot GCS
         
     
     
-        
+        
         &File
         &Datei
     
@@ -138,55 +148,17 @@
         &Hilfe
     
     
-        
-        &New File or Project...
-        &Neu...
-    
-    
-        
-        &Open File or Project...
-        Datei oder Projekt &öffnen...
-    
-    
-        
-        &Open File With...
-        &Öffne Datei mit...
-    
-    
-        
-        Recent Files
-        Zuletzt bearbeitet
-    
-    
-        
-        
-        &Save
-        &Speichern
-    
-    
-        
-        
-        Save &As...
-        Speichern &unter...
-    
-    
-        
-        
+        
         Ctrl+Shift+S
         Ctrl+Shift+S
     
     
-        
-        Save A&ll
-        &Alles speichern
-    
-    
-        
+        
         &Help...
         
     
     
-        
+        
         About &OpenPilot GCS
         
     
@@ -196,12 +168,17 @@
         
     
     
-        
+        
         E&xit
         B&eenden
     
     
-        
+        
+        Save &GCS Default Settings
+        
+    
+    
+        
         Ctrl+Q
         Ctrl+Q
     
@@ -258,12 +235,87 @@
         Vollbild
     
     
-        
+        
+        Edit Gadgets Mode
+        
+    
+    
+        
+        Ctrl+Shift+F10
+        Ctrl+Shift+F10
+    
+    
+        
+        Meta+Shift
+        
+    
+    
+        
+        Ctrl+Shift
+        
+    
+    
+        
+        Split
+        Teilen
+    
+    
+        
+        %1+Down
+        
+    
+    
+        
+        Split Side by Side
+        Nebeneinander teilen
+    
+    
+        
+        %1+Right
+        
+    
+    
+        
+        Close Current View
+        
+    
+    
+        
+        %1+C
+        
+    
+    
+        
+        Close All Other Views
+        
+    
+    
+        
+        %1+A
+        
+    
+    
+        
+        Goto Next View
+        
+    
+    
+        
+        %1+N
+        
+    
+    
+        
         About &Plugins...
         Plugins...
     
     
-        
+        
+        About &Authors...
+        
+    
+    
+        
         Settings...
         Einstellungen...
     
@@ -313,7 +365,7 @@
 
     Core::Internal::SettingsDialog
     
-        
+        
         Preferences
         Einstellungen
     
@@ -373,21 +425,15 @@
         
     
     
-        
-        From revision %1<br/>
-        This gets conditionally inserted as argument %8 into the description string.
-        Revision %1<br/>
-    
-    
-        
-        <h3>OpenPilot GCS %1</h3>Based on Qt %2 (%3 bit)<br/><br/>Built on %4 at %5<br /><br/>%8<br/>Copyright 2008-%6 %7. All rights reserved.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.<br/>
+        
+        <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
         
     
 
 
     Core::ModeManager
     
-        
+        
         Switch to %1 mode
         Gehe zu Mode '%1'
     
@@ -590,7 +636,7 @@
 
     ExtensionSystem::PluginManager
     
-        
+        
         Circular dependency detected:
 
         Zirkuläre Abhängigkeit festgestellt:
@@ -625,12 +671,14 @@ Grund: %3
 
     MainWindow
     
+        
         
+        
         MainWindow
         
     
     
-        
+        
         Go
         
     
@@ -689,6 +737,120 @@ Grund: %3
         namespace
         
     
+    
+        
+        
+        MapType
+        
+    
+    
+        
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        
+        PushButton
+        
+    
+    
+        
+        
+        Goto Place
+        
+    
+    
+        
+        
+        GO
+        
+    
+    
+        
+        
+        GeoCoderStatusCode
+        
+    
+    
+        
+        
+        Rotate
+        
+    
+    
+        
+        
+        Left
+        
+    
+    
+        
+        
+        Center
+        
+    
+    
+        
+        
+        Right
+        
+    
+    
+        
+        
+        Zoom
+        Vergrößern
+    
+    
+        
+        
+        +
+        
+    
+    
+        
+        
+        -
+        
+    
+    
+        
+        
+        ZoomIncrement
+        
+    
+    
+        
+        
+        CurrentZoom=
+        
+    
+    
+        
+        
+        Misc
+        
+    
+    
+        
+        
+        ShowGridLines
+        
+    
+    
+        
+        
+        UseOpenGL
+        
+    
+    
+        
+        
+        ReloadMap
+        
+    
 
 
     MyMain
@@ -703,7 +865,7 @@ Grund: %3
 
     OpenWith::Editors
     
-        
+        
         Plain Text Editor
         Texteditor
     
@@ -1320,96 +1482,13 @@ Grund: %3
         Die Datei %1 wurde außerhalb von Qt Creator geändert. Möchten Sie sie neu laden?
     
 
-
-    Welcome::Internal::CommunityWelcomePage
-    
-        
-        Community
-        Community
-    
-
-
-    Welcome::Internal::CommunityWelcomePageWidget
-    
-        
-        Form
-        Formular
-    
-    
-        
-        News From the OpenPilot Project
-        
-    
-    
-        
-        OpenPilot Websites
-        
-    
-    
-        
-        http://forums.openpilot.org/blog/rss/4-openpilot-development-blog
-        Add localized feed here only if one exists
-        
-    
-    
-        
-        OpenPilot Home
-        
-    
-    
-        
-        OpenPilot Wiki
-        
-    
-    
-        
-        OpenPilot Store
-        
-    
-    
-        
-        OpenPilot Forums
-        
-    
-    
-        
-        OpenPilot Bug Tracker
-        
-    
-
 
     Welcome::WelcomeMode
     
-        
-        #gradientWidget {
-  background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(247, 247, 247, 255), stop:1 rgba(215, 215, 215, 255));
-}
-        
-    
-    
-        
-        #headerFrame {
-    border-image: url(:/welcome/images/center_frame_header.png) 0;
-    border-width: 0;
-}
-
-        
-    
-    
-        
-        Feedback
-        Feedback
-    
-    
-        
+        
         Welcome
         Willkommen
     
-    
-        
-        Help us make OpenPilot even better
-        
-    
 
 
     mainClass
@@ -1529,131 +1608,302 @@ p, li { white-space: pre-wrap; }
         Choose icon
         
     
+    
+        
+        Workspace panel
+        
+    
+    
+        
+        Placement:
+        
+    
+    
+        
+        Top
+        
+    
+    
+        
+        Bottom
+        
+    
+    
+        
+        Allow reordering:
+        
+    
 
 
     HITLOptionsPage
     
         
-        
+        
         Form
         Formular
     
     
         
-        
-        
         Manual aircraft control (can be used when hardware is not available)
         
     
     
         
-        
+        
         Choose flight simulator:
         
     
     
         
-        
         Latitude in degrees:
         
     
     
         
-        
         Longitude in degrees:
         
     
     
         
-        
+        
         Path executable:
         
     
     
         
-        
+        
         Data directory:
         
     
     
         
-        
-        Host Address:
-        
-    
-    
-        
-        
+        
         Output Port:
         
     
     
         
-        
+        
         Input Port:
         
     
     
         
+        
         Choose flight simulator executable
         
     
     
         
+        
         Choose flight simulator data directory
         
     
+    
+        
+        
+        For receiving data from sim
+        
+    
+    
+        
+        Check this box to start the simulator on the local computer
+        
+    
+    
+        
+        Start simulator on local machine
+        
+    
+    
+        
+        
+        Local interface (IP):
+        
+    
+    
+        
+        
+        For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.
+        
+    
+    
+        
+        
+        Remote interface (IP):
+        
+    
+    
+        
+        
+        Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.
+        
+    
+    
+        
+        
+        For sending data to sim
+        
+    
+    
+        
+        Attitude data
+        
+    
+    
+        
+        AttitudeRaw (gyro, accels)
+        
+    
+    
+        
+        Refresh rate
+        
+    
+    
+        
+        ms
+        
+    
+    
+        
+        AttitudeActual
+        
+    
+    
+        
+        send raw data to board
+        
+    
+    
+        
+        use values from simulator
+        
+    
+    
+        
+        calculate from AttitudeRaw
+        
+    
+    
+        
+        Other data
+        
+    
+    
+        
+        HomeLocation
+        
+    
+    
+        
+        0 - update once, or every N seconds
+        
+    
+    
+        
+        sec
+        
+    
+    
+        
+        GPSPosition
+        
+    
+    
+        
+        SonarAltitude
+        
+    
+    
+        
+        Range detection
+        
+    
+    
+        
+        m
+        
+    
+    
+        
+        Map command from simulator
+        
+    
+    
+        
+        to GCSReciver
+        
+    
+    
+        
+        to ManualCtrll (not implemented)
+        
+    
+    
+        
+        Maximum output rate
+        
+    
 
 
     HITLWidget
     
         
-        
+        
         Form
         Formular
     
     
         
-        
+        
         Request update
         
     
     
         
-        
+        
         Start
         
     
     
         
-        
+        
         Send update
         
     
     
         
-        
+        
         Stop
         Anhalten
     
     
         
-        
         AutoPilot disconnected
         
     
     
         
-        
          Simulator disconnected 
         
     
     
         
-        
+        
         Clear Log
         
     
+    
+        
+        AP OFF
+        
+    
+    
+        
+        Sim OFF
+        
+    
 
 
     LineardialGadgetOptionsPage
@@ -1733,7 +1983,7 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -1742,6 +1992,11 @@ p, li { white-space: pre-wrap; }
         Choose SVG image
         
     
+    
+        
+        Use OpenGL
+        
+    
 
 
     ModelViewOptionsPage
@@ -1770,6 +2025,23 @@ p, li { white-space: pre-wrap; }
         Enable VBOs:
         
     
+    
+        
+        Select the image that is shown in the background.
+        
+    
+    
+        
+        Select the 3D model file here.
+        
+    
+    
+        
+        Click to enable the use of Vertical Blanking.
+It is not enabled by default because some graphic cards do not
+support it, and crash the GCS. Enabling improves performance, though, so you can experiment at your own risk.
+        
+    
 
 
     NotifyPluginOptionsPage
@@ -1784,60 +2056,30 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         Equal to
         
     
     
-        
-        Greater than
+        
+        Large than
         
     
     
-        
-        Less than
+        
+        Lower than
         
     
     
-        
+        
+        In range
+        
+    
+    
+        
         Sound1:
         
     
-    
-        
-        Select if the value of the object should be spoken and if so, either before the configured sound or after it.
-        
-    
-    
-        
-        Never
-        Niemals
-    
-    
-        
-        Before first
-        
-    
-    
-        
-        After first
-        
-    
-    
-        
-        After second
-        
-    
-    
-        
-        Value is
-        
-    
-    
-        
-        Say Order
-        
-    
     
         
         Sound2:
@@ -1893,12 +2135,12 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         Choose sound collection directory
         
     
     
-        
+        
         settings
         
     
@@ -1917,66 +2159,70 @@ p, li { white-space: pre-wrap; }
         Sound3:
         
     
-    
-        
-        After third
-        
-    
 
 
     OPMap_Widget
     
         
+        
         Form
         Formular
     
     
-        
+        
         Find place
         
     
     
-        
+        
+        
         Zoom out
         
     
     
         
+        
         Zoom in
         
     
     
         
+        
         Zoom level
         
     
     
         
+        
         Map position
         
     
     
         
+        
         labelMapPos
         
     
     
         
+        
         Mouse position
         
     
     
         
+        
         labelMousePos
         
     
     
         
+        
         %v
         
     
     
-        
+        
         Enter place to find
         
     
@@ -2051,22 +2297,25 @@ p, li { white-space: pre-wrap; }
         Hinzufügen
     
     
-        
+        
+        
         Center map over home position
         
     
     
         
+        
         Center map over UAV position
         
     
     
         
+        
         Map rotation follows UAV heading
         
     
     
-        
+        
         UAV hold position
         
     
@@ -2081,12 +2330,13 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
+        
         Home
         
     
     
-        
+        
         Move UAV to previous waypoint
         
     
@@ -2116,30 +2366,93 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
+        
         UAV position
         
     
     
         
+        
         labelUAVPos
         
     
     
         
-        Show/Hide the UAV trail
-        
-    
-    
-        
-        Clear the UAV trail
-        
-    
-    
-        
+        
         labelMapZoom
         
     
+    
+        
+        
+        Normal Map Mode
+        
+    
+    
+        
+        
+           Normal   
+        
+    
+    
+        
+        
+        Magic Waypoint Map Mode
+        
+    
+    
+        
+        
+           Magic Waypoint   
+        
+    
+    
+        
+        Go To Place:
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        
+        Click to move the UAV to the magic waypoint position
+        
+    
+    
+        
+        
+        Move to WP
+        
+    
+    
+        
+        
+        Move the magic waypoint to the home position
+        
+    
+    
+        
+        
+        Home WP
+        
+    
+    
+        
+        
+        UAV
+        
+    
+    
+        
+        
+        Heading
+        
+    
 
 
     OPMapGadgetOptionsPage
@@ -2209,10 +2522,20 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         Choose Cache Directory
         
     
+    
+        
+        UAV Symbol
+        
+    
+    
+        
+        Default Max Update Rate 
+        
+    
 
 
     ScopeGadgetOptionsPage
@@ -2251,16 +2574,6 @@ p, li { white-space: pre-wrap; }
         UAVField:
         
     
-    
-        
-        Scale:
-        
-    
-    
-        
-        Plot curves
-        
-    
     
         
         X-Axis
@@ -2303,6 +2616,51 @@ Update
 
         
     
+    
+        
+        Y-axis
+        
+    
+    
+        
+        Y-axis scale factor:
+        
+    
+    
+        
+        Math window size
+        
+    
+    
+        
+         samples
+        
+    
+    
+        
+        Math function:
+        
+    
+    
+        
+        Log data to csv file (not interpolated)
+        
+    
+    
+        
+        New file on connect
+        
+    
+    
+        
+        Logging path
+        
+    
+    
+        
+        Choose Logging Directory
+        
+    
 
 
     SystemHealthGadgetOptionsPage
@@ -2317,7 +2675,7 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -2334,51 +2692,26 @@ Update
         Form
         Formular
     
-    
-        
-        Request update
-        
-    
     
         
         Request
         
     
-    
-        
-        Send update
-        
-    
     
         
         Send
         
     
-    
-        
-        Save to SD Card
-        
-    
     
         
         Save
         Speichern
     
-    
-        
-        Load from SD Card
-        
-    
     
         
         Load
         
     
-    
-        
-        Erase from SD card
-        
-    
     
         
         Erase
@@ -2386,7 +2719,12 @@ Update
     
     
         
-        Show Meta Data
+        ...
+        
+    
+    
+        
+        View Options
         
     
 
@@ -2412,6 +2750,11 @@ Update
         Recently updated timeout (ms):
         
     
+    
+        
+        Only highlight nodes when value actually changes
+        
+    
 
 
     QuaZipFile
@@ -5624,10 +5967,15 @@ Update
 
     ConfigGadgetFactory
     
-        
+        
         Config Gadget
         
     
+    
+        
+        Radio Setup Wizard
+        
+    
 
 
     ConsoleGadgetFactory
@@ -5649,85 +5997,24 @@ Update
 
     Core::UAVGadgetInstanceManager
     
-        
+        
+        Migrating UAVGadgetConfigurations from version 1.1.0 to 
+        
+    
+    
+        
+        You might want to save your old config NOW since it might be replaced by broken one when you exit the GCS!
+        
+    
+    
+        
+        
+        
         
         default
         
     
 
-
-    Core::UAVGadgetManager
-    
-        
-        Edit Gadgets Mode
-        
-    
-    
-        
-        Ctrl+Shift+F10
-        Ctrl+Shift+F10
-    
-    
-        
-        Meta+Shift
-        
-    
-    
-        
-        Ctrl+Shift
-        
-    
-    
-        
-        Split
-        Teilen
-    
-    
-        
-        %1+Down
-        
-    
-    
-        
-        Split Side by Side
-        Nebeneinander teilen
-    
-    
-        
-        %1+Right
-        
-    
-    
-        
-        Close Current View
-        
-    
-    
-        
-        %1+C
-        
-    
-    
-        
-        Close All Other Views
-        
-    
-    
-        
-        %1+A
-        
-    
-    
-        
-        Goto Next View
-        
-    
-    
-        
-        %1+N
-        
-    
-
 
     Core::Internal::UAVGadgetView
     
@@ -5772,20 +6059,9 @@ Update
         HITL Simulation
         
     
-
-
-    LineardialGadgetFactory
     
-        
-        Bargraph Dial Gadget
-        
-    
-
-
-    ModelViewGadgetFactory
-    
-        
-        ModelView Gadget
+        
+        HITL Simulation (v2)
         
     
 
@@ -5820,18 +6096,10 @@ Update
         
     
 
-
-    OPMapGadgetFactory
-    
-        
-        OPMap Gadget
-        
-    
-
 
     OPMapGadgetWidget
     
-        
+        
         &Zoom 
         
     
@@ -5841,27 +6109,19 @@ Update
         Vergrößern
     
     
-        
-        Flight path 62
-        
-    
-    
-        
+        
         Copy
         
     
     
-        
+        
+        
         Waypoints
         
     
     
-        
-        &Close menu
-        
-    
-    
-        
+        
+        
         Close the context menu
         
     
@@ -5881,7 +6141,7 @@ Update
         
     
     
-        
+        
         Mouse latitude and longitude
         
     
@@ -5911,29 +6171,18 @@ Update
         
     
     
-        
-        &Find place
-        
-    
-    
-        
-        
+        
         
         Ctrl+F
         
     
     
-        
-        Find a location
-        
-    
-    
-        
+        
         Show compass
         
     
     
-        
+        
         Zoom &In
         
     
@@ -5943,7 +6192,7 @@ Update
         
     
     
-        
+        
         Zoom &Out
         
     
@@ -5953,12 +6202,12 @@ Update
         
     
     
-        
+        
         Go to where you right clicked the mouse
         
     
     
-        
+        
         Go to &Home location
         
     
@@ -5968,7 +6217,7 @@ Update
         
     
     
-        
+        
         Follow UAV position
         
     
@@ -5983,7 +6232,7 @@ Update
         
     
     
-        
+        
         &Waypoint editor
         
     
@@ -5993,27 +6242,28 @@ Update
         
     
     
-        
+        
         Center the map onto where you right clicked the mouse
         
     
     
-        
+        
         HOME
         
     
     
-        
+        
+        
         UAV
         
     
     
-        
+        
         Show/Hide the compass
         
     
     
-        
+        
         Show Home
         
     
@@ -6033,7 +6283,7 @@ Update
         
     
     
-        
+        
         Ctrl+H
         Ctrl+H
     
@@ -6052,33 +6302,13 @@ Update
         Center the map onto the UAV location
         
     
-    
-        
-        Set Home location
-        
-    
-    
-        
-        Set the current UAV location as the HOME location
-        
-    
     
         
         Keep the map centered onto the UAV
         
     
     
-        
-        Show UAV trail
-        
-    
-    
-        
-        Show/Hide the UAV trail
-        
-    
-    
-        
+        
         Clear UAV trail
         
     
@@ -6088,27 +6318,141 @@ Update
         
     
     
-        
+        
         Ctrl+W
         Ctrl+W
     
     
+        
+        &Max Update Rate 
+        
+    
+    
+        
+         (Normal)
+        
+    
+    
+        
+         (Magic Waypoint)
+        
+    
+    
+        
+         (Unknown)
+        
+    
+    
+        
+        Map mode
+        
+    
+    
+        
+        Safe Area Radius
+        
+    
+    
+        
+        UAV Trail
+        
+    
+    
+        
+        UAV trail type
+        
+    
+    
+        
+        UAV trail time
+        
+    
+    
+        
+        UAV trail distance
+        
+    
+    
+        
+        &Overlay Opacity 
+        
+    
+    
+        
+        
+        Close menu
+        
+    
+    
+        
+        &Rip map
+        
+    
+    
+        
+        Rip the map tiles
+        
+    
+    
+        
+        Show Diagnostics
+        
+    
+    
+        
+        Show/Hide the diagnostics
+        
+    
+    
+        
+        Show UAV Info
+        
+    
+    
+        
+        Show/Hide the UAV info
+        
+    
+    
+        
+        Set default zoom and location
+        
+    
+    
+        
+        Changes the map default zoom and location to the current values
+        
+    
+    
+        
+        Set the home location
+        
+    
+    
+        
+        Set the home location to where you clicked
+        
+    
+    
+        
         
         &Add waypoint
         
     
     
-        
+        
+        
         Ctrl+A
         
     
     
-        
+        
+        
         Add waypoint
         
     
     
-        
+        
         &Edit waypoint
         
     
@@ -6163,24 +6507,73 @@ Update
         
     
     
-        
-        OpenPilot GCS
+        
+        Home magic waypoint
         
     
-
-
-    ScopeGadgetFactory
     
-        
-        Scope Gadget
+        
+        Move the magic waypoint to the home position
         
     
-
-
-    SystemHealthGadgetFactory
     
-        
-        System Health Gadget
+        
+        Normal
+        
+    
+    
+        
+        Magic Waypoint
+        
+    
+    
+        
+        Show Safe Area
+        
+    
+    
+        
+        Show/Hide the Safe Area around the home location
+        
+    
+    
+        
+        Show Trail dots
+        
+    
+    
+        
+        Show/Hide the Trail dots
+        
+    
+    
+        
+        Show Trail lines
+        
+    
+    
+        
+        Show/Hide the Trail lines
+        
+    
+    
+        
+        Set home altitude
+        
+    
+    
+        
+        In [m], referenced to WGS84:
+        
+    
+    
+        
+        Are you sure you want to clear waypoints?
+        
+    
+    
+        
+        All associated data will be lost.
         
     
 
@@ -6195,7 +6588,7 @@ Update
 
     UAVObjectTreeModel
     
-        
+        
         Property
         Eigenschaft
     
@@ -6215,17 +6608,17 @@ Update
         
     
     
-        
+        
         Data Objects
         
     
     
-        
+        
         Meta Data
         
     
     
-        
+        
         Instance
         
     
@@ -6233,63 +6626,53 @@ Update
 
     UAVMetaObject
     
-        
-        False
+        
+        FlightReadOnly
         
     
     
         
-        True
+        GCSReadOnly
+        
+    
+    
+        
+        FlightTelemetryAcked
+        
+    
+    
+        
+        GCSTelemetryAcked
+        
+    
+    
+        
+        FlightUpdatePeriodic
+        
+    
+    
+        
+        FlightUpdateOnChange
+        
+    
+    
+        
+        GCSUpdatePeriodic
+        
+    
+    
+        
+        GCSUpdateOnChange
         
     
     
         
-        Periodic
+        Modes
         
     
     
         
-        On Change
-        
-    
-    
-        
-        Manual
-        Benutzerdefiniert
-    
-    
-        
-        Never
-        Niemals
-    
-    
-        
-        Read/Write
-        
-    
-    
-        
-        Read Only
-        
-    
-    
-        
-        Flight Access Mode
-        
-    
-    
-        
-        GCS Access Mode
-        
-    
-    
-        
-        Flight Telemetry Acked
-        
-    
-    
-        
-        Flight Telemetry Update Mode
+        boolean
         
     
     
@@ -6298,25 +6681,17 @@ Update
         
     
     
+        
         
-        GCS Telemetry Acked
+        
+        ms
         
     
     
-        
-        GCS Telemetry Update Mode
-        
-    
-    
-        
+        
         GCS Telemetry Update Period
         
     
-    
-        
-        Logging Update Mode
-        
-    
     
         
         Logging Update Period
@@ -6326,7 +6701,7 @@ Update
 
     Telemetry
     
-        
+        
         Telemetry: priority event queue is full, event lost (%1)
         
     
@@ -6334,32 +6709,11 @@ Update
 
     TelemetryMonitor
     
-        
+        
         Starting to retrieve meta and settings objects from the autopilot (%1 objects)
         
     
 
-
-    UploaderGadgetFactory
-    
-        
-        Uploader Gadget
-        
-    
-
-
-    UploaderGadgetWidget
-    
-        
-        QFileDialog::getOpenFileName()
-        
-    
-    
-        
-        All Files (*);;Text Files (*.bin)
-        
-    
-
 
     DialGadgetOptionsPage
     
@@ -6443,7 +6797,7 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -6452,6 +6806,41 @@ Update
         Choose SVG image
         
     
+    
+        
+        XML ID of the SVG source file used to display the dial background.
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the dial foreground (above everything else, needles included).
+        
+    
+    
+        
+        Use OpenGL for rendering. Will lower CPU usage, depending on the capabilities of your graphics card, but might slightly alter the look & feel of the dial.
+        
+    
+    
+        
+        Use OpenGL
+        
+    
+    
+        
+        When checked, the Dial plugin will make needle moves smoother by simulating inertia.
+        
+    
+    
+        
+        Smooth updates
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the first needle/indicator.
+        
+    
 
 
     GpsDisplayGadgetOptionsPage
@@ -6583,6 +6972,13 @@ Update
         GPS Data Stream
         
     
+    
+        
+        Displays the SNR for each detected sat.
+Satellite number (PRN) is displayed inside the green bar.
+Sat SNR is displayed above (in dBHz)
+        
+    
 
 
     IPconnectionOptionsPage
@@ -6616,6 +7012,11 @@ Update
         settings
         
     
+    
+        
+        IP Network Telemetry
+        
+    
 
 
     opmap_edit_waypoint_dialog
@@ -6676,13 +7077,108 @@ Update
     
     
         
-        Revert
+        Cancel
+        Abbrechen
+    
+    
+        
+        Position
         
     
     
         
-        Cancel
-        Abbrechen
+        Relative to Home 
+        
+    
+    
+        
+        Bearing 
+        
+    
+    
+        
+        Distance 
+        
+    
+    
+        
+        0
+        0
+    
+    
+        
+        Velocity 
+        
+    
+    
+        
+        Relative altitude 
+        
+    
+    
+        
+        m/s
+        
+    
+    
+        
+        Mode
+        
+    
+    
+        
+        param1
+        
+    
+    
+        
+        param2
+        
+    
+    
+        
+        param3
+        
+    
+    
+        
+        param4
+        
+    
+    
+        
+        End condition
+        
+    
+    
+        
+        Condition
+        
+    
+    
+        
+        Command
+        Kommando
+    
+    
+        
+        Jump Destination
+        
+    
+    
+        
+        Error Destination
+        
+    
+    
+        
+        Previous
+        
+    
+    
+        
+        Next
+        
     
 
 
@@ -6721,74 +7217,6 @@ Update
         
     
 
-
-    opmap_waypointeditor_dialog
-    
-        
-        OpenPilot GCS Waypoint Editor
-        
-    
-    
-        
-        Waypoints
-        
-    
-    
-        
-        Num
-        
-    
-    
-        
-        Locked
-        
-    
-    
-        
-        Latitude
-        
-    
-    
-        
-        Longitude
-        
-    
-    
-        
-        Altitude
-        
-    
-    
-        
-        Time
-        
-    
-    
-        
-        Hold Time
-        
-    
-    
-        
-        Height and Timeline
-        
-    
-    
-        
-        Waypoint 1
-        
-    
-    
-        
-        Waypoint 2
-        
-    
-    
-        
-        Waypoint 3
-        
-    
-
 
     opmap_zoom_slider_widget
     
@@ -6820,7 +7248,7 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -6829,6 +7257,11 @@ Update
         Choose SVG image
         
     
+    
+        
+        Smooth updates
+        
+    
 
 
     mapcontrol::TrailItem
@@ -6848,30 +7281,6 @@ Update
         
     
 
-
-    DialGadgetFactory
-    
-        
-        Analog Dial Gadget
-        
-    
-
-
-    GpsDisplayGadgetFactory
-    
-        
-        GPS Display Gadget
-        
-    
-
-
-    PFDGadgetFactory
-    
-        
-        Primary Flight Display Gadget
-        
-    
-
 
     MapRipForm
     
@@ -6895,165 +7304,6 @@ Update
         Abbrechen
     
 
-
-    AHRSWidget
-    
-        
-        Form
-        Formular
-    
-    
-        
-        These are the sensor variance values computed by the AHRS.
-
-Tip: lower is better!
-        
-    
-    
-        
-        Telemetry link not established.
-        
-    
-    
-        
-        Press to start a calibration procedure, about 15 seconds.
-
-Hint: run this with engines at cruising speed.
-        
-    
-    
-        
-        Start
-        
-    
-    
-        
-        AHRS Algorithm:
-        
-    
-    
-        
-        Select the sensor integration algorithm here.
-"Simple" only uses accelerometer values
-"INSGPS" the full featured algorithm integrating all sensors
-        
-    
-    
-        
-        Nice paper plane, eh?
-        
-    
-    
-        
-        Six Point Calibration
-        
-    
-    
-        
-        Launch a sensor range and bias calibration.
-        
-    
-    
-        
-        Six Point Calibration instructions
-        
-    
-    
-        
-        Saves the Home Location. This is only enabled
-if the Home Location is set, i.e. if the GPS fix is
-successful.
-
-Disabled if there is no GPS fix.
-        
-    
-    
-        
-        Set
-        
-    
-    
-        
-        buttonGroup
-        
-    
-    
-        
-        Refresh this screen with current values from the board.
-        
-    
-    
-        
-        Request
-        
-    
-    
-        
-        Sensor noise calibration
-        
-    
-    
-        
-        Save settings (only enabled when calibration is running)
-        
-    
-    
-        
-        Save Position
-        
-    
-    
-        
-        Check this box if you are flying indoors and have no GPS fix.
-Only makes sense with the "INSGPS" algorithm.
-        
-    
-    
-        
-        Indoor flight mode
-        
-    
-    
-        
-        Save settings to the OP board (RAM only).
-
-This does not save the calibration settings, this is done using the
-specific calibration button on top of the screen.
-        
-    
-    
-        
-        Save to RAM
-        
-    
-    
-        
-        Send settings to OP board, and save to the microSD card.
-        
-    
-    
-        
-        Save to SD
-        
-    
-    
-        
-        Clears the HomeLocation: only makes sense if you save
-to SD. This will force the AHRS to use the next GPS fix as the
-new home location unless it is in indoor mode.
-        
-    
-    
-        
-        Clear
-        Löschen
-    
-    
-        
-        Home Location:
-        
-    
-
 
     AircraftWidget
     
@@ -7061,11 +7311,6 @@ new home location unless it is in indoor mode.
         Form
         Formular
     
-    
-        
-        Aircraft type:
-        
-    
     
         
         Select aircraft type here
@@ -7106,11 +7351,6 @@ new home location unless it is in indoor mode.
         Elevator 1
         
     
-    
-        
-        Rudder
-        
-    
     
         
         Elevator 2
@@ -7121,26 +7361,6 @@ new home location unless it is in indoor mode.
         Throttle Curve
         
     
-    
-        
-        Frame type:
-        
-    
-    
-        
-        Idle Throttle
-        
-    
-    
-        
-        Cyclic Rate
-        
-    
-    
-        
-        Tricopter Yaw Ch
-        
-    
     
         
         Feed Forward
@@ -7156,11 +7376,6 @@ new home location unless it is in indoor mode.
         Decel Time Constant
         
     
-    
-        
-        Motor 1
-        
-    
     
         
         Motor 2
@@ -7168,113 +7383,357 @@ new home location unless it is in indoor mode.
     
     
         
-        Motor 3
+        Mixer Settings
         
     
     
         
-        Motor 4
+        Vehicle type:
         
     
     
         
-        Motor 5
+        Output Channel Assignments
         
     
     
         
-        Motor 6
+        Select output channel for the engine
         
     
     
         
-        Motor 7
+        Select output channel for the first aileron (or elevon)
         
     
     
         
-        Motor 8
+        Select output channel for the second aileron (or elevon)
         
     
     
         
-        CCPM Heli
+        Select output channel for the first elevator
         
     
     
         
-        This is not implemented yet, sorry
+        Select output channel for a secondary elevator
         
     
     
         
-        Custom / Advanced setup UI
+        Rudder 1
         
     
     
         
-        Retrieve settings from OpenPilot
+        Select output channel for the first rudder
         
     
     
         
-        Get Current
+        Rudder 2
         
     
     
         
-        Send to OpenPilot but don't write in SD.
+        Select output channel for a secondary rudder
         
     
     
         
-        Save to RAM
+        Elevon Mix
         
     
     
         
-        Applies and Saves all settings to SD
+        Rudder %
         
     
     
         
-        Save to SD
-        
-    
-
-
-    SettingsWidget
-    
-        
-        Form
-        Formular
+        50
+        50
     
     
         
-        RC Input
+        Pitch %
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel value</p></body></html>
+        Frame Type
         
     
     
         
-        2000
-        2000
+        Select the Multirotor frame type here.
+        
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:9pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current channel value.</p></body></html>
+        Mix Level
+        
+    
+    
+        
+        100
+        100
+    
+    
+        
+        Weight of Roll mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Weight of Pitch mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Weight of Yaw mixing in percent.
+Typical value is 50% for + or X configuration on quads.
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Motor output channels
+        
+    
+    
+        
+        1
+        1
+    
+    
+        
+        Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.
+        
+    
+    
+        
+        2
+        2
+    
+    
+        
+        3
+        3
+    
+    
+        
+        4
+        4
+    
+    
+        
+        5
+        5
+    
+    
+        
+        6
+        6
+    
+    
+        
+        7
+        7
+    
+    
+        
+        8
+        8
+    
+    
+        
+        Multirotor Motor Direction
+        
+    
+    
+        
+        Tricopter Yaw Servo channel
+        
+    
+    
+        
+        Reverse all motors
+        
+    
+    
+        
+        Output channel asignmets
+        
+    
+    
+        
+        Motor
+        
+    
+    
+        
+        Select output channel for the first motor
+        
+    
+    
+        
+        Select output channel for a second motor
+        
+    
+    
+        
+        Front Steering
+        
+    
+    
+        
+        Select output channel for the first steering actuator
+        
+    
+    
+        
+        Rear Steering
+        
+    
+    
+        
+        Select output channel for a second steering actuator
+        
+    
+    
+        
+        Differential Steering Mix
+        
+    
+    
+        
+        Left %
+        
+    
+    
+        
+        Right %
+        
+    
+    
+        
+        Front throttle curve
+        
+    
+    
+        
+        Rear throttle curve
+        
+    
+    
+        
+        Curve 1
+        
+    
+    
+        
+        Curve 2
+        
+    
+    
+        
+        Type
+        
+    
+    
+        
+        Ch 1
+        
+    
+    
+        
+        Ch 2
+        
+    
+    
+        
+        Ch 3
+        
+    
+    
+        
+        Ch 4
+        
+    
+    
+        
+        Ch 5
+        
+    
+    
+        
+        Ch 6
+        
+    
+    
+        
+        Ch 7
+        
+    
+    
+        
+        Ch 8
+        
+    
+    
+        
+        Ch 9
+        
+    
+    
+        
+        Ch 10
+        
+    
+    
+        
+        -
+        
+    
+    
+        
+        Feed Forward Configuration
+        
+    
+    
+        
+        When tuning: Slowly raise decel time from zero to just
+under the level where the motor starts to undershoot
+its target speed when decelerating.
+
+Do it after accel time is setup.
+        
+    
+    
+        
+        In miliseconds.
+When tuning: Slowly raise accel time from zero to just
+under the level where the motor starts to overshoot
+its target speed.
         
     
     
@@ -7284,34 +7743,28 @@ p, li { white-space: pre-wrap; }
     
     
         
-        Retrieve settings from OpenPilot
+        Overall level of feed forward (in percentage).
         
     
     
         
-        Get Current
+        Limits how much the engines can accelerate or decelerate.
+In 'units per second', a sound default is 1000.
         
     
     
         
-        Be sure to set the Neutral position on all sliders before sending!
-Applies and Saves all settings to SD
+        MaxAccel
         
     
     
         
-        Save to SD
-        
+        000
+        000
     
     
         
-        Send to OpenPilot but don't write in SD.
-Be sure to set the Neutral position on all sliders before sending!
-        
-    
-    
-        
-        Save to RAM
+        FeedForward 
         
     
     
@@ -7319,82 +7772,14 @@ Be sure to set the Neutral position on all sliders before sending!
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel value.</p></body></html>
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware! Check </span><span style=" font-family:'Sans'; font-size:10pt; font-weight:600;">all three</span><span style=" font-family:'Sans'; font-size:10pt;"> checkboxes to test Feed Forward.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">It will run only if your airframe armed.</span></p></body></html>
         
     
     
         
-        Start calibrating the RC Inputs.
-Uncheck/Check to restart calibration.
-        
-    
-    
-        
-        Run Calibration
-        
-    
-    
-        
-        Indicates whether OpenPilot is getting a signal from the RC receiver.
-        
-    
-    
-        
-        RC Receiver Not Connected
-        
-    
-    
-        
-        Select the receiver type here:
-- PWM is the most usual type
-- PPM is connected to input XXX 
-- Spektrum is used with Spektrum 'satellite' receivers
-        
-    
-    
-        
-        RC Receiver Type:
-        
-    
-    
-        
-        Servo Output
-        
-    
-    
-        
-        Aircraft type: undefined
-        
-    
-    
-        
-        Channel 0
-        
-    
-    
-        
-        Channel 1
-        
-    
-    
-        
-        Channel 2
-        
-    
-    
-        
-        Channel 3
-        
-    
-    
-        
-        Channel 4
-        
-    
-    
-        
-        Channel 5
+        Enable FF tuning
         
     
     
@@ -7402,149 +7787,41 @@ Uncheck/Check to restart calibration.
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Select the kind of actuator (servo) connected to this output channel.</p></body></html>
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD REQUIRES CAUTION</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</p>
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.</p></td></tr></table></body></html>
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum PWM value, beware of not overdriving your servo.</p></body></html>
+        Takes you to the wiki page
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum PWM value, beware of not overdriving your servo.</p></body></html>
+        Send to board, but don't save permanently (flash or SD).
         
     
     
         
-        Move the servos using the sliders. Two important things:
-- Take extra care if the output is connected to an motor controller!
-- Will only work if the RC receiver is working (failsafe)
+        Apply
         
     
     
         
-        Test outputs
+        Applies and Saves all settings to flash or SD depending on board.
         
     
     
         
-        Channel 6
-        
-    
-    
-        
-        Channel 7
-        
-    
-    
-        
-        Update rate:
-        
-    
-    
-        
-        Channel 0-3
-        
-    
-    
-        
-        Channel 4-7
-        
-    
-    
-        
-        Current value of slider.
-        
-    
-    
-        
-        0000
-        0000
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Check to invert the channel.</p></body></html>
-        
-    
-    
-        
-        Rev.
-        
-    
-
-
-    TelemetryWidget
-    
-        
-        Form
-        Formular
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the serial speed of your telemetry modem here. It is the speed between the OpenPilot board and the modem, and could be different from the radio link speed.</p>
-<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</p></body></html>
-        
-    
-    
-        
-        Telemetry speed:
-        
-    
-    
-        
-        Select the speed here.
-        
-    
-    
-        
-        Send to OpenPilot but don't write in SD.
-Beware of not locking yourself out!
-        
-    
-    
-        
-        Save to RAM
-        
-    
-    
-        
-        Retrieve settings from OpenPilot
-        
-    
-    
-        
-        Get Current
-        
-    
-    
-        
-        Applies and Saves all settings to SD.
-Beware of not locking yourself out!
-        
-    
-    
-        
-        Save to SD
-        
+        Save
+        Speichern
     
 
 
@@ -7569,32 +7846,9 @@ Beware of not locking yourself out!
         Flight Mode:
         
     
-
-
-    FGOptionsPage
-    
-        
-        
-        Form
-        Formular
-    
     
         
-        
-        FlightGear executable:
-        
-    
-    
-        
-        
-        FlightGear data directory:
-        
-    
-    
-        
-        
-        
-        Manual aircraft control (can be used when hardware is not available)
+        UDP Control
         
     
 
@@ -7606,34 +7860,11 @@ Beware of not locking yourself out!
         Dialog
     
     
-        
+        
         Import Export Settings
         
     
 
-
-    ImportExportGadgetOptionsPage
-    
-        
-        Form
-        Formular
-    
-    
-        
-        Default Config File 
-        
-    
-    
-        
-        INI file (*.ini)
-        
-    
-    
-        
-        Choose configuration file
-        
-    
-
 
     ImportExportGadgetWidget
     
@@ -7641,21 +7872,6 @@ Beware of not locking yourself out!
         Form
         Formular
     
-    
-        
-        This is experimental. Use at own risk.
-        
-    
-    
-        
-        Please report bugs!
-        
-    
-    
-        
-        Config File
-        
-    
     
         
         Items
@@ -7672,22 +7888,18 @@ Beware of not locking yourself out!
         
     
     
-        
-        Export
+        
+        
+        GCS Settings file (*.xml)
         
     
     
-        
-        Import
+        
+        Save GCS Settings too file ..
         
     
     
-        
-        Help
-        
-    
-    
-        
+        
         Can't write file 
         
     
@@ -7697,7 +7909,12 @@ Beware of not locking yourself out!
         
     
     
-        
+        
+        Load GCS Settings from file ..
+        
+    
+    
+        
         Can't read file 
         
     
@@ -7711,6 +7928,51 @@ Beware of not locking yourself out!
         . Restart the application.
         
     
+    
+        
+        All your settings will be deleted!
+        
+    
+    
+        
+        You must restart the GCS in order to activate the changes.
+        
+    
+    
+        
+        Plugins
+        
+    
+    
+        
+        Export the GCS settings selected in the checkboxes above.
+        
+    
+    
+        
+        Export...
+        Exportieren...
+    
+    
+        
+        Import settings from the config file, only for the items checked above.
+        
+    
+    
+        
+        Import...
+        Importieren...
+    
+    
+        
+        Resets your GCS configuration to its default configuration.
+        
+    
+    
+        
+        Reset Config
+        
+    
 
 
     Logging
@@ -7739,11 +8001,16 @@ Beware of not locking yourself out!
         Idle
         
     
+    
+        
+        Playback speed:
+        
+    
 
 
     Core::UAVConfigInfo
     
-        
+        
         Do you want to continue the import?
         
     
@@ -7763,27 +8030,11 @@ Beware of not locking yourself out!
         
     
     
-        
+        
         Unknown compatibility level: 
         
     
 
-
-    GCSControlGadgetFactory
-    
-        
-        UAV Control
-        
-    
-
-
-    ImportExportGadgetFactory
-    
-        
-        Import/Export GCS Config
-        
-    
-
 
     LoggingGadgetFactory
     
@@ -7792,4 +8043,6023 @@ Beware of not locking yourself out!
         
     
 
+
+    AntennaTrackGadgetOptionsPage
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Mode:
+        
+    
+    
+        
+        Serial Connection
+        
+    
+    
+        
+        Data Bits:
+        
+    
+    
+        
+        Stop Bits:
+        
+    
+    
+        
+        Parity:
+        
+    
+    
+        
+        Timeout(ms):
+        
+    
+    
+        
+        Port:
+        
+    
+    
+        
+        Port Speed:
+        
+    
+    
+        
+        Flow Control:
+        
+    
+
+
+    AntennaTrackWidget
+    
+        
+        Coord:
+        
+    
+    
+        
+        Unknown
+        
+    
+    
+        
+        HomeCoord:
+        
+    
+    
+        
+        Azimuth
+        
+    
+    
+        
+        Elevation
+        
+    
+    
+        
+        Connect
+        
+    
+    
+        
+        Disconnect
+        
+    
+    
+        
+        Output
+        Ausgaben
+    
+
+
+    AutotuneWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Pre-Autotune
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be </span><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> for it creating bad tuning values.  Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:<br /></span></p>
+<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">On the <span style=" font-style:italic;">Input configuration</span> tab, <span style=" font-style:italic;">Flight Mode Switch Settings</span>, set one of your flight modes to &quot;Autotune&quot;.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, change flight mode to autotune, keep it in the air while it's shaking.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm.  (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly the new settings.</li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the <span style=" font-style:italic;">Enable Autotune Module</span> checkbox above this text, click <span style=" font-style:italic;">save</span> and go to the next tab.</li></ul></body></html>
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable Autotune Module
+        
+    
+    
+        
+        Autotune Setup
+        
+    
+    
+        
+        Tuning Aggressiveness
+        
+    
+    
+        
+        Rate Tuning:
+        
+    
+    
+        
+        Attitude Tuning:
+        
+    
+    
+        
+        objname:RelayTuningSettings
+        
+    
+    
+        
+        fieldname:RateGain
+        
+    
+    
+        
+        scale:0.01
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        fieldname:AttitudeGain
+        
+    
+    
+        
+        Measured Properties
+        
+    
+    
+        
+        Roll:
+        
+    
+    
+        
+        0
+        0
+    
+    
+        
+        objname:RelayTuning
+        
+    
+    
+        
+        fieldname:Period
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:Gain
+        
+    
+    
+        
+        Period (ms)
+        
+    
+    
+        
+        Gain (deg/s) / output
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Computed Values
+        
+    
+    
+        
+        RateKi
+        
+    
+    
+        
+        AttitudeKp
+        
+    
+    
+        
+        RateKp
+        
+    
+    
+        
+        AttitudeKi
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Apply Computed Values
+        
+    
+    
+        
+        Step Size
+        
+    
+    
+        
+        fieldname:Amplitude
+        
+    
+    
+        
+        The Apply and Save buttons below save the autotuning settings which
+will alter settings for the next autotuning flight
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Speichern
+    
+    
+        
+        button:save
+        
+    
+
+
+    CameraStabilizationWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Camera Stabilization
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable CameraStabilization module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Basic Settings (Stabilization)
+        
+    
+    
+        
+        Camera yaw angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        objname:CameraStabSettings
+        
+    
+    
+        
+        fieldname:OutputRange
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Camera pitch angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Camera roll angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        Yaw output channel for camera gimbal
+        
+    
+    
+        
+        None
+        Keine
+    
+    
+        
+        Pitch output channel for camera gimbal
+        
+    
+    
+        
+        Roll output channel for camera gimbal
+        
+    
+    
+        
+        Output Channel
+        
+    
+    
+        
+        Output Range
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Advanced Settings (Control)
+        
+    
+    
+        
+        Input channel to control camera yaw
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        fieldname:Input
+        
+    
+    
+        
+        Input channel to control camera pitch
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input channel to control camera roll
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input Channel
+        
+    
+    
+        
+        Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.
+        
+    
+    
+        
+        fieldname:StabilizationMode
+        
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Maximum camera yaw deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        fieldname:InputRange
+        
+    
+    
+        
+        Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        fieldname:InputRate
+        
+    
+    
+        
+        Input low-pass filter response time for yaw axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        fieldname:ResponseTime
+        
+    
+    
+        
+        Maximum camera pitch deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for pitch axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        Maximum camera roll deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera roll rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for roll axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        MaxAxisLockRate
+        
+    
+    
+        
+        Response Time
+        
+    
+    
+        
+        Input Rate
+        
+    
+    
+        
+        Input Range
+        
+    
+    
+        
+        Stabilization Mode
+        
+    
+    
+        
+        (the same value for Roll, Pitch, Yaw)
+        
+    
+    
+        
+        Stick input deadband for all axes in AxisLock mode, deg/s.
+
+When stick input is within the MaxAxisLockRate range, camera tracks
+current attitude. Otherwise it starts moving according to input with
+rate depending on input value.
+
+If you have drift in your Tx controls, you may want to increase this
+value.
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration
+        
+    
+    
+        
+        Load default CameraStabilization settings except output channels into GCS.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reset To Defaults
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        Reloads saved CameraStabilization settings  except output channels
+from board into GCS. Useful if you have accidentally changed some
+settings.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Speichern
+    
+    
+        
+        button:save
+        
+    
+
+
+    CC_HW_Widget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        HW settings
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        Changes on this page only take effect after board reset or power cycle
+        
+    
+    
+        
+        Telemetry speed:
+        
+    
+    
+        
+        GPS speed:
+        
+    
+    
+        
+        ComUsbBridge speed:
+        
+    
+    
+        
+        Select the speed here.
+        
+    
+    
+        
+        USB HID Port
+        
+    
+    
+        
+        MainPort
+        
+    
+    
+        
+        FlexiPort
+        
+    
+    
+        
+        USB VCP Port
+        
+    
+    
+        
+        RcvrPort
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Save
+        Speichern
+    
+
+
+    ccattitude
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Rotate virtual attitude relative to board
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Calibration
+        
+    
+    
+        
+        Place aircraft very flat, and then click level to compute the accelerometer and gyro bias
+        
+    
+    
+        
+        Launch horizontal calibration.
+        
+    
+    
+        
+        Level
+        
+    
+    
+        
+        If enabled, a fast recalibration of gyro zero point will be done
+whenever the frame is armed. Do not move the airframe while
+arming it in that case!
+        
+    
+    
+        
+        Zero gyros while arming aircraft
+        
+    
+    
+        
+        AccelTau
+        
+    
+    
+        
+        Accelerometer filtering.
+
+Sets the amount of lowpass filtering of accelerometer data 
+for the attitude estimation. Higher values apply a stronger 
+filter, which may help with drifting in attitude mode.
+
+Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
+Start low and raise until drift stops.
+
+A setting of 0.00 disables the filter.
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Click to permanently save the accel bias in the CopterControl Flash.
+        
+    
+    
+        
+        Save
+        Speichern
+    
+
+
+    ccpmWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Swashplate config:
+        
+    
+    
+        
+        Select aircraft type here
+        
+    
+    
+        
+        Basic settings
+        
+    
+    
+        
+        Outputs
+        
+    
+    
+        
+        Tail Rotor
+        
+    
+    
+        
+        Engine
+        
+    
+    
+        
+        Swashplate Outputs
+        
+    
+    
+        
+        Servo W
+        
+    
+    
+        
+        Servo X
+        
+    
+    
+        
+        Front
+        
+    
+    
+        
+        Right
+        
+    
+    
+        
+        Rear
+        
+    
+    
+        
+        Left
+        
+    
+    
+        
+        1st Servo
+        
+    
+    
+        
+        Servo Z
+        
+    
+    
+        
+        Servo Y
+        
+    
+    
+        
+        Swashplate Servo Angles
+        
+    
+    
+        
+        Angle W
+        
+    
+    
+        
+        Angle X
+        
+    
+    
+        
+        Angle Y
+        
+    
+    
+        
+        Angle Z
+        
+    
+    
+        
+        Correction Angle
+        
+    
+    
+        
+        CCPM Options
+        
+    
+    
+        
+        Collective Pass through
+        
+    
+    
+        
+        Link Roll/Pitch
+        
+    
+    
+        
+        Link Cyclic/Collective
+        
+    
+    
+        
+        Swashplate Layout
+        
+    
+    
+        
+        REVO
+        
+    
+    
+        
+        100%
+        100%
+    
+    
+        
+        0%
+        0%
+    
+    
+        
+        CCPM
+        
+    
+    
+        
+        Collective
+        
+    
+    
+        
+        Cyclic
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Swashplate Levelling
+        
+    
+    
+        
+        Commands
+        
+    
+    
+        
+        Start
+        
+    
+    
+        
+        Next
+        
+    
+    
+        
+        Cancel
+        Abbrechen
+    
+    
+        
+        Finish
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Neutral
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Verify
+        
+    
+    
+        
+        Position
+        
+    
+    
+        
+        Swashplate Adjustment
+        
+    
+    
+        
+        Curve settings
+        
+    
+    
+        
+        Advanced settings
+        
+    
+    
+        
+        Channel
+        
+    
+    
+        
+        Curve 1
+        
+    
+    
+        
+        Curve 2
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        -
+        
+    
+
+
+    defaultattitude
+    
+        
+        Form
+        Formular
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Attitude / INS calibration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This panel will be updated to provide the relevant controls to let you calibrate your OpenPilot INS or your CopterControl unit, depending on the board which is detected once telemetry is connected and running.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    defaulthwsettings
+    
+        
+        Form
+        Formular
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Hardware Configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This panel will be updated to provide the relevant controls to let you configure your hardware once telemetry is connected and running.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p></body></html>
+        
+    
+
+
+    InputWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        RC Input
+        
+    
+    
+        
+        Roll/Pitch/Yaw stick deadband
+        
+    
+    
+        
+        Stick deadband in percents of full range (0-10), zero to disable
+        
+    
+    
+        
+        Back
+        
+    
+    
+        
+        Next
+        
+    
+    
+        
+        Cancel
+        Abbrechen
+    
+    
+        
+        Calibration and Configuration Options
+        
+    
+    
+        
+        Start Configuration Wizard
+        
+    
+    
+        
+        Manual Calibration
+        
+    
+    
+        
+        Flight Mode Switch Settings
+        
+    
+    
+        
+        Configure each stabilization mode for each axis
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Stabilized1
+        
+    
+    
+        
+        Stabilized2
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Stabilized3
+        
+    
+    
+        
+        FlightMode Switch Positions
+        
+    
+    
+        
+        Pos. 1
+        
+    
+    
+        
+        Pos. 2
+        
+    
+    
+        
+        Pos. 3
+        
+    
+    
+        
+        Pos. 4
+        
+    
+    
+        
+        Pos. 5
+        
+    
+    
+        
+        Pos. 6
+        
+    
+    
+        
+        This slider moves when you move the flight mode switch
+on your remote. It shows currently active flight mode.
+
+Setup the flight mode channel on the RC Input tab if you have not done so already.
+        
+    
+    
+        
+        Select the stabilization mode on this position (manual/stabilized/auto)
+        
+    
+    
+        
+        Number of flight modes:
+        
+    
+    
+        
+        Number of positions your FlightMode switch has.
+
+Default is 3.
+
+It will be 2 or 3 for most of setups, but it also can be up to 6.
+In that case you have to configure your radio mixers so the whole range
+from min to max is split into N equal intervals, and you may set arbitrary
+channel value for each flight mode.
+        
+    
+    
+        
+        Avoid "Manual" for multirotors!
+        
+    
+    
+        
+        Arming Settings
+        
+    
+    
+        
+        Arm airframe using throttle off and:
+        
+    
+    
+        
+        Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms "Throttle Off".
+        
+    
+    
+        
+        Arming timeout:
+        
+    
+    
+        
+        After the time indicated here, the frame go back to disarmed state.
+Set to 0 to disable (recommended for soaring fixed wings).
+        
+    
+    
+        
+        seconds (0 to disable).
+        
+    
+    
+        
+        Airframe disarm is done by throttle off and opposite of above combination.
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        
+    
+    
+        
+        Save
+        Speichern
+    
+
+
+    inputChannelForm
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Function
+        
+    
+    
+        
+        Type
+        
+    
+    
+        
+        Number
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Neutral
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Chan %1
+        
+    
+
+
+    MixerCurve
+    
+        
+        MixerCurve
+        
+    
+    
+        
+        Throttle Curve
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        4
+        4
+    
+    
+        
+        3
+        3
+    
+    
+        
+        2
+        2
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Value
+        Wert
+    
+    
+        
+        1.0
+        1.0
+    
+    
+        
+        .75
+        
+    
+    
+        
+        .50
+        
+    
+    
+        
+        .25
+        
+    
+    
+        
+        .00
+        
+    
+    
+        
+        Linear
+        
+    
+    
+        
+        Log
+        
+    
+    
+        
+        Exp
+        
+    
+    
+        
+        Flat
+        
+    
+    
+        
+        Step
+        
+    
+    
+        
+        Generate
+        
+    
+    
+        
+        Reset
+        Rücksetzen
+    
+    
+        
+        Advanced...
+        
+    
+
+
+    OutputWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Output
+        Ausgaben
+    
+    
+        
+        Output Update Speed
+        
+    
+    
+        
+        Channel:
+        
+    
+    
+        
+        -
+        
+    
+    
+        
+        Update rate:
+        
+    
+    
+        
+        Setup "TurboPWM" here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.
+        
+    
+    
+        
+        50
+        50
+    
+    
+        
+        60
+        60
+    
+    
+        
+        125
+        125
+    
+    
+        
+        165
+        165
+    
+    
+        
+        270
+        270
+    
+    
+        
+        330
+        330
+    
+    
+        
+        400
+        400
+    
+    
+        
+        Motors spin at neutral output when armed and throttle below zero (be careful)
+        
+    
+    
+        
+        Move the servos using the sliders. Two important things:
+- Take extra care if the output is connected to an motor controller!
+- Will only work if the RC receiver is working (failsafe)
+        
+    
+    
+        
+        Test outputs
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        
+    
+    
+        
+        Save
+        Speichern
+    
+
+
+    outputChannelForm
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Current value of slider.
+        
+    
+    
+        
+        0000
+        0000
+    
+    
+        
+        Link
+        
+    
+    
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        #
+        
+    
+    
+        
+        Channel Number
+        
+    
+    
+        
+        Minimum PWM value, beware of not overdriving your servo.
+        
+    
+    
+        
+        Check to invert the channel.
+        
+    
+    
+        
+        Neutral (slowest for motor)
+        
+    
+    
+        
+        Assignment
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Output mode
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Maximum PWM value, beware of not overdriving your servo.
+        
+    
+
+
+    PipXtremeWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/dACrAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Speichern
+    
+    
+        
+        Pairing
+        
+    
+    
+        
+        Broadcast
+        
+    
+    
+        
+        Broadcast Address
+        
+    
+    
+        
+        12345678
+        12345678
+    
+    
+        
+        %v dBm
+        
+    
+    
+        
+        -100dB
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Firmware Ver.
+        
+    
+    
+        
+        Serial Number
+        
+    
+    
+        
+        The modems serial number
+        
+    
+    
+        
+        Device ID
+        
+    
+    
+        
+        Pair ID
+        
+    
+    
+        
+        90ABCDEF
+        
+    
+    
+        
+        Min Frequency
+        
+    
+    
+        
+        The modems minimum allowed frequency
+        
+    
+    
+        
+        Max Frequency
+        
+    
+    
+        
+        The modems maximum allowed frequency
+        
+    
+    
+        
+        Freq. Step Size
+        
+    
+    
+        
+        The modems minimum frequency step size
+        
+    
+    
+        
+        Freq. Band
+        
+    
+    
+        
+        The current frequency band
+        
+    
+    
+        
+        RSSI
+        
+    
+    
+        
+        Rx AFC
+        
+    
+    
+        
+        TX Rate (B/s)
+        
+    
+    
+        
+        RX Rate (B/s)
+        
+    
+    
+        
+        Link State
+        
+    
+    
+        
+        The modems current state
+        
+    
+    
+        
+        Disconnected
+        
+    
+    
+        
+        Errors
+        
+    
+    
+        
+        Retries
+        
+    
+    
+        
+        UAVTalk Errors
+        
+    
+    
+        
+        Resets
+        
+    
+    
+        
+        Dropped
+        
+    
+    
+        
+        Configuration
+        
+    
+    
+        
+        Telemetry Port Config.
+        
+    
+    
+        
+        Set the telemetry port configuration
+        
+    
+    
+        
+        Telemetry Port Speed
+        
+    
+    
+        
+        Set the telemetry port speed
+        
+    
+    
+        
+        Flexi Port Configuration
+        
+    
+    
+        
+        Set the flexi port configuration
+        
+    
+    
+        
+        Flexi Port Speed
+        
+    
+    
+        
+        Set the flexi port speed
+        
+    
+    
+        
+        VCP Configuration
+        
+    
+    
+        
+        Set the virtual serial port configuration
+        
+    
+    
+        
+        VCP Speed
+        
+    
+    
+        
+        Set the virtual serial port speed
+        
+    
+    
+        
+        Max RF Datarate (bits/s)
+        
+    
+    
+        
+        Set the maximum RF datarate/channel bandwidth the modem will use
+        
+    
+    
+        
+        Max RF Tx Power(mW)
+        
+    
+    
+        
+        Set the maximum TX output power the modem will use
+        
+    
+    
+        
+        Send Timeout (ms)
+        
+    
+    
+        
+        Calibrate the modems RF carrier frequency
+        
+    
+    
+        
+        Min Packet Size
+        
+    
+    
+        
+        Frequency Calibration
+        
+    
+    
+        
+        Frequency (Hz)
+        
+    
+    
+        
+        Set the modems RF carrier frequency
+        
+    
+    
+        
+        AES Encryption
+        
+    
+    
+        
+        The AES encryption key - has to be the same key on the remote modem.
+        
+    
+    
+        
+        Radomise the AES encryption key
+        
+    
+    
+        
+         Rand
+        
+    
+    
+        
+        Enable/Disable AES encryption
+        
+    
+    
+        
+        Enable
+        
+    
+    
+        
+        Scan whole band to see where their is interference and/or used channels
+        
+    
+    
+        
+            Scan Spectrum    
+        
+    
+
+
+    PRO_HW_Widget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</span></p></body></html>
+        
+    
+    
+        
+        Telemetry speed:
+        
+    
+    
+        
+        Select the speed here.
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Save
+        Speichern
+    
+
+
+    RevoSensorsWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Calibration
+        
+    
+    
+        
+        #1: Multi-Point Calibration
+        
+    
+    
+        
+        Nice paper plane, eh?
+        
+    
+    
+        
+        Launch a sensor range and bias calibration.
+        
+    
+    
+        
+        Start
+        
+    
+    
+        
+        Save settings (only enabled when calibration is running)
+        
+    
+    
+        
+        Save Position
+        
+    
+    
+        
+        #2: Sensor noise calibration
+        
+    
+    
+        
+        These are the sensor variance values computed by the AHRS.
+
+Tip: lower is better!
+        
+    
+    
+        
+        Press to start a calibration procedure, about 15 seconds.
+
+Hint: run this with engines at cruising speed.
+        
+    
+    
+        
+        #3: Accelerometer Bias calibration
+        
+    
+    
+        
+        #4 Gyro temperature drift calibration
+        
+    
+    
+        
+        Temp:
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Currently measured temperature on the system. This is actually the
+MB temperature, be careful if somehow you know that your INS
+temperature is very different from your MB temp...
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Current drift:
+        
+    
+    
+        
+        Saved drift:
+        
+    
+    
+        
+        Start gathering data for temperature drift calibration.
+Avoid sudden moves once you have started gathering!
+        
+    
+    
+        
+        Launch drift measurement based on gathered data.
+
+TODO: is this necessary? Measurement could be auto updated every second or so, or done when we stop measuring...
+        
+    
+    
+        
+        Measure
+        
+    
+    
+        
+        Updates the XYZ drift values into the AHRS (saves to SD)
+        
+    
+    
+        
+        Save
+        Speichern
+    
+    
+        
+        Six Point Calibration instructions
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Step #1 and #2 are really necessary. Steps #3 and #4 will help you achieve the best possible results.</span></p>
+<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#1: Multi-Point calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here.  Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#2: Sensor noise calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute sensor variance under standard conditions. You can leave your engines running at low to mid throttle to take their vibration into account before pressing &quot;Start&quot;.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#3: Accelerometer bias calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that accelerometer bias is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#4 Gyro temp drift calibration:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p></td></tr></table></body></html>
+        
+    
+    
+        
+        Settings
+        
+    
+    
+        
+        Attitude Algorithm:
+        
+    
+    
+        
+        Select the sensor integration algorithm here.
+"Simple" only uses accelerometer values
+"INSGPS" the full featured algorithm integrating all sensors
+        
+    
+    
+        
+        Home Location:
+        
+    
+    
+        
+        Saves the Home Location. This is only enabled
+if the Home Location is set, i.e. if the GPS fix is
+successful.
+
+Disabled if there is no GPS fix.
+        
+    
+    
+        
+        Set
+        
+    
+    
+        
+        buttonGroup
+        
+    
+    
+        
+        Clears the HomeLocation: only makes sense if you save
+to SD. This will force the INS to use the next GPS fix as the
+new home location unless it is in indoor mode.
+        
+    
+    
+        
+        Clear
+        Löschen
+    
+    
+        
+        Telemetry link not established.
+        
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        Save settings to the board (RAM only).
+
+This does not save the calibration settings, this is done using the
+specific calibration button on top of the screen.
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board, and save to the non-volatile memory.
+        
+    
+
+
+    StabilizationWidget
+    
+        
+        Stabilization
+        
+    
+    
+        
+        Basic
+        
+    
+    
+        
+        Rate Stabilization (Inner Loop)
+        
+    
+    
+        
+        Link Roll and Pitch
+        
+    
+    
+        
+        Reset all values to GCS defaults
+        
+    
+    
+        
+        Default
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Proportional
+        
+    
+    
+        
+        Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.
+        
+    
+    
+        
+        objname:StabilizationSettings
+        
+    
+    
+        
+        fieldname:RollRatePID
+        
+    
+    
+        
+        element:Kp
+        
+    
+    
+        
+        haslimits:yes
+        
+    
+    
+        
+        scale:0.0001
+        
+    
+    
+        
+        buttongroup:1,10
+        
+    
+    
+        
+        fieldname:PitchRatePID
+        
+    
+    
+        
+        fieldname:YawRatePID
+        
+    
+    
+        
+        Integral
+        
+    
+    
+        
+        As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        element:Ki
+        
+    
+    
+        
+        Attitude Stabilization (Outer Loop)
+        
+    
+    
+        
+        buttongroup:2
+        
+    
+    
+        
+        fieldname:RollPI
+        
+    
+    
+        
+        scale:0.1
+        
+    
+    
+        
+        buttongroup:2,10
+        
+    
+    
+        
+        fieldname:PitchPI
+        
+    
+    
+        
+        fieldname:YawPI
+        
+    
+    
+        
+        When the throttle is low, zero the intergral term to prevent intergral wind-up
+        
+    
+    
+        
+        Zero the integral when throttle is low
+        
+    
+    
+        
+        fieldname:LowThrottleZeroIntegral
+        
+    
+    
+        
+        Advanced
+        
+    
+    
+        
+        Rate Stabization Coefficients (Inner Loop)
+        
+    
+    
+        
+        buttongroup:4
+        
+    
+    
+        
+        element:Kd
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:4,20
+        
+    
+    
+        
+        As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+You can usually go for higher values for Yaw factors.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+        
+    
+    
+        
+        Derivative
+        
+    
+    
+        
+        Attitude Stabization Coefficients (Outer Loop)
+        
+    
+    
+        
+        buttongroup:5
+        
+    
+    
+        
+        buttongroup:5,20
+        
+    
+    
+        
+        Stick Range and Limits
+        
+    
+    
+        
+        buttongroup:6
+        
+    
+    
+        
+        fieldname:PitchMax
+        
+    
+    
+        
+        buttongroup:6,20
+        
+    
+    
+        
+        Max rate attitude (deg/s)
+        
+    
+    
+        
+        fieldname:MaximumRate
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:ManualRate
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        fieldname:YawMax
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Full stick angle (deg)
+        
+    
+    
+        
+        fieldname:RollMax
+        
+    
+    
+        
+        Full stick rate (deg/s)
+        
+    
+    
+        
+        Expert
+        
+    
+    
+        
+        Weak Leveling / Axis Lock
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Weak Leveling Kp 
+        
+    
+    
+        
+        Weak Leveling Rate 
+        
+    
+    
+        
+        Max Axis Lock 
+        
+    
+    
+        
+        Max Axis Lock Rate 
+        
+    
+    
+        
+        fieldname:WeakLevelingKp
+        
+    
+    
+        
+        fieldname:MaxWeakLevelingRate
+        
+    
+    
+        
+        fieldname:MaxAxisLock
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Integral Limits
+        
+    
+    
+        
+        buttongroup:13
+        
+    
+    
+        
+        element:ILimit
+        
+    
+    
+        
+        ILimit Attitude
+        
+    
+    
+        
+        ILimit Rate
+        
+    
+    
+        
+        Sensor Tuning
+        
+    
+    
+        
+        buttongroup:8
+        
+    
+    
+        
+        The proportional term for the accelerometer, the higher this term the more weight the  accel is given
+        
+    
+    
+        
+        objname:AttitudeSettings
+        
+    
+    
+        
+        fieldname:AccelKp
+        
+    
+    
+        
+        buttongroup:8,10
+        
+    
+    
+        
+        GyroTau
+        
+    
+    
+        
+        AccelKp
+        
+    
+    
+        
+        GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros
+        
+    
+    
+        
+        fieldname:GyroTau
+        
+    
+    
+        
+        AccelKi
+        
+    
+    
+        
+        The intergral term for the accelerometer within the filter 
+        
+    
+    
+        
+        fieldname:AccelKi
+        
+    
+    
+        
+        Real Time Updates
+        
+    
+    
+        
+        If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.
+        
+    
+    
+        
+        Update in real time
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DAO9
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Speichern
+    
+    
+        
+        button:save
+        
+    
+
+
+    TxPIDWidget
+    
+        
+        TxPID
+        
+    
+    
+        
+        Tx PID
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        This module will periodically update values of stabilization PID settings
+depending on configured input control channels. New values of stabilization
+settings are not saved to flash, but updated in RAM. It is expected that the
+module will be enabled only for tuning. When desired values are found, they
+can be read via GCS and saved permanently. Then this module should be
+disabled again.
+
+Up to 3 separate PID options (or option pairs) can be selected and updated.
+        
+    
+    
+        
+        Enable TxPID module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Module Settings
+        
+    
+    
+        
+        PID option
+        
+    
+    
+        
+        Control Source
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Instance 1
+        
+    
+    
+        
+        Select PID option or option pair to update.
+Set to Disabled if not used.
+        
+    
+    
+        
+        Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min > Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.
+        
+    
+    
+        
+        Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.
+        
+    
+    
+        
+        Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.
+        
+    
+    
+        
+        Instance 2
+        
+    
+    
+        
+        Instance 3
+        
+    
+    
+        
+        Update Mode
+        
+    
+    
+        
+        PID values update mode which can be set to:
+- Never: this disables PID updates (but module still will be run if enabled),
+- When Armed: PID updated only when system is armed,
+- Always: PID updated always regardless of arm state.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.
+        
+    
+    
+        
+        Throttle Range
+        
+    
+    
+        
+        Throttle channel lower bound mapped to PID Min value
+        
+    
+    
+        
+        Throttle channel upper bound mapped to PID Max value
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DACiAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Speichern
+    
+
+
+    VernierWidget
+    
+        
+        Form
+        Formular
+    
+
+
+    importSettings
+    
+        
+        OpenPilotGCS
+        
+    
+    
+        
+        No configuration file could be found.
+Please choose from one of the default configurations
+        
+    
+    
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        Load
+        
+    
+
+
+    Form
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Save to file
+        
+    
+
+
+    GCSControlGadgetOptionsPage
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Control Mode:
+        
+    
+    
+        
+        Mode 1
+        
+    
+    
+        
+        Mode 2
+        
+    
+    
+        
+        Mode 3
+        
+    
+    
+        
+        Mode 4
+        
+    
+    
+        
+        External input Device:
+        
+    
+    
+        
+        Only joystick is implemented at this stage, so this control is disabled.
+        
+    
+    
+        
+        Joystick
+        
+    
+    
+        
+        Audio
+        
+    
+    
+        
+        Available controllers
+        
+    
+    
+        
+        Default
+        
+    
+    
+        
+        Joystick Axes
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Move your joystick controls to identify channels
+        
+    
+    
+        
+        Joystick Buttons
+        
+    
+    
+        
+        Press buttons on controller to identify mappings
+        
+    
+    
+        
+        button 1
+        
+    
+    
+        
+        button 2
+        
+    
+    
+        
+        button 8
+        
+    
+    
+        
+        button 7
+        
+    
+    
+        
+        button 6
+        
+    
+    
+        
+        button 5
+        
+    
+    
+        
+        button 4
+        
+    
+    
+        
+        button 3
+        
+    
+    
+        
+        by
+        
+    
+    
+        
+        Audio: soundcard-based PPM decoding for trainer port. Not implemented yet.
+        
+    
+    
+        
+        UDP Setup
+        
+    
+    
+        
+        UDP Port Configuration
+        
+    
+    
+        
+        Host:
+        
+    
+    
+        
+        127.0.0.1
+        127.0.0.1
+    
+    
+        
+        Port:
+        
+    
+    
+        
+        2323
+        2323
+    
+
+
+    Widget
+    
+        
+        send data
+        
+    
+    
+        
+        Flight mode
+        
+    
+    
+        
+        Armed state
+        
+    
+    
+        
+        Disarmed
+        
+    
+    
+        
+        Arming
+        
+    
+    
+        
+        Armed
+        
+    
+    
+        
+        Channels
+        
+    
+
+
+    MagicWaypoint
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Scale:
+        
+    
+
+
+    homeEditor
+    
+        
+        Dialog
+        Dialog
+    
+    
+        
+        Latitude:
+        
+    
+    
+        
+        Longitude:
+        
+    
+    
+        
+        Altitude:
+        
+    
+
+
+    pathPlannerUI
+    
+        
+        PathPlanner
+        
+    
+    
+        
+        Add Leg
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Delete Leg
+        
+    
+    
+        
+        Insert Leg
+        
+    
+    
+        
+        Read from file
+        
+    
+    
+        
+        Save to file
+        
+    
+    
+        
+        Send to UAV
+        
+    
+    
+        
+        Fetch from UAV
+        
+    
+    
+        
+        Open Details
+        
+    
+
+
+    PfdQmlGadgetOptionsPage
+    
+        
+        Form
+        Formular
+    
+    
+        
+        QML file: 
+        
+    
+    
+        
+        Use OpenGL
+        
+    
+    
+        
+        Show Terrain:
+        
+    
+    
+        
+        OsgEarth file:
+        
+    
+    
+        
+        Use actual location
+        
+    
+    
+        
+        Use pre-defined location:
+        
+    
+    
+        
+        Latitude:
+        
+    
+    
+        
+        Longitude:
+        
+    
+    
+        
+        Altitude:
+        
+    
+    
+        
+        Use only cache data
+        
+    
+    
+        
+        Pre seed terrain cache
+        
+    
+    
+        
+        QML file (*.qml)
+        
+    
+    
+        
+        Choose QML file
+        
+    
+    
+        
+        OsgEarth (*.earth)
+        
+    
+    
+        
+        Choose OsgEarth terrain file
+        
+    
+
+
+    QmlViewGadgetOptionsPage
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Use OpenGL for rendering
+        
+    
+    
+        
+        QML file: 
+        
+    
+    
+        
+        QML file (*.qml)
+        
+    
+    
+        
+        Choose QML file
+        
+    
+
+
+    SerialPluginOptionsPage
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Serial Connection
+        
+    
+    
+        
+        Serial telemetry speed:
+        
+    
+    
+        
+        settings
+        
+    
+
+
+    ConnectionDiagram
+    
+        
+        Dialog
+        Dialog
+    
+    
+        
+        Save
+        Speichern
+    
+    
+        
+        Close
+        Schließen
+    
+    
+        
+        Connection Diagram
+        
+    
+    
+        
+        Save File
+        
+    
+    
+        
+        Images (*.png *.xpm *.jpg)
+        
+    
+
+
+    AutoUpdatePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Firmware Update Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It is necessary that your firmware and ground control software are the same version.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To update your firmware to the correct version now:</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Unplug all batteries and USB from OpenPilot</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Ensure your board is powered down &amp; no LED's are active.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When you are ready you can start the upgrade below by pushing the button and follow the onscreen prompts, it is critical that nothing disturbs the board while the firmware is being written.</p></body></html>
+        
+    
+    
+        
+        Upgrade now
+        
+    
+    
+        
+        Upgrade
+        
+    
+    
+        
+        Ready...
+        
+    
+
+
+    ControllerPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot board identification</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to determine the configuration required for the type of OpenPilot controller you have. When connected, the wizard will attempt to automatically detect the type of board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If the board is already connected and successfully detected, the board type will already be displayed. You can </span><span style=" font-size:10pt; font-weight:600;">Disconnect</span><span style=" font-size:10pt;"> and select another device if you need to detect another board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If your board is not connected, please connect the board to a USB port on your computer and select the device from the list below.  Then press </span><span style=" font-size:10pt; font-weight:600;">Connect</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Connection device:
+        
+    
+    
+        
+        Detected board type:
+        
+    
+    
+        
+        
+        Connect
+        
+    
+    
+        
+        <Unknown>
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        Disconnect
+        
+    
+
+
+    EndPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Congratulations!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Setup wizard is completed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the setup procedure is now complete and you are one step away from completing the setup of your OpenPilot controller.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To complete the setup please click the Radio Setup Wizard button below to close this wizard and go directly to the Radio Setup Wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p></body></html>
+        
+    
+    
+        
+        Go to Input Wizard...
+        
+    
+    
+        
+        Unable to open Input Wizard since the Config Plugin is not
+loaded in the current workspace.
+        
+    
+
+
+    FixedWingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Fixed Wing section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    HeliPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Helicopter section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    InputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot basic input signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The OpenPilot controller supports many different types of input signals. Please select the type of input that matches your receiver configuration. If you are unsure, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, you will be instructed to do so on the next page of this wizard.</span></p></body></html>
+        
+    
+    
+        
+        PWM - One cable per channel
+        
+    
+    
+        
+        PWM
+        
+    
+    
+        
+        PPM - One cable for all channels
+        
+    
+    
+        
+        PPM
+        
+    
+    
+        
+        Futaba S-BUS
+        
+    
+    
+        
+        Futaba
+        
+    
+    
+        
+        Spektrum Satellite
+        
+    
+    
+        
+        Spektrum
+        
+    
+
+
+    LevellingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot controller leveling calibration procedure</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To perform the leveling, please push the Calculate button and wait for the process to finish. </span></p></body></html>
+        
+    
+    
+        
+        Calculate gyro and accelerometer bias
+        
+    
+    
+        
+        Calculate
+        
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to perform bias calculations.
+Please connect your OpenPilot controller to your computer and try again.
+        
+    
+    
+        
+        Retrieving data...
+        
+    
+    
+        
+        <font color='green'>Done!</font>
+        
+    
+
+
+    MultiPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot multirotor configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the wizard will set up the OpenPilot controller for use with a flying platform utilizing multiple rotors. The wizard supports the most common types of multirotors. Other variants of multirotors can be configured by using custom configuration options in the Configuration plugin in the GCS.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Please select the type of multirotor you want to create a configuration for below:</span></p></body></html>
+        
+    
+    
+        
+        Multirotor type:
+        
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        The Tricopter uses three motors and one servo. The servo is used to give yaw authority to the rear motor. The front motors are rotating in opposite directions. The Tricopter is known for its sweeping yaw movement and it is very well suited for FPV since the front rotors are spread wide apart.
+        
+    
+    
+        
+        Quadcopter X
+        
+    
+    
+        
+        The X Quadcopter uses four motors and is the most common multi rotor configuration. Two of the motors rotate clockwise and two counter clockwise. The motors positioned diagonal to each other rotate in the same direction. This setup is perfect for sport flying and is also commonly used for FPV platforms.
+        
+    
+    
+        
+        Quadcopter +
+        
+    
+    
+        
+        The Plus(+) Quadcopter uses four motors and is similar to the X Quadcopter but the forward direction is offset by 45 degrees. The motors front and rear rotate in clockwise and the motors right and left rotate counter-clockwise. This setup was one of the first to be used and is still used for sport flying. This configuration is not that well suited for FPV since the fore rotor tend to be in the way of the camera.
+        
+    
+    
+        
+        
+        Hexacopter
+        
+    
+    
+        
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Hexacopter H
+        
+    
+
+
+    NotYetImplementedPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">This section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    OutputCalibrationPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        Output calibration
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">It is now time to calibrate the output levels for the signals controlling your vehicle. </span></p>
+<p align="center" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">VERY IMPORTANT!</span><span style=" font-family:'Lucida Grande'; font-size:10pt;"><br /></span><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">REMOVE ALL PROPELLERS FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Connect all components according to the illustration on the summary page, and provide power using an external power supply such as a battery before continuing.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Depending on what vehicle you have selected, both the motors controlled by ESCs and/or servos controlled directly by the OpenPilot controller may have to be calibrated. The following steps will guide you safely through this process. </span></p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>In this step we will set the neutral rate for the motor highlighted in the illustration to the right. <br/>Plase pay attention to the details and in particular the motors position and its rotation direction.</p><p>To find the neutral rate for this engine, press the Start button below and slide the slider to the right until the engine just starts to spin stably. <br/><br/>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        
+        Start
+        
+    
+    
+        
+        <html><head/><body><p>This step calibrates the center position of the servo. To set the center position for this servo, press the Start button below and slide the slider to center the servo. </p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To save the servo and other hardware from damage we have to set the max and min angles for the servo. </p><p>To set the minimum angle for the servo, press the Start button below and select the top slider and slide it to the left until min angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To set the maximum angle for the servo, press the Start button below and select the top slider and slide it to the right until max angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        Stop
+        Anhalten
+    
+    
+        
+        The actuator module is in an error state.
+
+Please make sure the correct firmware version is used then restart the wizard and try again. If the problem persists please consult the openpilot.org support forum.
+        
+    
+
+
+    OutputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot basic output signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To set an optimal configuration of the output signals powering your motors, the wizard needs to know what type of Electronic Speed Controllers (ESCs) you will use and what their capabilities are.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Please select one of the options below. If you are unsure about the capabilities of your ESCs, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To read more regarding ESC refresh rates, please see </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">this article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> in the OpenPilot Wiki</span></p></body></html>
+        
+    
+    
+        
+        Standard ESC 50Hz
+        
+    
+    
+        
+        Standard ESC
+        
+    
+    
+        
+        Turbo PWM ESC 400Hz
+        
+    
+    
+        
+        Turbo PWM
+        
+    
+
+
+    RebootPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ff0000;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ffd500;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">The configuration created by the wizard contains settings that require a reboot of your controller. Please power cycle the controller before continuing. To power cycle the controller remove all batteries and the USB cable for at least 30 seconds.</span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">After 30 seconds, plug in the board again and wait for it to connect, this can take a few seconds. Then press next.</span></p></body></html>
+        
+    
+
+
+    SavePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration ready to save</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The wizard is now ready to save the configuration directly to your OpenPilot controller. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If any of the selections made in this wizard require a reboot of the controller, then power cycling the OpenPilot controller board will have to be performed after you save in this step.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Press the Save button to save the configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;"><br /></span></p></body></html>
+        
+    
+    
+        
+        Write configuration to controller
+        
+    
+    
+        
+        Save
+        Speichern
+    
+    
+        
+        Ready...
+        
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to save the configuration.
+Please connect your OpenPilot controller to your computer and try again.
+        
+    
+
+
+    StartPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Welcome to the OpenPilot Setup Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard will guide you through the basic steps required to setup your OpenPilot controller for the first time.  You will be asked questions about your platform (multirotor/heli/fixed-wing) which this wizard will use to configure your aircraft for your maiden flight. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard does not configure all of the advanced settings available in the GCS Configuration. All basic and advanced configuration parameters can be modified later by using the GCS Configuration plugin.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">WARNING: YOU MUST REMOVE ALL PROPELLERS </span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Disregarding this warning puts you at</span><span style=" font-size:10pt; font-weight:600; color:#000000;"> risk of very serious injury</span><span style=" font-size:10pt;">!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Now that your props are removed we can get started. Ready?</span></p></body></html>
+        
+    
+
+
+    SummaryPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration summary</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The first part of this wizard is now complete. All information required to create a basic OpenPilot controller configuration for a specific vehicle has been collected.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Below is a summary of the configuration and a button that links to a diagram illustrating how to connect required hardware and the OpenPilot Controller with the current configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue the wizard and go through some basic configuration steps, please continue to the next step of this wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The following steps require that your OpenPilot controller is set up according to the diagram, it is </span><span style=" font-size:10pt; font-weight:600;">connected to the computer</span><span style=" font-size:10pt;"> by USB, and that the vehicle is</span><span style=" font-size:10pt; font-weight:600;"> powered by a battery</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Show connection diagram for configuration
+        
+    
+
+
+    SurfacePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Surface Vehicle section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    VehiclePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Vehicle type selection</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to know what type of vehicle the OpenPilot controller board is going to be used with. This step is crucial since much of the following configuration is unique per vehicle type.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Go ahead and select the type of vehicle for which you want to create a configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(The current version only provides functionality for multirotors.)</span></p></body></html>
+        
+    
+    
+        
+        Tricopter, Quadcopter, Hexacopter
+        
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        CCPM Helicopters
+        
+    
+    
+        
+        Helicopter
+        
+    
+    
+        
+        Airplane, Sloper, Jet
+        
+    
+    
+        
+        Fixed wing
+        
+    
+    
+        
+        Car, Boat, U-Boat
+        
+    
+    
+        
+        Surface
+        
+    
+
+
+    viewoptions
+    
+        
+        View Options
+        
+    
+    
+        
+        Show MetaData
+        
+    
+    
+        
+        Show Categorized
+        
+    
+    
+        
+        Show Scientific
+        
+    
+
+
+    ImportSummaryDialog
+    
+        
+        Dialog
+        Dialog
+    
+    
+        
+        UAV Settings import summary
+        
+    
+    
+        
+        Save all settings checked above to persistent board storage,
+then close the dialog.
+        
+    
+    
+        
+        Save to Board Flash
+        
+    
+    
+        
+        Close this dialog without saving to persistent storage
+        
+    
+    
+        
+        Close
+        Schließen
+    
+    
+        
+        Import Summary
+        
+    
+
+
+    deviceWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        lblDevName
+        
+    
+    
+        
+        DeviceID
+        
+    
+    
+        
+        lblHWRev
+        
+    
+    
+        
+        RW
+        
+    
+    
+        
+        BL Version
+        
+    
+    
+        
+        MaxCodeSize
+        
+    
+    
+        
+        Open a file with new firmware image to be flashed
+        
+    
+    
+        
+        Open...
+        
+    
+    
+        
+        I know what I'm doing
+        
+    
+    
+        
+        Write loaded firmware image to the board
+        
+    
+    
+        
+        Flash
+        
+    
+    
+        
+        Read and save current board firmware to a file
+        
+    
+    
+        
+        Retrieve...
+        
+    
+    
+        
+        ic
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Firmware:
+        
+    
+    
+        
+        Board name:
+        
+    
+    
+        
+        Firmware tag:
+        
+    
+    
+        
+        Firmware date:
+        
+    
+    
+        
+        Git commit hash:
+        
+    
+    
+        
+        CRC:
+        
+    
+    
+        
+        On Device
+        
+    
+    
+        
+        lblBrdName
+        
+    
+    
+        
+        lblDescription
+        
+    
+    
+        
+        lblBuildDate
+        
+    
+    
+        
+        lblGitTag
+        
+    
+    
+        
+        lblCRC
+        
+    
+    
+        
+        lblCertified
+        
+    
+    
+        
+        Loaded
+        Geladen
+    
+    
+        
+        lblDescritpionL
+        
+    
+    
+        
+        lblCertifiedL
+        
+    
+    
+        
+        Custom description:
+        
+    
+    
+        
+        HW Revision: 
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+    
+        
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Can't calculate, file too big for device
+        
+    
+    
+        
+        The board has the same firmware as loaded. No need to update
+        
+    
+    
+        
+        WARNING: the loaded firmware is for different hardware. Do not update!
+        
+    
+    
+        
+        The board has newer firmware than loaded. Are you sure you want to update?
+        
+    
+    
+        
+        The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)
+        
+    
+    
+        
+        This is the tagged officially released OpenPilot firmware
+        
+    
+    
+        
+        WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing
+        
+    
+    
+        
+        
+        Select firmware file
+        
+    
+    
+        
+        Firmware Files (*.opfw *.bin)
+        
+    
+    
+        
+        Firmware Files (*.bin)
+        
+    
+
+
+    runningDeviceWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        CPU Serial:
+        
+    
+    
+        
+        Firmware Information
+        
+    
+    
+        
+        HW Revision: 
+        
+    
+    
+        
+        Firmware CRC: 
+        
+    
+    
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+
+
+    UploaderWidget
+    
+        
+        Form
+        Formular
+    
+    
+        
+        Tells the mainboard to go down
+to bootloader mode.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Halt
+        
+    
+    
+        
+        Boots the system.
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, green LED on)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Boot
+        
+    
+    
+        
+        Boots the system into safe mode (ie. default HwSettings).
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, orange LED off)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Safe Boot
+        
+    
+    
+        
+        Reset the system.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Reset
+        Rücksetzen
+    
+    
+        
+        Start a guided procedure to manually
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.
+        
+    
+    
+        
+        Rescue
+        
+    
+    
+        
+        When telemetry is not connected, select the communication
+method using this combo box.
+
+You can use this to force a communication channel when doing
+a "Boot" (button on the left). It is updated automatically when
+halting a running board.
+        
+    
+    
+        
+        Refresh the list of serial ports
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Running
+        Läuft
+    
+    
+        
+        Mainboard
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To upgrade the firmware in your boards, proceed as follows:</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Connect telemetry</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Once telemetry is running, press &quot;Halt&quot; above</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You will get a list of devices.</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can then upload/download to/from each board as you wish</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can resume operations by pressing &quot;Boot&quot;</p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    NewsPanel
+    
+        
+        Project News
+        
+    
+
+
+    SitesPanel
+    
+        
+        OpenPilot Websites
+        
+    
+
+
+    XmlConfig
+    
+        
+        GCS config
+        
+    
+    
+        
+        Parse error at line %1, column %2:
+%3
+        
+    
+
+
+    AntennaTrackGadgetFactory
+    
+        
+        Antenna Track Gadget
+        
+    
+
+
+    ConfigMultiRotorWidget
+    
+        
+        
+        Configuration OK
+        
+    
+
+
+    ConfigCCHWWidget
+    
+        
+        Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported
+        
+    
+    
+        
+        Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported
+        
+    
+    
+        
+        Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported
+        
+    
+
+
+    ConfigCCAttitudeWidget
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    ConfigGadgetWidget
+    
+        
+        Unsaved changes
+        
+    
+    
+        
+        The tab you are leaving has unsaved changes,if you proceed they will be lost.Do you still want to proceed?
+        
+    
+
+
+    ConfigInputWidget
+    
+        
+        
+        Arming Settings are now set to 'Always Disarmed' for your safety.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished. After the last step of the wizard you will be taken to the Arming Settings screen.
+        
+    
+    
+        
+        Welcome to the inputs configuration wizard.
+
+Please follow the instructions on the screen and only move your controls when asked to.
+Make sure you already configured your hardware settings on the proper tab and restarted your board.
+
+You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.
+
+        
+    
+    
+        
+        Please choose your transmitter type:
+        
+    
+    
+        
+        Acro: normal transmitter for fixed-wing or quad
+        
+    
+    
+        
+        Helicopter: has collective pitch and throttle input
+        
+    
+    
+        
+        If selecting the Helicopter option, please engage throttle hold now.
+        
+    
+    
+        
+        Please choose your transmitter mode:
+        
+    
+    
+        
+        Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right
+        
+    
+    
+        
+        Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right
+        
+    
+    
+        
+        Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right
+        
+    
+    
+        
+        Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right
+        
+    
+    
+        
+        Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right
+        
+    
+    
+        
+        Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right
+        
+    
+    
+        
+        Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right
+        
+    
+    
+        
+        Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right
+        
+    
+    
+        
+        For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw.
+        
+    
+    
+        
+        Please center all controls and trims and press Next when ready.
+
+If your FlightMode switch has only two positions, leave it in either position.
+        
+    
+    
+        
+        Please move all controls to their maximum extents on both directions.
+
+Press Next when ready.
+        
+    
+    
+        
+        Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.
+        
+    
+    
+        
+        You have completed this wizard, please check below if the picture mimics your sticks movement.
+
+IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings tab where you can set your desired arming sequence and save the configuration.
+        
+    
+    
+        
+        Please enable throttle hold mode.
+
+Move the Collective Pitch stick.
+        
+    
+    
+        
+        Please toggle the Flight Mode switch.
+
+For switches you may have to repeat this rapidly.
+        
+    
+    
+        
+        Please disable throttle hold mode.
+
+Move the Throttle stick.
+        
+    
+    
+        
+        Please move each control one at a time according to the instructions and picture below.
+
+Move the %1 stick.
+        
+    
+    
+        
+         Alternatively, click Next to skip this channel.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished.
+        
+    
+
+
+    ConfigOutputWidget
+    
+        
+        The actuator module is in an error state.  This can also occur because there are no inputs.  Please fix these before testing outputs.
+        
+    
+    
+        
+        This option will start your motors by the amount selected on the sliders regardless of transmitter.  It is recommended to remove any blades from motors.  Are you sure you want to do this?
+        
+    
+
+
+    ConfigPlugin
+    
+        
+        Erase all settings from board...
+        
+    
+    
+        
+        Are you sure you want to erase all board settings?.
+        
+    
+    
+        
+        All settings stored in your board flash will be deleted.
+        
+    
+    
+        
+        
+        Error trying to erase settings.
+        
+    
+    
+        
+        
+        Power-cycle your board after removing all blades. Settings might be inconsistent.
+        
+    
+    
+        
+        Settings are now erased.
+        
+    
+    
+        
+        Please wait for the status LED to begin flashing regularly (up to a minute) then power-cycle your board to complete reset.
+        
+    
+
+
+    Core::Internal::AuthorsDialog
+    
+        
+        About OpenPilot Authors
+        
+    
+    
+        
+        From revision %1<br/>
+        This gets conditionally inserted as argument %8 into the description string.
+        Revision %1<br/>
+    
+    
+        
+        <h3>The OpenPilot Project</h3>Proudly brought to you by this fine team:<br/>
+        
+    
+
+
+    Core::ConnectionManager
+    
+        
+        Connections:
+        
+    
+    
+        
+        Connect
+        
+    
+
+
+    DebugGadgetFactory
+    
+        
+        DebugGadget
+        
+    
+
+
+    DebugGadgetWidget
+    
+        
+        Save log File As
+        
+    
+    
+        
+        Log Save
+        
+    
+    
+        
+        Unable to save log: 
+        
+    
+
+
+    DialGadgetFactory
+    
+        
+        Analog Dial
+        
+    
+
+
+    GCSControlGadgetFactory
+    
+        
+        Controller
+        
+    
+
+
+    GpsDisplayGadgetFactory
+    
+        
+        GPS Display
+        
+    
+
+
+    ImportExportPlugin
+    
+        
+        GCS Settings Import/Export...
+        
+    
+
+
+    LineardialGadgetFactory
+    
+        
+        Bargraph Dial
+        
+    
+
+
+    LoggingConnection
+    
+        
+        Open file
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        
+    
+
+
+    LoggingThread
+    
+        
+        Logging: retrieve settings objects from the autopilot (%1 objects)
+        
+    
+
+
+    LoggingPlugin
+    
+        
+        Start Log
+        
+    
+    
+        
+        OP-%0.opl
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        
+    
+    
+        
+        Stop logging
+        
+    
+    
+        
+        Start logging...
+        
+    
+
+
+    MagicWaypointGadgetFactory
+    
+        
+        Magic Waypoint
+        
+    
+
+
+    ModelViewGadgetFactory
+    
+        
+        ModelView
+        
+    
+
+
+    NotificationItem
+    
+        
+        Never
+        Niemals
+    
+    
+        
+        Before first
+        
+    
+    
+        
+        Before second
+        
+    
+    
+        
+        After second
+        
+    
+    
+        
+        Repeat Once
+        
+    
+    
+        
+        Repeat Once per update
+        
+    
+    
+        
+        Repeat Instantly
+        
+    
+    
+        
+        Repeat 10 seconds
+        
+    
+    
+        
+        Repeat 30 seconds
+        
+    
+    
+        
+        Repeat 1 minute
+        
+    
+
+
+    flightDataModel
+    
+        
+        Unable to open file
+        
+    
+    
+        
+        File Parsing Failed.
+        
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        
+    
+    
+        
+        This file does not contain correct UAVSettings
+        
+    
+
+
+    OPMapGadgetFactory
+    
+        
+        OPMap
+        
+    
+
+
+    pathPlanner
+    
+        
+        Open File
+        
+    
+    
+        
+        Save File
+        
+    
+
+
+    PFDGadgetFactory
+    
+        
+        Primary Flight Display
+        
+    
+
+
+    PfdQmlGadgetFactory
+    
+        
+        PFD (qml)
+        
+    
+
+
+    PowerlogPlugin
+    
+        
+        Log filename
+        
+    
+    
+        
+        PowerLog-%0.csv
+        
+    
+    
+        
+        Comma Separated Values (*.csv)
+        
+    
+
+
+    QmlViewGadgetFactory
+    
+        
+        QML Viewer, QML
+        
+    
+
+
+    ScopeGadgetFactory
+    
+        
+        Scope
+        
+    
+
+
+    ScopeGadgetWidget
+    
+        
+        Click legend to show/hide scope trace
+        
+    
+
+
+    LevellingUtil
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    SetupWizard
+    
+        
+        OpenPilot Setup Wizard
+        
+    
+    
+        
+        Controller type: 
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        
+        
+        
+        
+        Unknown
+        
+    
+    
+        
+        Vehicle type: 
+        
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        Vehicle sub type: 
+        
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        Quadcopter X
+        
+    
+    
+        
+        Quadcopter +
+        
+    
+    
+        
+        Hexacopter
+        
+    
+    
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Octocopter
+        
+    
+    
+        
+        Octocopter Coax X
+        
+    
+    
+        
+        Octocopter Coax +
+        
+    
+    
+        
+        Octocopter V
+        
+    
+    
+        
+        Fixed wing
+        
+    
+    
+        
+        Helicopter
+        
+    
+    
+        
+        Surface vehicle
+        
+    
+    
+        
+        Input type: 
+        
+    
+    
+        
+        PWM (One cable per channel)
+        
+    
+    
+        
+        PPM (One cable for all channels)
+        
+    
+    
+        
+        Futaba S.Bus
+        
+    
+    
+        
+        Spektrum satellite (DSM2)
+        
+    
+    
+        
+        Spektrum satellite (DSMX10BIT)
+        
+    
+    
+        
+        Spektrum satellite (DSMX11BIT)
+        
+    
+    
+        
+        ESC type: 
+        
+    
+    
+        
+        Legacy ESC (50 Hz)
+        
+    
+    
+        
+        Rapid ESC (400 Hz)
+        
+    
+
+
+    SetupWizardPlugin
+    
+        
+        Vehicle Setup Wizard
+        
+    
+
+
+    VehicleConfigurationHelper
+    
+        
+        
+        Done!
+        
+    
+    
+        
+        
+        Failed!
+        
+    
+    
+        
+        Writing hardware settings
+        
+    
+    
+        
+        Writing actuator settings
+        
+    
+    
+        
+        Writing flight mode settings
+        
+    
+    
+        
+        Writing gyro and accelerometer bias settings
+        
+    
+    
+        
+        Writing stabilization settings
+        
+    
+    
+        
+        Writing mixer settings
+        
+    
+    
+        
+        Writing vehicle settings
+        
+    
+    
+        
+        Writing manual control defaults
+        
+    
+    
+        
+        Preparing mixer settings
+        
+    
+    
+        
+        Preparing vehicle settings
+        
+    
+
+
+    SystemHealthGadgetFactory
+    
+        
+        System Health
+        
+    
+
+
+    SystemHealthGadgetWidget
+    
+        
+        Displays flight system errors. Click on an alarm for more information.
+        
+    
+
+
+    UAVObjectField
+    
+        
+        0
+        0
+    
+    
+        
+        1
+        1
+    
+
+
+    PopupWidget
+    
+        
+        Close
+        Schließen
+    
+
+
+    UAVSettingsImportExportFactory
+    
+        
+        Export UAV Settings...
+        
+    
+    
+        
+        Import UAV Settings...
+        
+    
+    
+        
+        Export UAV Data...
+        
+    
+    
+        
+        UAVObjects XML files (*.uav);; XML files (*.xml)
+        
+    
+    
+        
+        Import UAV Settings
+        
+    
+    
+        
+        File Parsing Failed.
+        
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        
+    
+    
+        
+        This file does not contain correct UAVSettings
+        
+    
+    
+        
+        
+        UAVObjects XML files (*.uav)
+        
+    
+    
+        
+        Save UAVSettings File As
+        
+    
+    
+        
+        UAV Settings Export
+        
+    
+    
+        
+        Unable to save settings: 
+        
+    
+    
+        
+        Settings saved.
+        
+    
+    
+        
+        Are you sure?
+        
+    
+    
+        
+        This option is only useful for passing your current system data to the technical support staff. Do you really want to export?
+        
+    
+    
+        
+        Save UAVData File As
+        
+    
+    
+        
+        UAV Data Export
+        
+    
+    
+        
+        Unable to save data: 
+        
+    
+    
+        
+        Data saved.
+        
+    
+
+
+    UploaderGadgetFactory
+    
+        
+        Uploader
+        
+    
+
+
+    UploaderGadgetWidget
+    
+        
+        The controller board is armed and can not be halted.
+
+Please make sure the board is not armed and then press halt again to proceed
+or use the rescue option to force a firmware upgrade.
+        
+    
+    
+        
+        The controller board is armed and can not be reset.
+
+Please make sure the board is not armed and then press reset again to proceed
+or power cycle to force a board reset.
+        
+    
+    
+        
+        
+        OpenPilot Uploader
+        
+    
+    
+        
+        
+        Please disconnect all openpilot boards
+        
+    
+    
+        
+        Please connect the board (USB only!)
+        
+    
+    
+        
+        Cancel
+        Abbrechen
+    
+    
+        
+        Openpilot Uploader
+        
+    
+    
+        
+        No board connection was detected!
+        
+    
+    
+        
+        GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. GCS version: %1 Firmware version: %2.
+        
+    
+
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_es.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_es.ts
index b1238a375..32554073c 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_es.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_es.ts
@@ -4,7 +4,7 @@
 
     Application
     
-        
+        
         Failed to load core: %1
         Falló la carga de la aplicación: %1
     
@@ -15,12 +15,12 @@
         No fue posible enviar los argumentos de línea de comandos a la instancia en ejecución. Aparentemente no está respondiendo.
     
     
-        
+        
         Could not find 'Core.pluginspec' in %1
         
     
     
-        
+        
         OpenPilot GCS - Plugin loader messages
         
     
@@ -36,7 +36,7 @@
 
     Core::Internal::GeneralSettings
     
-        
+        
         General
         
     
@@ -46,10 +46,25 @@
         Entorno
     
     
-        
+        
+        <System Language>
+        
+    
+    
+        
         Variables
         Variables
     
+    
+        
+        Restart required
+        
+    
+    
+        
+        The language change will take effect after a restart of the OpenPilot GCS.
+        
+    
     
         
         General settings
@@ -65,51 +80,46 @@
         R
         
     
-    
-        
-        Terminal:
-        
-    
-    
-        
-        External editor:
-        Editor externo:
-    
-    
-        
-        ?
-        
-    
-    
-        
-        When files are externally modified:
-        
-    
-    
-        
-        Always ask
-        
-    
-    
-        
-        Reload all modified files
-        
-    
-    
-        
-        Ignore modifications
-        
-    
     
         
         User interface color:
         
     
+    
+        
+        Save configuration settings on exit:
+        
+    
+    
+        
+        Automatically connect an OpenPilot USB device:
+        
+    
+    
+        
+        Automatically select an OpenPilot USB device:
+        
+    
+    
+        
+        Use UDP Mirror
+        
+    
+    
+        
+        Expert Mode
+        
+    
+    
+        
+        Language:
+        
+    
 
 
     Core::Internal::MainWindow
     
-        
+        
         &File
         &Archivo
     
@@ -134,55 +144,17 @@
         A&yuda
     
     
-        
+        
         OpenPilot GCS
         
     
     
-        
-        &New File or Project...
-        
-    
-    
-        
-        &Open File or Project...
-        
-    
-    
-        
-        &Open File With...
-        
-    
-    
-        
-        Recent Files
-        Archivos recientes
-    
-    
-        
-        
-        &Save
-        &Guardar
-    
-    
-        
-        
-        Save &As...
-        Guardar co&mo...
-    
-    
-        
-        
+        
         Ctrl+Shift+S
         
     
     
-        
-        Save A&ll
-        Guardar t&odo
-    
-    
-        
+        
         About &OpenPilot GCS
         
     
@@ -192,17 +164,27 @@
         
     
     
-        
+        
+        About &Authors...
+        
+    
+    
+        
         Settings...
         Ajustes...
     
     
-        
+        
         E&xit
         &Salir
     
     
-        
+        
+        Save &GCS Default Settings
+        
+    
+    
+        
         Ctrl+Q
         
     
@@ -259,12 +241,82 @@
         Pantalla completa
     
     
-        
+        
+        Edit Gadgets Mode
+        
+    
+    
+        
+        Ctrl+Shift+F10
+        
+    
+    
+        
+        Meta+Shift
+        
+    
+    
+        
+        Ctrl+Shift
+        
+    
+    
+        
+        Split
+        Dividir
+    
+    
+        
+        %1+Down
+        
+    
+    
+        
+        Split Side by Side
+        Dividir lado a lado
+    
+    
+        
+        %1+Right
+        
+    
+    
+        
+        Close Current View
+        
+    
+    
+        
+        %1+C
+        
+    
+    
+        
+        Close All Other Views
+        
+    
+    
+        
+        %1+A
+        
+    
+    
+        
+        Goto Next View
+        
+    
+    
+        
+        %1+N
+        
+    
+    
+        
         &Help...
         
     
     
-        
+        
         About &Plugins...
         Acerca de los &plugins...
     
@@ -361,21 +413,15 @@
         
     
     
-        
-        From revision %1<br/>
-        This gets conditionally inserted as argument %8 into the description string.
-        Revisión %1<br/>
-    
-    
-        
-        <h3>OpenPilot GCS %1</h3>Based on Qt %2 (%3 bit)<br/><br/>Built on %4 at %5<br /><br/>%8<br/>Copyright 2008-%6 %7. All rights reserved.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.<br/>
+        
+        <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
         
     
 
 
     Core::ModeManager
     
-        
+        
         Switch to %1 mode
         Alternar al modo %1
     
@@ -958,7 +1004,7 @@
 
     ExtensionSystem::PluginManager
     
-        
+        
         Circular dependency detected:
 
         Dependencia circular detectada:
@@ -993,12 +1039,14 @@ Razón: %3
 
     MainWindow
     
+        
         
+        
         MainWindow
         
     
     
-        
+        
         Go
         
     
@@ -1057,6 +1105,120 @@ Razón: %3
         namespace
         
     
+    
+        
+        
+        MapType
+        
+    
+    
+        
+        
+        TextLabel
+        
+    
+    
+        
+        
+        PushButton
+        
+    
+    
+        
+        
+        Goto Place
+        
+    
+    
+        
+        
+        GO
+        
+    
+    
+        
+        
+        GeoCoderStatusCode
+        
+    
+    
+        
+        
+        Rotate
+        
+    
+    
+        
+        
+        Left
+        
+    
+    
+        
+        
+        Center
+        
+    
+    
+        
+        
+        Right
+        
+    
+    
+        
+        
+        Zoom
+        
+    
+    
+        
+        
+        +
+        
+    
+    
+        
+        
+        -
+        
+    
+    
+        
+        
+        ZoomIncrement
+        
+    
+    
+        
+        
+        CurrentZoom=
+        
+    
+    
+        
+        
+        Misc
+        
+    
+    
+        
+        
+        ShowGridLines
+        
+    
+    
+        
+        
+        UseOpenGL
+        
+    
+    
+        
+        
+        ReloadMap
+        
+    
 
 
     MyMain
@@ -1315,88 +1477,13 @@ Razón: %3
         
     
 
-
-    Welcome::Internal::CommunityWelcomePageWidget
-    
-        
-        Form
-        Formulario
-    
-    
-        
-        News From the OpenPilot Project
-        
-    
-    
-        
-        OpenPilot Websites
-        
-    
-    
-        
-        http://forums.openpilot.org/blog/rss/4-openpilot-development-blog
-        Add localized feed here only if one exists
-        
-    
-    
-        
-        OpenPilot Home
-        
-    
-    
-        
-        OpenPilot Wiki
-        
-    
-    
-        
-        OpenPilot Store
-        
-    
-    
-        
-        OpenPilot Forums
-        
-    
-    
-        
-        OpenPilot Bug Tracker
-        
-    
-
 
     Welcome::WelcomeMode
     
-        
-        #gradientWidget {
-  background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(247, 247, 247, 255), stop:1 rgba(215, 215, 215, 255));
-}
-        
-    
-    
-        
-        #headerFrame {
-    border-image: url(:/welcome/images/center_frame_header.png) 0;
-    border-width: 0;
-}
-
-        
-    
-    
-        
-        Feedback
-        
-    
-    
-        
+        
         Welcome
         Bienvenida
     
-    
-        
-        Help us make OpenPilot even better
-        
-    
 
 
     Utils::DetailsButton
@@ -1409,7 +1496,7 @@ Razón: %3
 
     OpenWith::Editors
     
-        
+        
         Plain Text Editor
         
     
@@ -1422,7 +1509,7 @@ Razón: %3
 
     Core::Internal::SettingsDialog
     
-        
+        
         Preferences
         
     
@@ -1432,14 +1519,6 @@ Razón: %3
         Opciones
     
 
-
-    Welcome::Internal::CommunityWelcomePage
-    
-        
-        Community
-        Comunidad
-    
-
 
     TopOptionsPage
     
@@ -1530,131 +1609,302 @@ p, li { white-space: pre-wrap; }
         Choose icon
         
     
+    
+        
+        Workspace panel
+        
+    
+    
+        
+        Placement:
+        
+    
+    
+        
+        Top
+        
+    
+    
+        
+        Bottom
+        
+    
+    
+        
+        Allow reordering:
+        
+    
 
 
     HITLOptionsPage
     
         
-        
+        
         Form
         Formulario
     
     
         
-        
-        
         Manual aircraft control (can be used when hardware is not available)
         
     
     
         
-        
+        
         Choose flight simulator:
         
     
     
         
-        
         Latitude in degrees:
         
     
     
         
-        
         Longitude in degrees:
         
     
     
         
-        
+        
         Path executable:
         
     
     
         
-        
+        
         Data directory:
         
     
     
         
-        
-        Host Address:
-        
-    
-    
-        
-        
+        
         Output Port:
         
     
     
         
-        
+        
         Input Port:
         
     
     
         
+        
         Choose flight simulator executable
         
     
     
         
+        
         Choose flight simulator data directory
         
     
+    
+        
+        
+        For receiving data from sim
+        
+    
+    
+        
+        Check this box to start the simulator on the local computer
+        
+    
+    
+        
+        Start simulator on local machine
+        
+    
+    
+        
+        
+        Local interface (IP):
+        
+    
+    
+        
+        
+        For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.
+        
+    
+    
+        
+        
+        Remote interface (IP):
+        
+    
+    
+        
+        
+        Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.
+        
+    
+    
+        
+        
+        For sending data to sim
+        
+    
+    
+        
+        Attitude data
+        
+    
+    
+        
+        AttitudeRaw (gyro, accels)
+        
+    
+    
+        
+        Refresh rate
+        
+    
+    
+        
+        ms
+        
+    
+    
+        
+        AttitudeActual
+        
+    
+    
+        
+        send raw data to board
+        
+    
+    
+        
+        use values from simulator
+        
+    
+    
+        
+        calculate from AttitudeRaw
+        
+    
+    
+        
+        Other data
+        
+    
+    
+        
+        HomeLocation
+        
+    
+    
+        
+        0 - update once, or every N seconds
+        
+    
+    
+        
+        sec
+        
+    
+    
+        
+        GPSPosition
+        
+    
+    
+        
+        SonarAltitude
+        
+    
+    
+        
+        Range detection
+        
+    
+    
+        
+        m
+        
+    
+    
+        
+        Map command from simulator
+        
+    
+    
+        
+        to GCSReciver
+        
+    
+    
+        
+        to ManualCtrll (not implemented)
+        
+    
+    
+        
+        Maximum output rate
+        
+    
 
 
     HITLWidget
     
         
-        
+        
         Form
         Formulario
     
     
         
-        
+        
         Request update
         
     
     
         
-        
+        
         Start
         
     
     
         
-        
+        
         Send update
         
     
     
         
-        
+        
         Stop
         Detener
     
     
         
-        
         AutoPilot disconnected
         
     
     
         
-        
          Simulator disconnected 
         
     
     
         
-        
+        
         Clear Log
         
     
+    
+        
+        AP OFF
+        
+    
+    
+        
+        Sim OFF
+        
+    
 
 
     LineardialGadgetOptionsPage
@@ -1734,7 +1984,7 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -1743,6 +1993,11 @@ p, li { white-space: pre-wrap; }
         Choose SVG image
         
     
+    
+        
+        Use OpenGL
+        
+    
 
 
     ModelViewOptionsPage
@@ -1771,6 +2026,23 @@ p, li { white-space: pre-wrap; }
         Enable VBOs:
         
     
+    
+        
+        Select the image that is shown in the background.
+        
+    
+    
+        
+        Select the 3D model file here.
+        
+    
+    
+        
+        Click to enable the use of Vertical Blanking.
+It is not enabled by default because some graphic cards do not
+support it, and crash the GCS. Enabling improves performance, though, so you can experiment at your own risk.
+        
+    
 
 
     NotifyPluginOptionsPage
@@ -1785,60 +2057,30 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         Equal to
         
     
     
-        
-        Greater than
+        
+        Large than
         
     
     
-        
-        Less than
+        
+        Lower than
         
     
     
-        
+        
+        In range
+        
+    
+    
+        
         Sound1:
         
     
-    
-        
-        Select if the value of the object should be spoken and if so, either before the configured sound or after it.
-        
-    
-    
-        
-        Never
-        Nunca
-    
-    
-        
-        Before first
-        
-    
-    
-        
-        After first
-        
-    
-    
-        
-        After second
-        
-    
-    
-        
-        Value is
-        
-    
-    
-        
-        Say Order
-        
-    
     
         
         Sound2:
@@ -1894,12 +2136,12 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         Choose sound collection directory
         
     
     
-        
+        
         settings
         
     
@@ -1918,66 +2160,70 @@ p, li { white-space: pre-wrap; }
         Sound3:
         
     
-    
-        
-        After third
-        
-    
 
 
     OPMap_Widget
     
         
+        
         Form
         Formulario
     
     
-        
+        
         Find place
         
     
     
-        
+        
+        
         Zoom out
         
     
     
         
+        
         Zoom in
         
     
     
         
+        
         Zoom level
         
     
     
         
+        
         Map position
         
     
     
         
+        
         labelMapPos
         
     
     
         
+        
         Mouse position
         
     
     
         
+        
         labelMousePos
         
     
     
         
+        
         %v
         
     
     
-        
+        
         Enter place to find
         
     
@@ -2052,22 +2298,25 @@ p, li { white-space: pre-wrap; }
         Agregar
     
     
-        
+        
+        
         Center map over home position
         
     
     
         
+        
         Center map over UAV position
         
     
     
         
+        
         Map rotation follows UAV heading
         
     
     
-        
+        
         UAV hold position
         
     
@@ -2082,12 +2331,13 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
+        
         Home
         
     
     
-        
+        
         Move UAV to previous waypoint
         
     
@@ -2117,30 +2367,93 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
+        
         UAV position
         
     
     
         
+        
         labelUAVPos
         
     
     
         
-        Show/Hide the UAV trail
-        
-    
-    
-        
-        Clear the UAV trail
-        
-    
-    
-        
+        
         labelMapZoom
         
     
+    
+        
+        
+        Normal Map Mode
+        
+    
+    
+        
+        
+           Normal   
+        
+    
+    
+        
+        
+        Magic Waypoint Map Mode
+        
+    
+    
+        
+        
+           Magic Waypoint   
+        
+    
+    
+        
+        Go To Place:
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        
+        Click to move the UAV to the magic waypoint position
+        
+    
+    
+        
+        
+        Move to WP
+        
+    
+    
+        
+        
+        Move the magic waypoint to the home position
+        
+    
+    
+        
+        
+        Home WP
+        
+    
+    
+        
+        
+        UAV
+        
+    
+    
+        
+        
+        Heading
+        
+    
 
 
     OPMapGadgetOptionsPage
@@ -2210,10 +2523,20 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         Choose Cache Directory
         
     
+    
+        
+        UAV Symbol
+        
+    
+    
+        
+        Default Max Update Rate 
+        
+    
 
 
     ScopeGadgetOptionsPage
@@ -2252,16 +2575,6 @@ p, li { white-space: pre-wrap; }
         UAVField:
         
     
-    
-        
-        Scale:
-        
-    
-    
-        
-        Plot curves
-        
-    
     
         
         X-Axis
@@ -2304,6 +2617,51 @@ Update
 
         
     
+    
+        
+        Y-axis
+        
+    
+    
+        
+        Y-axis scale factor:
+        
+    
+    
+        
+        Math window size
+        
+    
+    
+        
+         samples
+        
+    
+    
+        
+        Math function:
+        
+    
+    
+        
+        Log data to csv file (not interpolated)
+        
+    
+    
+        
+        New file on connect
+        
+    
+    
+        
+        Logging path
+        
+    
+    
+        
+        Choose Logging Directory
+        
+    
 
 
     SystemHealthGadgetOptionsPage
@@ -2318,7 +2676,7 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -2335,51 +2693,26 @@ Update
         Form
         Formulario
     
-    
-        
-        Request update
-        
-    
     
         
         Request
         
     
-    
-        
-        Send update
-        
-    
     
         
         Send
         
     
-    
-        
-        Save to SD Card
-        
-    
     
         
         Save
         Guardar
     
-    
-        
-        Load from SD Card
-        
-    
     
         
         Load
         
     
-    
-        
-        Erase from SD card
-        
-    
     
         
         Erase
@@ -2387,7 +2720,12 @@ Update
     
     
         
-        Show Meta Data
+        ...
+        
+    
+    
+        
+        View Options
         
     
 
@@ -2413,6 +2751,11 @@ Update
         Recently updated timeout (ms):
         
     
+    
+        
+        Only highlight nodes when value actually changes
+        
+    
 
 
     QuaZipFile
@@ -5625,10 +5968,15 @@ Update
 
     ConfigGadgetFactory
     
-        
+        
         Config Gadget
         
     
+    
+        
+        Radio Setup Wizard
+        
+    
 
 
     ConsoleGadgetFactory
@@ -5650,85 +5998,24 @@ Update
 
     Core::UAVGadgetInstanceManager
     
-        
+        
+        Migrating UAVGadgetConfigurations from version 1.1.0 to 
+        
+    
+    
+        
+        You might want to save your old config NOW since it might be replaced by broken one when you exit the GCS!
+        
+    
+    
+        
+        
+        
         
         default
         
     
 
-
-    Core::UAVGadgetManager
-    
-        
-        Edit Gadgets Mode
-        
-    
-    
-        
-        Ctrl+Shift+F10
-        
-    
-    
-        
-        Meta+Shift
-        
-    
-    
-        
-        Ctrl+Shift
-        
-    
-    
-        
-        Split
-        Dividir
-    
-    
-        
-        %1+Down
-        
-    
-    
-        
-        Split Side by Side
-        Dividir lado a lado
-    
-    
-        
-        %1+Right
-        
-    
-    
-        
-        Close Current View
-        
-    
-    
-        
-        %1+C
-        
-    
-    
-        
-        Close All Other Views
-        
-    
-    
-        
-        %1+A
-        
-    
-    
-        
-        Goto Next View
-        
-    
-    
-        
-        %1+N
-        
-    
-
 
     Core::Internal::UAVGadgetView
     
@@ -5773,20 +6060,9 @@ Update
         HITL Simulation
         
     
-
-
-    LineardialGadgetFactory
     
-        
-        Bargraph Dial Gadget
-        
-    
-
-
-    ModelViewGadgetFactory
-    
-        
-        ModelView Gadget
+        
+        HITL Simulation (v2)
         
     
 
@@ -5821,18 +6097,10 @@ Update
         
     
 
-
-    OPMapGadgetFactory
-    
-        
-        OPMap Gadget
-        
-    
-
 
     OPMapGadgetWidget
     
-        
+        
         &Zoom 
         
     
@@ -5842,27 +6110,19 @@ Update
         
     
     
-        
-        Flight path 62
-        
-    
-    
-        
+        
         Copy
         
     
     
-        
+        
+        
         Waypoints
         
     
     
-        
-        &Close menu
-        
-    
-    
-        
+        
+        
         Close the context menu
         
     
@@ -5882,7 +6142,7 @@ Update
         
     
     
-        
+        
         Mouse latitude and longitude
         
     
@@ -5912,29 +6172,18 @@ Update
         
     
     
-        
-        &Find place
-        
-    
-    
-        
-        
+        
         
         Ctrl+F
         
     
     
-        
-        Find a location
-        
-    
-    
-        
+        
         Show compass
         
     
     
-        
+        
         Zoom &In
         
     
@@ -5944,7 +6193,7 @@ Update
         
     
     
-        
+        
         Zoom &Out
         
     
@@ -5954,12 +6203,12 @@ Update
         
     
     
-        
+        
         Go to where you right clicked the mouse
         
     
     
-        
+        
         Go to &Home location
         
     
@@ -5969,7 +6218,7 @@ Update
         
     
     
-        
+        
         Follow UAV position
         
     
@@ -5984,7 +6233,7 @@ Update
         
     
     
-        
+        
         &Waypoint editor
         
     
@@ -5994,27 +6243,28 @@ Update
         
     
     
-        
+        
         Center the map onto where you right clicked the mouse
         
     
     
-        
+        
         HOME
         
     
     
-        
+        
+        
         UAV
         
     
     
-        
+        
         Show/Hide the compass
         
     
     
-        
+        
         Show Home
         
     
@@ -6034,7 +6284,7 @@ Update
         
     
     
-        
+        
         Ctrl+H
         
     
@@ -6053,33 +6303,13 @@ Update
         Center the map onto the UAV location
         
     
-    
-        
-        Set Home location
-        
-    
-    
-        
-        Set the current UAV location as the HOME location
-        
-    
     
         
         Keep the map centered onto the UAV
         
     
     
-        
-        Show UAV trail
-        
-    
-    
-        
-        Show/Hide the UAV trail
-        
-    
-    
-        
+        
         Clear UAV trail
         
     
@@ -6089,27 +6319,141 @@ Update
         
     
     
-        
+        
         Ctrl+W
         
     
     
+        
+        &Max Update Rate 
+        
+    
+    
+        
+         (Normal)
+        
+    
+    
+        
+         (Magic Waypoint)
+        
+    
+    
+        
+         (Unknown)
+        
+    
+    
+        
+        Map mode
+        
+    
+    
+        
+        Safe Area Radius
+        
+    
+    
+        
+        UAV Trail
+        
+    
+    
+        
+        UAV trail type
+        
+    
+    
+        
+        UAV trail time
+        
+    
+    
+        
+        UAV trail distance
+        
+    
+    
+        
+        &Overlay Opacity 
+        
+    
+    
+        
+        
+        Close menu
+        
+    
+    
+        
+        &Rip map
+        
+    
+    
+        
+        Rip the map tiles
+        
+    
+    
+        
+        Show Diagnostics
+        
+    
+    
+        
+        Show/Hide the diagnostics
+        
+    
+    
+        
+        Show UAV Info
+        
+    
+    
+        
+        Show/Hide the UAV info
+        
+    
+    
+        
+        Set default zoom and location
+        
+    
+    
+        
+        Changes the map default zoom and location to the current values
+        
+    
+    
+        
+        Set the home location
+        
+    
+    
+        
+        Set the home location to where you clicked
+        
+    
+    
+        
         
         &Add waypoint
         
     
     
-        
+        
+        
         Ctrl+A
         
     
     
-        
+        
+        
         Add waypoint
         
     
     
-        
+        
         &Edit waypoint
         
     
@@ -6164,24 +6508,73 @@ Update
         
     
     
-        
-        OpenPilot GCS
+        
+        Home magic waypoint
         
     
-
-
-    ScopeGadgetFactory
     
-        
-        Scope Gadget
+        
+        Move the magic waypoint to the home position
         
     
-
-
-    SystemHealthGadgetFactory
     
-        
-        System Health Gadget
+        
+        Normal
+        
+    
+    
+        
+        Magic Waypoint
+        
+    
+    
+        
+        Show Safe Area
+        
+    
+    
+        
+        Show/Hide the Safe Area around the home location
+        
+    
+    
+        
+        Show Trail dots
+        
+    
+    
+        
+        Show/Hide the Trail dots
+        
+    
+    
+        
+        Show Trail lines
+        
+    
+    
+        
+        Show/Hide the Trail lines
+        
+    
+    
+        
+        Set home altitude
+        
+    
+    
+        
+        In [m], referenced to WGS84:
+        
+    
+    
+        
+        Are you sure you want to clear waypoints?
+        
+    
+    
+        
+        All associated data will be lost.
         
     
 
@@ -6196,7 +6589,7 @@ Update
 
     UAVObjectTreeModel
     
-        
+        
         Property
         Propiedad
     
@@ -6216,17 +6609,17 @@ Update
         Ajustes
     
     
-        
+        
         Data Objects
         
     
     
-        
+        
         Meta Data
         
     
     
-        
+        
         Instance
         
     
@@ -6234,63 +6627,53 @@ Update
 
     UAVMetaObject
     
-        
-        False
+        
+        FlightReadOnly
         
     
     
         
-        True
+        GCSReadOnly
+        
+    
+    
+        
+        FlightTelemetryAcked
+        
+    
+    
+        
+        GCSTelemetryAcked
+        
+    
+    
+        
+        FlightUpdatePeriodic
+        
+    
+    
+        
+        FlightUpdateOnChange
+        
+    
+    
+        
+        GCSUpdatePeriodic
+        
+    
+    
+        
+        GCSUpdateOnChange
         
     
     
         
-        Periodic
+        Modes
         
     
     
         
-        On Change
-        
-    
-    
-        
-        Manual
-        
-    
-    
-        
-        Never
-        Nunca
-    
-    
-        
-        Read/Write
-        
-    
-    
-        
-        Read Only
-        
-    
-    
-        
-        Flight Access Mode
-        
-    
-    
-        
-        GCS Access Mode
-        
-    
-    
-        
-        Flight Telemetry Acked
-        
-    
-    
-        
-        Flight Telemetry Update Mode
+        boolean
         
     
     
@@ -6299,25 +6682,17 @@ Update
         
     
     
+        
         
-        GCS Telemetry Acked
+        
+        ms
         
     
     
-        
-        GCS Telemetry Update Mode
-        
-    
-    
-        
+        
         GCS Telemetry Update Period
         
     
-    
-        
-        Logging Update Mode
-        
-    
     
         
         Logging Update Period
@@ -6327,7 +6702,7 @@ Update
 
     Telemetry
     
-        
+        
         Telemetry: priority event queue is full, event lost (%1)
         
     
@@ -6335,32 +6710,11 @@ Update
 
     TelemetryMonitor
     
-        
+        
         Starting to retrieve meta and settings objects from the autopilot (%1 objects)
         
     
 
-
-    UploaderGadgetFactory
-    
-        
-        Uploader Gadget
-        
-    
-
-
-    UploaderGadgetWidget
-    
-        
-        QFileDialog::getOpenFileName()
-        
-    
-    
-        
-        All Files (*);;Text Files (*.bin)
-        
-    
-
 
     DialGadgetOptionsPage
     
@@ -6444,7 +6798,7 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -6453,6 +6807,41 @@ Update
         Choose SVG image
         
     
+    
+        
+        XML ID of the SVG source file used to display the dial background.
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the dial foreground (above everything else, needles included).
+        
+    
+    
+        
+        Use OpenGL for rendering. Will lower CPU usage, depending on the capabilities of your graphics card, but might slightly alter the look & feel of the dial.
+        
+    
+    
+        
+        Use OpenGL
+        
+    
+    
+        
+        When checked, the Dial plugin will make needle moves smoother by simulating inertia.
+        
+    
+    
+        
+        Smooth updates
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the first needle/indicator.
+        
+    
 
 
     GpsDisplayGadgetOptionsPage
@@ -6584,6 +6973,13 @@ Update
         GPS Data Stream
         
     
+    
+        
+        Displays the SNR for each detected sat.
+Satellite number (PRN) is displayed inside the green bar.
+Sat SNR is displayed above (in dBHz)
+        
+    
 
 
     IPconnectionOptionsPage
@@ -6617,6 +7013,11 @@ Update
         settings
         
     
+    
+        
+        IP Network Telemetry
+        
+    
 
 
     opmap_edit_waypoint_dialog
@@ -6677,13 +7078,108 @@ Update
     
     
         
-        Revert
+        Cancel
+        Cancelar
+    
+    
+        
+        Position
         
     
     
         
-        Cancel
-        Cancelar
+        Relative to Home 
+        
+    
+    
+        
+        Bearing 
+        
+    
+    
+        
+        Distance 
+        
+    
+    
+        
+        0
+        
+    
+    
+        
+        Velocity 
+        
+    
+    
+        
+        Relative altitude 
+        
+    
+    
+        
+        m/s
+        
+    
+    
+        
+        Mode
+        
+    
+    
+        
+        param1
+        
+    
+    
+        
+        param2
+        
+    
+    
+        
+        param3
+        
+    
+    
+        
+        param4
+        
+    
+    
+        
+        End condition
+        
+    
+    
+        
+        Condition
+        
+    
+    
+        
+        Command
+        Comando
+    
+    
+        
+        Jump Destination
+        
+    
+    
+        
+        Error Destination
+        
+    
+    
+        
+        Previous
+        
+    
+    
+        
+        Next
+        
     
 
 
@@ -6722,74 +7218,6 @@ Update
         
     
 
-
-    opmap_waypointeditor_dialog
-    
-        
-        OpenPilot GCS Waypoint Editor
-        
-    
-    
-        
-        Waypoints
-        
-    
-    
-        
-        Num
-        
-    
-    
-        
-        Locked
-        
-    
-    
-        
-        Latitude
-        
-    
-    
-        
-        Longitude
-        
-    
-    
-        
-        Altitude
-        
-    
-    
-        
-        Time
-        
-    
-    
-        
-        Hold Time
-        
-    
-    
-        
-        Height and Timeline
-        
-    
-    
-        
-        Waypoint 1
-        
-    
-    
-        
-        Waypoint 2
-        
-    
-    
-        
-        Waypoint 3
-        
-    
-
 
     opmap_zoom_slider_widget
     
@@ -6821,7 +7249,7 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -6830,6 +7258,11 @@ Update
         Choose SVG image
         
     
+    
+        
+        Smooth updates
+        
+    
 
 
     mapcontrol::TrailItem
@@ -6849,30 +7282,6 @@ Update
         
     
 
-
-    DialGadgetFactory
-    
-        
-        Analog Dial Gadget
-        
-    
-
-
-    GpsDisplayGadgetFactory
-    
-        
-        GPS Display Gadget
-        
-    
-
-
-    PFDGadgetFactory
-    
-        
-        Primary Flight Display Gadget
-        
-    
-
 
     MapRipForm
     
@@ -6896,165 +7305,6 @@ Update
         Cancelar
     
 
-
-    AHRSWidget
-    
-        
-        Form
-        Formulario
-    
-    
-        
-        These are the sensor variance values computed by the AHRS.
-
-Tip: lower is better!
-        
-    
-    
-        
-        Telemetry link not established.
-        
-    
-    
-        
-        Press to start a calibration procedure, about 15 seconds.
-
-Hint: run this with engines at cruising speed.
-        
-    
-    
-        
-        Start
-        
-    
-    
-        
-        AHRS Algorithm:
-        
-    
-    
-        
-        Select the sensor integration algorithm here.
-"Simple" only uses accelerometer values
-"INSGPS" the full featured algorithm integrating all sensors
-        
-    
-    
-        
-        Nice paper plane, eh?
-        
-    
-    
-        
-        Six Point Calibration
-        
-    
-    
-        
-        Launch a sensor range and bias calibration.
-        
-    
-    
-        
-        Six Point Calibration instructions
-        
-    
-    
-        
-        Saves the Home Location. This is only enabled
-if the Home Location is set, i.e. if the GPS fix is
-successful.
-
-Disabled if there is no GPS fix.
-        
-    
-    
-        
-        Set
-        
-    
-    
-        
-        buttonGroup
-        
-    
-    
-        
-        Refresh this screen with current values from the board.
-        
-    
-    
-        
-        Request
-        
-    
-    
-        
-        Sensor noise calibration
-        
-    
-    
-        
-        Save settings (only enabled when calibration is running)
-        
-    
-    
-        
-        Save Position
-        
-    
-    
-        
-        Check this box if you are flying indoors and have no GPS fix.
-Only makes sense with the "INSGPS" algorithm.
-        
-    
-    
-        
-        Indoor flight mode
-        
-    
-    
-        
-        Save settings to the OP board (RAM only).
-
-This does not save the calibration settings, this is done using the
-specific calibration button on top of the screen.
-        
-    
-    
-        
-        Save to RAM
-        
-    
-    
-        
-        Send settings to OP board, and save to the microSD card.
-        
-    
-    
-        
-        Save to SD
-        
-    
-    
-        
-        Clears the HomeLocation: only makes sense if you save
-to SD. This will force the AHRS to use the next GPS fix as the
-new home location unless it is in indoor mode.
-        
-    
-    
-        
-        Clear
-        Limpiar
-    
-    
-        
-        Home Location:
-        
-    
-
 
     AircraftWidget
     
@@ -7062,11 +7312,6 @@ new home location unless it is in indoor mode.
         Form
         Formulario
     
-    
-        
-        Aircraft type:
-        
-    
     
         
         Select aircraft type here
@@ -7107,11 +7352,6 @@ new home location unless it is in indoor mode.
         Elevator 1
         
     
-    
-        
-        Rudder
-        
-    
     
         
         Elevator 2
@@ -7122,26 +7362,6 @@ new home location unless it is in indoor mode.
         Throttle Curve
         
     
-    
-        
-        Frame type:
-        
-    
-    
-        
-        Idle Throttle
-        
-    
-    
-        
-        Cyclic Rate
-        
-    
-    
-        
-        Tricopter Yaw Ch
-        
-    
     
         
         Feed Forward
@@ -7157,11 +7377,6 @@ new home location unless it is in indoor mode.
         Decel Time Constant
         
     
-    
-        
-        Motor 1
-        
-    
     
         
         Motor 2
@@ -7169,113 +7384,357 @@ new home location unless it is in indoor mode.
     
     
         
-        Motor 3
+        Mixer Settings
         
     
     
         
-        Motor 4
+        Vehicle type:
         
     
     
         
-        Motor 5
+        Output Channel Assignments
         
     
     
         
-        Motor 6
+        Select output channel for the engine
         
     
     
         
-        Motor 7
+        Select output channel for the first aileron (or elevon)
         
     
     
         
-        Motor 8
+        Select output channel for the second aileron (or elevon)
         
     
     
         
-        CCPM Heli
+        Select output channel for the first elevator
         
     
     
         
-        This is not implemented yet, sorry
+        Select output channel for a secondary elevator
         
     
     
         
-        Custom / Advanced setup UI
+        Rudder 1
         
     
     
         
-        Retrieve settings from OpenPilot
+        Select output channel for the first rudder
         
     
     
         
-        Get Current
+        Rudder 2
         
     
     
         
-        Send to OpenPilot but don't write in SD.
+        Select output channel for a secondary rudder
         
     
     
         
-        Save to RAM
+        Elevon Mix
         
     
     
         
-        Applies and Saves all settings to SD
+        Rudder %
         
     
     
         
-        Save to SD
-        
-    
-
-
-    SettingsWidget
-    
-        
-        Form
-        Formulario
-    
-    
-        
-        RC Input
+        50
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel value</p></body></html>
+        Pitch %
         
     
     
         
-        2000
+        Frame Type
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:9pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current channel value.</p></body></html>
+        Select the Multirotor frame type here.
+        
+    
+    
+        
+        Mix Level
+        
+    
+    
+        
+        100
+        
+    
+    
+        
+        Weight of Roll mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Weight of Pitch mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Weight of Yaw mixing in percent.
+Typical value is 50% for + or X configuration on quads.
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Motor output channels
+        
+    
+    
+        
+        1
+        
+    
+    
+        
+        Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.
+        
+    
+    
+        
+        2
+        
+    
+    
+        
+        3
+        
+    
+    
+        
+        4
+        
+    
+    
+        
+        5
+        
+    
+    
+        
+        6
+        
+    
+    
+        
+        7
+        
+    
+    
+        
+        8
+        
+    
+    
+        
+        Multirotor Motor Direction
+        
+    
+    
+        
+        Tricopter Yaw Servo channel
+        
+    
+    
+        
+        Reverse all motors
+        
+    
+    
+        
+        Output channel asignmets
+        
+    
+    
+        
+        Motor
+        
+    
+    
+        
+        Select output channel for the first motor
+        
+    
+    
+        
+        Select output channel for a second motor
+        
+    
+    
+        
+        Front Steering
+        
+    
+    
+        
+        Select output channel for the first steering actuator
+        
+    
+    
+        
+        Rear Steering
+        
+    
+    
+        
+        Select output channel for a second steering actuator
+        
+    
+    
+        
+        Differential Steering Mix
+        
+    
+    
+        
+        Left %
+        
+    
+    
+        
+        Right %
+        
+    
+    
+        
+        Front throttle curve
+        
+    
+    
+        
+        Rear throttle curve
+        
+    
+    
+        
+        Curve 1
+        
+    
+    
+        
+        Curve 2
+        
+    
+    
+        
+        Type
+        
+    
+    
+        
+        Ch 1
+        
+    
+    
+        
+        Ch 2
+        
+    
+    
+        
+        Ch 3
+        
+    
+    
+        
+        Ch 4
+        
+    
+    
+        
+        Ch 5
+        
+    
+    
+        
+        Ch 6
+        
+    
+    
+        
+        Ch 7
+        
+    
+    
+        
+        Ch 8
+        
+    
+    
+        
+        Ch 9
+        
+    
+    
+        
+        Ch 10
+        
+    
+    
+        
+        -
+        
+    
+    
+        
+        Feed Forward Configuration
+        
+    
+    
+        
+        When tuning: Slowly raise decel time from zero to just
+under the level where the motor starts to undershoot
+its target speed when decelerating.
+
+Do it after accel time is setup.
+        
+    
+    
+        
+        In miliseconds.
+When tuning: Slowly raise accel time from zero to just
+under the level where the motor starts to overshoot
+its target speed.
         
     
     
@@ -7285,34 +7744,28 @@ p, li { white-space: pre-wrap; }
     
     
         
-        Retrieve settings from OpenPilot
+        Overall level of feed forward (in percentage).
         
     
     
         
-        Get Current
+        Limits how much the engines can accelerate or decelerate.
+In 'units per second', a sound default is 1000.
         
     
     
         
-        Be sure to set the Neutral position on all sliders before sending!
-Applies and Saves all settings to SD
+        MaxAccel
         
     
     
         
-        Save to SD
+        000
         
     
     
         
-        Send to OpenPilot but don't write in SD.
-Be sure to set the Neutral position on all sliders before sending!
-        
-    
-    
-        
-        Save to RAM
+        FeedForward 
         
     
     
@@ -7320,82 +7773,14 @@ Be sure to set the Neutral position on all sliders before sending!
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel value.</p></body></html>
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware! Check </span><span style=" font-family:'Sans'; font-size:10pt; font-weight:600;">all three</span><span style=" font-family:'Sans'; font-size:10pt;"> checkboxes to test Feed Forward.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">It will run only if your airframe armed.</span></p></body></html>
         
     
     
         
-        Start calibrating the RC Inputs.
-Uncheck/Check to restart calibration.
-        
-    
-    
-        
-        Run Calibration
-        
-    
-    
-        
-        Indicates whether OpenPilot is getting a signal from the RC receiver.
-        
-    
-    
-        
-        RC Receiver Not Connected
-        
-    
-    
-        
-        Select the receiver type here:
-- PWM is the most usual type
-- PPM is connected to input XXX 
-- Spektrum is used with Spektrum 'satellite' receivers
-        
-    
-    
-        
-        RC Receiver Type:
-        
-    
-    
-        
-        Servo Output
-        
-    
-    
-        
-        Aircraft type: undefined
-        
-    
-    
-        
-        Channel 0
-        
-    
-    
-        
-        Channel 1
-        
-    
-    
-        
-        Channel 2
-        
-    
-    
-        
-        Channel 3
-        
-    
-    
-        
-        Channel 4
-        
-    
-    
-        
-        Channel 5
+        Enable FF tuning
         
     
     
@@ -7403,149 +7788,41 @@ Uncheck/Check to restart calibration.
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Select the kind of actuator (servo) connected to this output channel.</p></body></html>
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD REQUIRES CAUTION</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</p>
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.</p></td></tr></table></body></html>
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum PWM value, beware of not overdriving your servo.</p></body></html>
+        Takes you to the wiki page
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum PWM value, beware of not overdriving your servo.</p></body></html>
+        Send to board, but don't save permanently (flash or SD).
         
     
     
         
-        Move the servos using the sliders. Two important things:
-- Take extra care if the output is connected to an motor controller!
-- Will only work if the RC receiver is working (failsafe)
+        Apply
         
     
     
         
-        Test outputs
+        Applies and Saves all settings to flash or SD depending on board.
         
     
     
         
-        Channel 6
-        
-    
-    
-        
-        Channel 7
-        
-    
-    
-        
-        Update rate:
-        
-    
-    
-        
-        Channel 0-3
-        
-    
-    
-        
-        Channel 4-7
-        
-    
-    
-        
-        Current value of slider.
-        
-    
-    
-        
-        0000
-        
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Check to invert the channel.</p></body></html>
-        
-    
-    
-        
-        Rev.
-        
-    
-
-
-    TelemetryWidget
-    
-        
-        Form
-        Formulario
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the serial speed of your telemetry modem here. It is the speed between the OpenPilot board and the modem, and could be different from the radio link speed.</p>
-<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</p></body></html>
-        
-    
-    
-        
-        Telemetry speed:
-        
-    
-    
-        
-        Select the speed here.
-        
-    
-    
-        
-        Send to OpenPilot but don't write in SD.
-Beware of not locking yourself out!
-        
-    
-    
-        
-        Save to RAM
-        
-    
-    
-        
-        Retrieve settings from OpenPilot
-        
-    
-    
-        
-        Get Current
-        
-    
-    
-        
-        Applies and Saves all settings to SD.
-Beware of not locking yourself out!
-        
-    
-    
-        
-        Save to SD
-        
+        Save
+        Guardar
     
 
 
@@ -7570,32 +7847,9 @@ Beware of not locking yourself out!
         Flight Mode:
         
     
-
-
-    FGOptionsPage
-    
-        
-        
-        Form
-        Formulario
-    
     
         
-        
-        FlightGear executable:
-        
-    
-    
-        
-        
-        FlightGear data directory:
-        
-    
-    
-        
-        
-        
-        Manual aircraft control (can be used when hardware is not available)
+        UDP Control
         
     
 
@@ -7607,34 +7861,11 @@ Beware of not locking yourself out!
         
     
     
-        
+        
         Import Export Settings
         
     
 
-
-    ImportExportGadgetOptionsPage
-    
-        
-        Form
-        Formulario
-    
-    
-        
-        Default Config File 
-        
-    
-    
-        
-        INI file (*.ini)
-        
-    
-    
-        
-        Choose configuration file
-        
-    
-
 
     ImportExportGadgetWidget
     
@@ -7642,21 +7873,6 @@ Beware of not locking yourself out!
         Form
         Formulario
     
-    
-        
-        This is experimental. Use at own risk.
-        
-    
-    
-        
-        Please report bugs!
-        
-    
-    
-        
-        Config File
-        
-    
     
         
         Items
@@ -7673,22 +7889,18 @@ Beware of not locking yourself out!
         
     
     
-        
-        Export
+        
+        
+        GCS Settings file (*.xml)
         
     
     
-        
-        Import
+        
+        Save GCS Settings too file ..
         
     
     
-        
-        Help
-        
-    
-    
-        
+        
         Can't write file 
         
     
@@ -7698,7 +7910,12 @@ Beware of not locking yourself out!
         
     
     
-        
+        
+        Load GCS Settings from file ..
+        
+    
+    
+        
         Can't read file 
         
     
@@ -7712,6 +7929,51 @@ Beware of not locking yourself out!
         . Restart the application.
         
     
+    
+        
+        All your settings will be deleted!
+        
+    
+    
+        
+        You must restart the GCS in order to activate the changes.
+        
+    
+    
+        
+        Plugins
+        
+    
+    
+        
+        Export the GCS settings selected in the checkboxes above.
+        
+    
+    
+        
+        Export...
+        Exportar...
+    
+    
+        
+        Import settings from the config file, only for the items checked above.
+        
+    
+    
+        
+        Import...
+        Importar...
+    
+    
+        
+        Resets your GCS configuration to its default configuration.
+        
+    
+    
+        
+        Reset Config
+        
+    
 
 
     Logging
@@ -7740,11 +8002,16 @@ Beware of not locking yourself out!
         Idle
         
     
+    
+        
+        Playback speed:
+        
+    
 
 
     Core::UAVConfigInfo
     
-        
+        
         Do you want to continue the import?
         
     
@@ -7764,27 +8031,11 @@ Beware of not locking yourself out!
         
     
     
-        
+        
         Unknown compatibility level: 
         
     
 
-
-    GCSControlGadgetFactory
-    
-        
-        UAV Control
-        
-    
-
-
-    ImportExportGadgetFactory
-    
-        
-        Import/Export GCS Config
-        
-    
-
 
     LoggingGadgetFactory
     
@@ -7793,4 +8044,6023 @@ Beware of not locking yourself out!
         
     
 
+
+    AntennaTrackGadgetOptionsPage
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Mode:
+        
+    
+    
+        
+        Serial Connection
+        
+    
+    
+        
+        Data Bits:
+        
+    
+    
+        
+        Stop Bits:
+        
+    
+    
+        
+        Parity:
+        
+    
+    
+        
+        Timeout(ms):
+        
+    
+    
+        
+        Port:
+        
+    
+    
+        
+        Port Speed:
+        
+    
+    
+        
+        Flow Control:
+        
+    
+
+
+    AntennaTrackWidget
+    
+        
+        Coord:
+        
+    
+    
+        
+        Unknown
+        
+    
+    
+        
+        HomeCoord:
+        
+    
+    
+        
+        Azimuth
+        
+    
+    
+        
+        Elevation
+        
+    
+    
+        
+        Connect
+        
+    
+    
+        
+        Disconnect
+        
+    
+    
+        
+        Output
+        Salida
+    
+
+
+    AutotuneWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Pre-Autotune
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be </span><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> for it creating bad tuning values.  Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:<br /></span></p>
+<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">On the <span style=" font-style:italic;">Input configuration</span> tab, <span style=" font-style:italic;">Flight Mode Switch Settings</span>, set one of your flight modes to &quot;Autotune&quot;.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, change flight mode to autotune, keep it in the air while it's shaking.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm.  (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly the new settings.</li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the <span style=" font-style:italic;">Enable Autotune Module</span> checkbox above this text, click <span style=" font-style:italic;">save</span> and go to the next tab.</li></ul></body></html>
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable Autotune Module
+        
+    
+    
+        
+        Autotune Setup
+        
+    
+    
+        
+        Tuning Aggressiveness
+        
+    
+    
+        
+        Rate Tuning:
+        
+    
+    
+        
+        Attitude Tuning:
+        
+    
+    
+        
+        objname:RelayTuningSettings
+        
+    
+    
+        
+        fieldname:RateGain
+        
+    
+    
+        
+        scale:0.01
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        fieldname:AttitudeGain
+        
+    
+    
+        
+        Measured Properties
+        
+    
+    
+        
+        Roll:
+        
+    
+    
+        
+        0
+        
+    
+    
+        
+        objname:RelayTuning
+        
+    
+    
+        
+        fieldname:Period
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:Gain
+        
+    
+    
+        
+        Period (ms)
+        
+    
+    
+        
+        Gain (deg/s) / output
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Computed Values
+        
+    
+    
+        
+        RateKi
+        
+    
+    
+        
+        AttitudeKp
+        
+    
+    
+        
+        RateKp
+        
+    
+    
+        
+        AttitudeKi
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Apply Computed Values
+        
+    
+    
+        
+        Step Size
+        
+    
+    
+        
+        fieldname:Amplitude
+        
+    
+    
+        
+        The Apply and Save buttons below save the autotuning settings which
+will alter settings for the next autotuning flight
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Guardar
+    
+    
+        
+        button:save
+        
+    
+
+
+    CameraStabilizationWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Camera Stabilization
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable CameraStabilization module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Basic Settings (Stabilization)
+        
+    
+    
+        
+        Camera yaw angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        objname:CameraStabSettings
+        
+    
+    
+        
+        fieldname:OutputRange
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Camera pitch angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Camera roll angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        Yaw output channel for camera gimbal
+        
+    
+    
+        
+        None
+        
+    
+    
+        
+        Pitch output channel for camera gimbal
+        
+    
+    
+        
+        Roll output channel for camera gimbal
+        
+    
+    
+        
+        Output Channel
+        
+    
+    
+        
+        Output Range
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Advanced Settings (Control)
+        
+    
+    
+        
+        Input channel to control camera yaw
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        fieldname:Input
+        
+    
+    
+        
+        Input channel to control camera pitch
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input channel to control camera roll
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input Channel
+        
+    
+    
+        
+        Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.
+        
+    
+    
+        
+        fieldname:StabilizationMode
+        
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Maximum camera yaw deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        fieldname:InputRange
+        
+    
+    
+        
+        Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        fieldname:InputRate
+        
+    
+    
+        
+        Input low-pass filter response time for yaw axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        fieldname:ResponseTime
+        
+    
+    
+        
+        Maximum camera pitch deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for pitch axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        Maximum camera roll deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera roll rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for roll axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        MaxAxisLockRate
+        
+    
+    
+        
+        Response Time
+        
+    
+    
+        
+        Input Rate
+        
+    
+    
+        
+        Input Range
+        
+    
+    
+        
+        Stabilization Mode
+        
+    
+    
+        
+        (the same value for Roll, Pitch, Yaw)
+        
+    
+    
+        
+        Stick input deadband for all axes in AxisLock mode, deg/s.
+
+When stick input is within the MaxAxisLockRate range, camera tracks
+current attitude. Otherwise it starts moving according to input with
+rate depending on input value.
+
+If you have drift in your Tx controls, you may want to increase this
+value.
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration
+        
+    
+    
+        
+        Load default CameraStabilization settings except output channels into GCS.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reset To Defaults
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        Reloads saved CameraStabilization settings  except output channels
+from board into GCS. Useful if you have accidentally changed some
+settings.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Guardar
+    
+    
+        
+        button:save
+        
+    
+
+
+    CC_HW_Widget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        HW settings
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        Changes on this page only take effect after board reset or power cycle
+        
+    
+    
+        
+        Telemetry speed:
+        
+    
+    
+        
+        GPS speed:
+        
+    
+    
+        
+        ComUsbBridge speed:
+        
+    
+    
+        
+        Select the speed here.
+        
+    
+    
+        
+        USB HID Port
+        
+    
+    
+        
+        MainPort
+        
+    
+    
+        
+        FlexiPort
+        
+    
+    
+        
+        USB VCP Port
+        
+    
+    
+        
+        RcvrPort
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Save
+        Guardar
+    
+
+
+    ccattitude
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Rotate virtual attitude relative to board
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Calibration
+        
+    
+    
+        
+        Place aircraft very flat, and then click level to compute the accelerometer and gyro bias
+        
+    
+    
+        
+        Launch horizontal calibration.
+        
+    
+    
+        
+        Level
+        
+    
+    
+        
+        If enabled, a fast recalibration of gyro zero point will be done
+whenever the frame is armed. Do not move the airframe while
+arming it in that case!
+        
+    
+    
+        
+        Zero gyros while arming aircraft
+        
+    
+    
+        
+        AccelTau
+        
+    
+    
+        
+        Accelerometer filtering.
+
+Sets the amount of lowpass filtering of accelerometer data 
+for the attitude estimation. Higher values apply a stronger 
+filter, which may help with drifting in attitude mode.
+
+Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
+Start low and raise until drift stops.
+
+A setting of 0.00 disables the filter.
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Click to permanently save the accel bias in the CopterControl Flash.
+        
+    
+    
+        
+        Save
+        Guardar
+    
+
+
+    ccpmWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Swashplate config:
+        
+    
+    
+        
+        Select aircraft type here
+        
+    
+    
+        
+        Basic settings
+        
+    
+    
+        
+        Outputs
+        
+    
+    
+        
+        Tail Rotor
+        
+    
+    
+        
+        Engine
+        
+    
+    
+        
+        Swashplate Outputs
+        
+    
+    
+        
+        Servo W
+        
+    
+    
+        
+        Servo X
+        
+    
+    
+        
+        Front
+        
+    
+    
+        
+        Right
+        
+    
+    
+        
+        Rear
+        
+    
+    
+        
+        Left
+        
+    
+    
+        
+        1st Servo
+        
+    
+    
+        
+        Servo Z
+        
+    
+    
+        
+        Servo Y
+        
+    
+    
+        
+        Swashplate Servo Angles
+        
+    
+    
+        
+        Angle W
+        
+    
+    
+        
+        Angle X
+        
+    
+    
+        
+        Angle Y
+        
+    
+    
+        
+        Angle Z
+        
+    
+    
+        
+        Correction Angle
+        
+    
+    
+        
+        CCPM Options
+        
+    
+    
+        
+        Collective Pass through
+        
+    
+    
+        
+        Link Roll/Pitch
+        
+    
+    
+        
+        Link Cyclic/Collective
+        
+    
+    
+        
+        Swashplate Layout
+        
+    
+    
+        
+        REVO
+        
+    
+    
+        
+        100%
+        
+    
+    
+        
+        0%
+        
+    
+    
+        
+        CCPM
+        
+    
+    
+        
+        Collective
+        
+    
+    
+        
+        Cyclic
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Swashplate Levelling
+        
+    
+    
+        
+        Commands
+        
+    
+    
+        
+        Start
+        
+    
+    
+        
+        Next
+        
+    
+    
+        
+        Cancel
+        Cancelar
+    
+    
+        
+        Finish
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Neutral
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Verify
+        
+    
+    
+        
+        Position
+        
+    
+    
+        
+        Swashplate Adjustment
+        
+    
+    
+        
+        Curve settings
+        
+    
+    
+        
+        Advanced settings
+        
+    
+    
+        
+        Channel
+        
+    
+    
+        
+        Curve 1
+        
+    
+    
+        
+        Curve 2
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        -
+        
+    
+
+
+    defaultattitude
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Attitude / INS calibration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This panel will be updated to provide the relevant controls to let you calibrate your OpenPilot INS or your CopterControl unit, depending on the board which is detected once telemetry is connected and running.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    defaulthwsettings
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Hardware Configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This panel will be updated to provide the relevant controls to let you configure your hardware once telemetry is connected and running.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p></body></html>
+        
+    
+
+
+    InputWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        RC Input
+        
+    
+    
+        
+        Roll/Pitch/Yaw stick deadband
+        
+    
+    
+        
+        Stick deadband in percents of full range (0-10), zero to disable
+        
+    
+    
+        
+        Back
+        
+    
+    
+        
+        Next
+        
+    
+    
+        
+        Cancel
+        Cancelar
+    
+    
+        
+        Calibration and Configuration Options
+        
+    
+    
+        
+        Start Configuration Wizard
+        
+    
+    
+        
+        Manual Calibration
+        
+    
+    
+        
+        Flight Mode Switch Settings
+        
+    
+    
+        
+        Configure each stabilization mode for each axis
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Stabilized1
+        
+    
+    
+        
+        Stabilized2
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Stabilized3
+        
+    
+    
+        
+        FlightMode Switch Positions
+        
+    
+    
+        
+        Pos. 1
+        
+    
+    
+        
+        Pos. 2
+        
+    
+    
+        
+        Pos. 3
+        
+    
+    
+        
+        Pos. 4
+        
+    
+    
+        
+        Pos. 5
+        
+    
+    
+        
+        Pos. 6
+        
+    
+    
+        
+        This slider moves when you move the flight mode switch
+on your remote. It shows currently active flight mode.
+
+Setup the flight mode channel on the RC Input tab if you have not done so already.
+        
+    
+    
+        
+        Select the stabilization mode on this position (manual/stabilized/auto)
+        
+    
+    
+        
+        Number of flight modes:
+        
+    
+    
+        
+        Number of positions your FlightMode switch has.
+
+Default is 3.
+
+It will be 2 or 3 for most of setups, but it also can be up to 6.
+In that case you have to configure your radio mixers so the whole range
+from min to max is split into N equal intervals, and you may set arbitrary
+channel value for each flight mode.
+        
+    
+    
+        
+        Avoid "Manual" for multirotors!
+        
+    
+    
+        
+        Arming Settings
+        
+    
+    
+        
+        Arm airframe using throttle off and:
+        
+    
+    
+        
+        Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms "Throttle Off".
+        
+    
+    
+        
+        Arming timeout:
+        
+    
+    
+        
+        After the time indicated here, the frame go back to disarmed state.
+Set to 0 to disable (recommended for soaring fixed wings).
+        
+    
+    
+        
+        seconds (0 to disable).
+        
+    
+    
+        
+        Airframe disarm is done by throttle off and opposite of above combination.
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        
+    
+    
+        
+        Save
+        Guardar
+    
+
+
+    inputChannelForm
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Function
+        
+    
+    
+        
+        Type
+        
+    
+    
+        
+        Number
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Neutral
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        TextLabel
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Chan %1
+        
+    
+
+
+    MixerCurve
+    
+        
+        MixerCurve
+        
+    
+    
+        
+        Throttle Curve
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        4
+        
+    
+    
+        
+        3
+        
+    
+    
+        
+        2
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Value
+        Valor
+    
+    
+        
+        1.0
+        
+    
+    
+        
+        .75
+        
+    
+    
+        
+        .50
+        
+    
+    
+        
+        .25
+        
+    
+    
+        
+        .00
+        
+    
+    
+        
+        Linear
+        
+    
+    
+        
+        Log
+        
+    
+    
+        
+        Exp
+        
+    
+    
+        
+        Flat
+        
+    
+    
+        
+        Step
+        
+    
+    
+        
+        Generate
+        
+    
+    
+        
+        Reset
+        Restablecer
+    
+    
+        
+        Advanced...
+        
+    
+
+
+    OutputWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Output
+        Salida
+    
+    
+        
+        Output Update Speed
+        
+    
+    
+        
+        Channel:
+        
+    
+    
+        
+        -
+        
+    
+    
+        
+        Update rate:
+        
+    
+    
+        
+        Setup "TurboPWM" here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.
+        
+    
+    
+        
+        50
+        
+    
+    
+        
+        60
+        
+    
+    
+        
+        125
+        
+    
+    
+        
+        165
+        
+    
+    
+        
+        270
+        
+    
+    
+        
+        330
+        
+    
+    
+        
+        400
+        
+    
+    
+        
+        Motors spin at neutral output when armed and throttle below zero (be careful)
+        
+    
+    
+        
+        Move the servos using the sliders. Two important things:
+- Take extra care if the output is connected to an motor controller!
+- Will only work if the RC receiver is working (failsafe)
+        
+    
+    
+        
+        Test outputs
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        
+    
+    
+        
+        Save
+        Guardar
+    
+
+
+    outputChannelForm
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Current value of slider.
+        
+    
+    
+        
+        0000
+        
+    
+    
+        
+        Link
+        
+    
+    
+        
+        TextLabel
+        
+    
+    
+        
+        #
+        
+    
+    
+        
+        Channel Number
+        
+    
+    
+        
+        Minimum PWM value, beware of not overdriving your servo.
+        
+    
+    
+        
+        Check to invert the channel.
+        
+    
+    
+        
+        Neutral (slowest for motor)
+        
+    
+    
+        
+        Assignment
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Output mode
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Maximum PWM value, beware of not overdriving your servo.
+        
+    
+
+
+    PipXtremeWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/dACrAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Guardar
+    
+    
+        
+        Pairing
+        
+    
+    
+        
+        Broadcast
+        
+    
+    
+        
+        Broadcast Address
+        
+    
+    
+        
+        12345678
+        
+    
+    
+        
+        %v dBm
+        
+    
+    
+        
+        -100dB
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Firmware Ver.
+        
+    
+    
+        
+        Serial Number
+        
+    
+    
+        
+        The modems serial number
+        
+    
+    
+        
+        Device ID
+        
+    
+    
+        
+        Pair ID
+        
+    
+    
+        
+        90ABCDEF
+        
+    
+    
+        
+        Min Frequency
+        
+    
+    
+        
+        The modems minimum allowed frequency
+        
+    
+    
+        
+        Max Frequency
+        
+    
+    
+        
+        The modems maximum allowed frequency
+        
+    
+    
+        
+        Freq. Step Size
+        
+    
+    
+        
+        The modems minimum frequency step size
+        
+    
+    
+        
+        Freq. Band
+        
+    
+    
+        
+        The current frequency band
+        
+    
+    
+        
+        RSSI
+        
+    
+    
+        
+        Rx AFC
+        
+    
+    
+        
+        TX Rate (B/s)
+        
+    
+    
+        
+        RX Rate (B/s)
+        
+    
+    
+        
+        Link State
+        
+    
+    
+        
+        The modems current state
+        
+    
+    
+        
+        Disconnected
+        
+    
+    
+        
+        Errors
+        
+    
+    
+        
+        Retries
+        
+    
+    
+        
+        UAVTalk Errors
+        
+    
+    
+        
+        Resets
+        
+    
+    
+        
+        Dropped
+        
+    
+    
+        
+        Configuration
+        
+    
+    
+        
+        Telemetry Port Config.
+        
+    
+    
+        
+        Set the telemetry port configuration
+        
+    
+    
+        
+        Telemetry Port Speed
+        
+    
+    
+        
+        Set the telemetry port speed
+        
+    
+    
+        
+        Flexi Port Configuration
+        
+    
+    
+        
+        Set the flexi port configuration
+        
+    
+    
+        
+        Flexi Port Speed
+        
+    
+    
+        
+        Set the flexi port speed
+        
+    
+    
+        
+        VCP Configuration
+        
+    
+    
+        
+        Set the virtual serial port configuration
+        
+    
+    
+        
+        VCP Speed
+        
+    
+    
+        
+        Set the virtual serial port speed
+        
+    
+    
+        
+        Max RF Datarate (bits/s)
+        
+    
+    
+        
+        Set the maximum RF datarate/channel bandwidth the modem will use
+        
+    
+    
+        
+        Max RF Tx Power(mW)
+        
+    
+    
+        
+        Set the maximum TX output power the modem will use
+        
+    
+    
+        
+        Send Timeout (ms)
+        
+    
+    
+        
+        Calibrate the modems RF carrier frequency
+        
+    
+    
+        
+        Min Packet Size
+        
+    
+    
+        
+        Frequency Calibration
+        
+    
+    
+        
+        Frequency (Hz)
+        
+    
+    
+        
+        Set the modems RF carrier frequency
+        
+    
+    
+        
+        AES Encryption
+        
+    
+    
+        
+        The AES encryption key - has to be the same key on the remote modem.
+        
+    
+    
+        
+        Radomise the AES encryption key
+        
+    
+    
+        
+         Rand
+        
+    
+    
+        
+        Enable/Disable AES encryption
+        
+    
+    
+        
+        Enable
+        
+    
+    
+        
+        Scan whole band to see where their is interference and/or used channels
+        
+    
+    
+        
+            Scan Spectrum    
+        
+    
+
+
+    PRO_HW_Widget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</span></p></body></html>
+        
+    
+    
+        
+        Telemetry speed:
+        
+    
+    
+        
+        Select the speed here.
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Save
+        Guardar
+    
+
+
+    RevoSensorsWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Calibration
+        
+    
+    
+        
+        #1: Multi-Point Calibration
+        
+    
+    
+        
+        Nice paper plane, eh?
+        
+    
+    
+        
+        Launch a sensor range and bias calibration.
+        
+    
+    
+        
+        Start
+        
+    
+    
+        
+        Save settings (only enabled when calibration is running)
+        
+    
+    
+        
+        Save Position
+        
+    
+    
+        
+        #2: Sensor noise calibration
+        
+    
+    
+        
+        These are the sensor variance values computed by the AHRS.
+
+Tip: lower is better!
+        
+    
+    
+        
+        Press to start a calibration procedure, about 15 seconds.
+
+Hint: run this with engines at cruising speed.
+        
+    
+    
+        
+        #3: Accelerometer Bias calibration
+        
+    
+    
+        
+        #4 Gyro temperature drift calibration
+        
+    
+    
+        
+        Temp:
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Currently measured temperature on the system. This is actually the
+MB temperature, be careful if somehow you know that your INS
+temperature is very different from your MB temp...
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Current drift:
+        
+    
+    
+        
+        Saved drift:
+        
+    
+    
+        
+        Start gathering data for temperature drift calibration.
+Avoid sudden moves once you have started gathering!
+        
+    
+    
+        
+        Launch drift measurement based on gathered data.
+
+TODO: is this necessary? Measurement could be auto updated every second or so, or done when we stop measuring...
+        
+    
+    
+        
+        Measure
+        
+    
+    
+        
+        Updates the XYZ drift values into the AHRS (saves to SD)
+        
+    
+    
+        
+        Save
+        Guardar
+    
+    
+        
+        Six Point Calibration instructions
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Step #1 and #2 are really necessary. Steps #3 and #4 will help you achieve the best possible results.</span></p>
+<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#1: Multi-Point calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here.  Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#2: Sensor noise calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute sensor variance under standard conditions. You can leave your engines running at low to mid throttle to take their vibration into account before pressing &quot;Start&quot;.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#3: Accelerometer bias calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that accelerometer bias is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#4 Gyro temp drift calibration:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p></td></tr></table></body></html>
+        
+    
+    
+        
+        Settings
+        Ajustes
+    
+    
+        
+        Attitude Algorithm:
+        
+    
+    
+        
+        Select the sensor integration algorithm here.
+"Simple" only uses accelerometer values
+"INSGPS" the full featured algorithm integrating all sensors
+        
+    
+    
+        
+        Home Location:
+        
+    
+    
+        
+        Saves the Home Location. This is only enabled
+if the Home Location is set, i.e. if the GPS fix is
+successful.
+
+Disabled if there is no GPS fix.
+        
+    
+    
+        
+        Set
+        
+    
+    
+        
+        buttonGroup
+        
+    
+    
+        
+        Clears the HomeLocation: only makes sense if you save
+to SD. This will force the INS to use the next GPS fix as the
+new home location unless it is in indoor mode.
+        
+    
+    
+        
+        Clear
+        Limpiar
+    
+    
+        
+        Telemetry link not established.
+        
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        Save settings to the board (RAM only).
+
+This does not save the calibration settings, this is done using the
+specific calibration button on top of the screen.
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board, and save to the non-volatile memory.
+        
+    
+
+
+    StabilizationWidget
+    
+        
+        Stabilization
+        
+    
+    
+        
+        Basic
+        
+    
+    
+        
+        Rate Stabilization (Inner Loop)
+        
+    
+    
+        
+        Link Roll and Pitch
+        
+    
+    
+        
+        Reset all values to GCS defaults
+        
+    
+    
+        
+        Default
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Proportional
+        
+    
+    
+        
+        Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.
+        
+    
+    
+        
+        objname:StabilizationSettings
+        
+    
+    
+        
+        fieldname:RollRatePID
+        
+    
+    
+        
+        element:Kp
+        
+    
+    
+        
+        haslimits:yes
+        
+    
+    
+        
+        scale:0.0001
+        
+    
+    
+        
+        buttongroup:1,10
+        
+    
+    
+        
+        fieldname:PitchRatePID
+        
+    
+    
+        
+        fieldname:YawRatePID
+        
+    
+    
+        
+        Integral
+        
+    
+    
+        
+        As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        element:Ki
+        
+    
+    
+        
+        Attitude Stabilization (Outer Loop)
+        
+    
+    
+        
+        buttongroup:2
+        
+    
+    
+        
+        fieldname:RollPI
+        
+    
+    
+        
+        scale:0.1
+        
+    
+    
+        
+        buttongroup:2,10
+        
+    
+    
+        
+        fieldname:PitchPI
+        
+    
+    
+        
+        fieldname:YawPI
+        
+    
+    
+        
+        When the throttle is low, zero the intergral term to prevent intergral wind-up
+        
+    
+    
+        
+        Zero the integral when throttle is low
+        
+    
+    
+        
+        fieldname:LowThrottleZeroIntegral
+        
+    
+    
+        
+        Advanced
+        
+    
+    
+        
+        Rate Stabization Coefficients (Inner Loop)
+        
+    
+    
+        
+        buttongroup:4
+        
+    
+    
+        
+        element:Kd
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:4,20
+        
+    
+    
+        
+        As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+You can usually go for higher values for Yaw factors.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+        
+    
+    
+        
+        Derivative
+        
+    
+    
+        
+        Attitude Stabization Coefficients (Outer Loop)
+        
+    
+    
+        
+        buttongroup:5
+        
+    
+    
+        
+        buttongroup:5,20
+        
+    
+    
+        
+        Stick Range and Limits
+        
+    
+    
+        
+        buttongroup:6
+        
+    
+    
+        
+        fieldname:PitchMax
+        
+    
+    
+        
+        buttongroup:6,20
+        
+    
+    
+        
+        Max rate attitude (deg/s)
+        
+    
+    
+        
+        fieldname:MaximumRate
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:ManualRate
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        fieldname:YawMax
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Full stick angle (deg)
+        
+    
+    
+        
+        fieldname:RollMax
+        
+    
+    
+        
+        Full stick rate (deg/s)
+        
+    
+    
+        
+        Expert
+        
+    
+    
+        
+        Weak Leveling / Axis Lock
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Weak Leveling Kp 
+        
+    
+    
+        
+        Weak Leveling Rate 
+        
+    
+    
+        
+        Max Axis Lock 
+        
+    
+    
+        
+        Max Axis Lock Rate 
+        
+    
+    
+        
+        fieldname:WeakLevelingKp
+        
+    
+    
+        
+        fieldname:MaxWeakLevelingRate
+        
+    
+    
+        
+        fieldname:MaxAxisLock
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Integral Limits
+        
+    
+    
+        
+        buttongroup:13
+        
+    
+    
+        
+        element:ILimit
+        
+    
+    
+        
+        ILimit Attitude
+        
+    
+    
+        
+        ILimit Rate
+        
+    
+    
+        
+        Sensor Tuning
+        
+    
+    
+        
+        buttongroup:8
+        
+    
+    
+        
+        The proportional term for the accelerometer, the higher this term the more weight the  accel is given
+        
+    
+    
+        
+        objname:AttitudeSettings
+        
+    
+    
+        
+        fieldname:AccelKp
+        
+    
+    
+        
+        buttongroup:8,10
+        
+    
+    
+        
+        GyroTau
+        
+    
+    
+        
+        AccelKp
+        
+    
+    
+        
+        GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros
+        
+    
+    
+        
+        fieldname:GyroTau
+        
+    
+    
+        
+        AccelKi
+        
+    
+    
+        
+        The intergral term for the accelerometer within the filter 
+        
+    
+    
+        
+        fieldname:AccelKi
+        
+    
+    
+        
+        Real Time Updates
+        
+    
+    
+        
+        If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.
+        
+    
+    
+        
+        Update in real time
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DAO9
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Guardar
+    
+    
+        
+        button:save
+        
+    
+
+
+    TxPIDWidget
+    
+        
+        TxPID
+        
+    
+    
+        
+        Tx PID
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        This module will periodically update values of stabilization PID settings
+depending on configured input control channels. New values of stabilization
+settings are not saved to flash, but updated in RAM. It is expected that the
+module will be enabled only for tuning. When desired values are found, they
+can be read via GCS and saved permanently. Then this module should be
+disabled again.
+
+Up to 3 separate PID options (or option pairs) can be selected and updated.
+        
+    
+    
+        
+        Enable TxPID module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Module Settings
+        
+    
+    
+        
+        PID option
+        
+    
+    
+        
+        Control Source
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Instance 1
+        
+    
+    
+        
+        Select PID option or option pair to update.
+Set to Disabled if not used.
+        
+    
+    
+        
+        Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min > Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.
+        
+    
+    
+        
+        Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.
+        
+    
+    
+        
+        Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.
+        
+    
+    
+        
+        Instance 2
+        
+    
+    
+        
+        Instance 3
+        
+    
+    
+        
+        Update Mode
+        
+    
+    
+        
+        PID values update mode which can be set to:
+- Never: this disables PID updates (but module still will be run if enabled),
+- When Armed: PID updated only when system is armed,
+- Always: PID updated always regardless of arm state.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.
+        
+    
+    
+        
+        Throttle Range
+        
+    
+    
+        
+        Throttle channel lower bound mapped to PID Min value
+        
+    
+    
+        
+        Throttle channel upper bound mapped to PID Max value
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DACiAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Guardar
+    
+
+
+    VernierWidget
+    
+        
+        Form
+        Formulario
+    
+
+
+    importSettings
+    
+        
+        OpenPilotGCS
+        
+    
+    
+        
+        No configuration file could be found.
+Please choose from one of the default configurations
+        
+    
+    
+        
+        TextLabel
+        
+    
+    
+        
+        Load
+        
+    
+
+
+    Form
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Save to file
+        
+    
+
+
+    GCSControlGadgetOptionsPage
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Control Mode:
+        
+    
+    
+        
+        Mode 1
+        
+    
+    
+        
+        Mode 2
+        
+    
+    
+        
+        Mode 3
+        
+    
+    
+        
+        Mode 4
+        
+    
+    
+        
+        External input Device:
+        
+    
+    
+        
+        Only joystick is implemented at this stage, so this control is disabled.
+        
+    
+    
+        
+        Joystick
+        
+    
+    
+        
+        Audio
+        
+    
+    
+        
+        Available controllers
+        
+    
+    
+        
+        Default
+        
+    
+    
+        
+        Joystick Axes
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Move your joystick controls to identify channels
+        
+    
+    
+        
+        Joystick Buttons
+        
+    
+    
+        
+        Press buttons on controller to identify mappings
+        
+    
+    
+        
+        button 1
+        
+    
+    
+        
+        button 2
+        
+    
+    
+        
+        button 8
+        
+    
+    
+        
+        button 7
+        
+    
+    
+        
+        button 6
+        
+    
+    
+        
+        button 5
+        
+    
+    
+        
+        button 4
+        
+    
+    
+        
+        button 3
+        
+    
+    
+        
+        by
+        
+    
+    
+        
+        Audio: soundcard-based PPM decoding for trainer port. Not implemented yet.
+        
+    
+    
+        
+        UDP Setup
+        
+    
+    
+        
+        UDP Port Configuration
+        
+    
+    
+        
+        Host:
+        
+    
+    
+        
+        127.0.0.1
+        
+    
+    
+        
+        Port:
+        
+    
+    
+        
+        2323
+        
+    
+
+
+    Widget
+    
+        
+        send data
+        
+    
+    
+        
+        Flight mode
+        
+    
+    
+        
+        Armed state
+        
+    
+    
+        
+        Disarmed
+        
+    
+    
+        
+        Arming
+        
+    
+    
+        
+        Armed
+        
+    
+    
+        
+        Channels
+        
+    
+
+
+    MagicWaypoint
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Scale:
+        
+    
+
+
+    homeEditor
+    
+        
+        Dialog
+        
+    
+    
+        
+        Latitude:
+        
+    
+    
+        
+        Longitude:
+        
+    
+    
+        
+        Altitude:
+        
+    
+
+
+    pathPlannerUI
+    
+        
+        PathPlanner
+        
+    
+    
+        
+        Add Leg
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Delete Leg
+        
+    
+    
+        
+        Insert Leg
+        
+    
+    
+        
+        Read from file
+        
+    
+    
+        
+        Save to file
+        
+    
+    
+        
+        Send to UAV
+        
+    
+    
+        
+        Fetch from UAV
+        
+    
+    
+        
+        Open Details
+        
+    
+
+
+    PfdQmlGadgetOptionsPage
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        QML file: 
+        
+    
+    
+        
+        Use OpenGL
+        
+    
+    
+        
+        Show Terrain:
+        
+    
+    
+        
+        OsgEarth file:
+        
+    
+    
+        
+        Use actual location
+        
+    
+    
+        
+        Use pre-defined location:
+        
+    
+    
+        
+        Latitude:
+        
+    
+    
+        
+        Longitude:
+        
+    
+    
+        
+        Altitude:
+        
+    
+    
+        
+        Use only cache data
+        
+    
+    
+        
+        Pre seed terrain cache
+        
+    
+    
+        
+        QML file (*.qml)
+        
+    
+    
+        
+        Choose QML file
+        
+    
+    
+        
+        OsgEarth (*.earth)
+        
+    
+    
+        
+        Choose OsgEarth terrain file
+        
+    
+
+
+    QmlViewGadgetOptionsPage
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Use OpenGL for rendering
+        
+    
+    
+        
+        QML file: 
+        
+    
+    
+        
+        QML file (*.qml)
+        
+    
+    
+        
+        Choose QML file
+        
+    
+
+
+    SerialPluginOptionsPage
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Serial Connection
+        
+    
+    
+        
+        Serial telemetry speed:
+        
+    
+    
+        
+        settings
+        
+    
+
+
+    ConnectionDiagram
+    
+        
+        Dialog
+        
+    
+    
+        
+        Save
+        Guardar
+    
+    
+        
+        Close
+        Cerrar
+    
+    
+        
+        Connection Diagram
+        
+    
+    
+        
+        Save File
+        
+    
+    
+        
+        Images (*.png *.xpm *.jpg)
+        
+    
+
+
+    AutoUpdatePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Firmware Update Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It is necessary that your firmware and ground control software are the same version.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To update your firmware to the correct version now:</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Unplug all batteries and USB from OpenPilot</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Ensure your board is powered down &amp; no LED's are active.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When you are ready you can start the upgrade below by pushing the button and follow the onscreen prompts, it is critical that nothing disturbs the board while the firmware is being written.</p></body></html>
+        
+    
+    
+        
+        Upgrade now
+        
+    
+    
+        
+        Upgrade
+        
+    
+    
+        
+        Ready...
+        
+    
+
+
+    ControllerPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot board identification</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to determine the configuration required for the type of OpenPilot controller you have. When connected, the wizard will attempt to automatically detect the type of board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If the board is already connected and successfully detected, the board type will already be displayed. You can </span><span style=" font-size:10pt; font-weight:600;">Disconnect</span><span style=" font-size:10pt;"> and select another device if you need to detect another board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If your board is not connected, please connect the board to a USB port on your computer and select the device from the list below.  Then press </span><span style=" font-size:10pt; font-weight:600;">Connect</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Connection device:
+        
+    
+    
+        
+        Detected board type:
+        
+    
+    
+        
+        
+        Connect
+        
+    
+    
+        
+        <Unknown>
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        Disconnect
+        
+    
+
+
+    EndPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Congratulations!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Setup wizard is completed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the setup procedure is now complete and you are one step away from completing the setup of your OpenPilot controller.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To complete the setup please click the Radio Setup Wizard button below to close this wizard and go directly to the Radio Setup Wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p></body></html>
+        
+    
+    
+        
+        Go to Input Wizard...
+        
+    
+    
+        
+        Unable to open Input Wizard since the Config Plugin is not
+loaded in the current workspace.
+        
+    
+
+
+    FixedWingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Fixed Wing section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    HeliPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Helicopter section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    InputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot basic input signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The OpenPilot controller supports many different types of input signals. Please select the type of input that matches your receiver configuration. If you are unsure, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, you will be instructed to do so on the next page of this wizard.</span></p></body></html>
+        
+    
+    
+        
+        PWM - One cable per channel
+        
+    
+    
+        
+        PWM
+        
+    
+    
+        
+        PPM - One cable for all channels
+        
+    
+    
+        
+        PPM
+        
+    
+    
+        
+        Futaba S-BUS
+        
+    
+    
+        
+        Futaba
+        
+    
+    
+        
+        Spektrum Satellite
+        
+    
+    
+        
+        Spektrum
+        
+    
+
+
+    LevellingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot controller leveling calibration procedure</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To perform the leveling, please push the Calculate button and wait for the process to finish. </span></p></body></html>
+        
+    
+    
+        
+        Calculate gyro and accelerometer bias
+        
+    
+    
+        
+        Calculate
+        
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to perform bias calculations.
+Please connect your OpenPilot controller to your computer and try again.
+        
+    
+    
+        
+        Retrieving data...
+        
+    
+    
+        
+        <font color='green'>Done!</font>
+        
+    
+
+
+    MultiPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot multirotor configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the wizard will set up the OpenPilot controller for use with a flying platform utilizing multiple rotors. The wizard supports the most common types of multirotors. Other variants of multirotors can be configured by using custom configuration options in the Configuration plugin in the GCS.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Please select the type of multirotor you want to create a configuration for below:</span></p></body></html>
+        
+    
+    
+        
+        Multirotor type:
+        
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        The Tricopter uses three motors and one servo. The servo is used to give yaw authority to the rear motor. The front motors are rotating in opposite directions. The Tricopter is known for its sweeping yaw movement and it is very well suited for FPV since the front rotors are spread wide apart.
+        
+    
+    
+        
+        Quadcopter X
+        
+    
+    
+        
+        The X Quadcopter uses four motors and is the most common multi rotor configuration. Two of the motors rotate clockwise and two counter clockwise. The motors positioned diagonal to each other rotate in the same direction. This setup is perfect for sport flying and is also commonly used for FPV platforms.
+        
+    
+    
+        
+        Quadcopter +
+        
+    
+    
+        
+        The Plus(+) Quadcopter uses four motors and is similar to the X Quadcopter but the forward direction is offset by 45 degrees. The motors front and rear rotate in clockwise and the motors right and left rotate counter-clockwise. This setup was one of the first to be used and is still used for sport flying. This configuration is not that well suited for FPV since the fore rotor tend to be in the way of the camera.
+        
+    
+    
+        
+        
+        Hexacopter
+        
+    
+    
+        
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Hexacopter H
+        
+    
+
+
+    NotYetImplementedPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">This section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    OutputCalibrationPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        Output calibration
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">It is now time to calibrate the output levels for the signals controlling your vehicle. </span></p>
+<p align="center" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">VERY IMPORTANT!</span><span style=" font-family:'Lucida Grande'; font-size:10pt;"><br /></span><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">REMOVE ALL PROPELLERS FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Connect all components according to the illustration on the summary page, and provide power using an external power supply such as a battery before continuing.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Depending on what vehicle you have selected, both the motors controlled by ESCs and/or servos controlled directly by the OpenPilot controller may have to be calibrated. The following steps will guide you safely through this process. </span></p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>In this step we will set the neutral rate for the motor highlighted in the illustration to the right. <br/>Plase pay attention to the details and in particular the motors position and its rotation direction.</p><p>To find the neutral rate for this engine, press the Start button below and slide the slider to the right until the engine just starts to spin stably. <br/><br/>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        
+        Start
+        
+    
+    
+        
+        <html><head/><body><p>This step calibrates the center position of the servo. To set the center position for this servo, press the Start button below and slide the slider to center the servo. </p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To save the servo and other hardware from damage we have to set the max and min angles for the servo. </p><p>To set the minimum angle for the servo, press the Start button below and select the top slider and slide it to the left until min angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To set the maximum angle for the servo, press the Start button below and select the top slider and slide it to the right until max angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        Stop
+        Detener
+    
+    
+        
+        The actuator module is in an error state.
+
+Please make sure the correct firmware version is used then restart the wizard and try again. If the problem persists please consult the openpilot.org support forum.
+        
+    
+
+
+    OutputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot basic output signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To set an optimal configuration of the output signals powering your motors, the wizard needs to know what type of Electronic Speed Controllers (ESCs) you will use and what their capabilities are.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Please select one of the options below. If you are unsure about the capabilities of your ESCs, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To read more regarding ESC refresh rates, please see </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">this article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> in the OpenPilot Wiki</span></p></body></html>
+        
+    
+    
+        
+        Standard ESC 50Hz
+        
+    
+    
+        
+        Standard ESC
+        
+    
+    
+        
+        Turbo PWM ESC 400Hz
+        
+    
+    
+        
+        Turbo PWM
+        
+    
+
+
+    RebootPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ff0000;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ffd500;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">The configuration created by the wizard contains settings that require a reboot of your controller. Please power cycle the controller before continuing. To power cycle the controller remove all batteries and the USB cable for at least 30 seconds.</span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">After 30 seconds, plug in the board again and wait for it to connect, this can take a few seconds. Then press next.</span></p></body></html>
+        
+    
+
+
+    SavePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration ready to save</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The wizard is now ready to save the configuration directly to your OpenPilot controller. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If any of the selections made in this wizard require a reboot of the controller, then power cycling the OpenPilot controller board will have to be performed after you save in this step.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Press the Save button to save the configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;"><br /></span></p></body></html>
+        
+    
+    
+        
+        Write configuration to controller
+        
+    
+    
+        
+        Save
+        Guardar
+    
+    
+        
+        Ready...
+        
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to save the configuration.
+Please connect your OpenPilot controller to your computer and try again.
+        
+    
+
+
+    StartPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Welcome to the OpenPilot Setup Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard will guide you through the basic steps required to setup your OpenPilot controller for the first time.  You will be asked questions about your platform (multirotor/heli/fixed-wing) which this wizard will use to configure your aircraft for your maiden flight. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard does not configure all of the advanced settings available in the GCS Configuration. All basic and advanced configuration parameters can be modified later by using the GCS Configuration plugin.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">WARNING: YOU MUST REMOVE ALL PROPELLERS </span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Disregarding this warning puts you at</span><span style=" font-size:10pt; font-weight:600; color:#000000;"> risk of very serious injury</span><span style=" font-size:10pt;">!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Now that your props are removed we can get started. Ready?</span></p></body></html>
+        
+    
+
+
+    SummaryPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration summary</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The first part of this wizard is now complete. All information required to create a basic OpenPilot controller configuration for a specific vehicle has been collected.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Below is a summary of the configuration and a button that links to a diagram illustrating how to connect required hardware and the OpenPilot Controller with the current configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue the wizard and go through some basic configuration steps, please continue to the next step of this wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The following steps require that your OpenPilot controller is set up according to the diagram, it is </span><span style=" font-size:10pt; font-weight:600;">connected to the computer</span><span style=" font-size:10pt;"> by USB, and that the vehicle is</span><span style=" font-size:10pt; font-weight:600;"> powered by a battery</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Show connection diagram for configuration
+        
+    
+
+
+    SurfacePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Surface Vehicle section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    VehiclePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Vehicle type selection</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to know what type of vehicle the OpenPilot controller board is going to be used with. This step is crucial since much of the following configuration is unique per vehicle type.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Go ahead and select the type of vehicle for which you want to create a configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(The current version only provides functionality for multirotors.)</span></p></body></html>
+        
+    
+    
+        
+        Tricopter, Quadcopter, Hexacopter
+        
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        CCPM Helicopters
+        
+    
+    
+        
+        Helicopter
+        
+    
+    
+        
+        Airplane, Sloper, Jet
+        
+    
+    
+        
+        Fixed wing
+        
+    
+    
+        
+        Car, Boat, U-Boat
+        
+    
+    
+        
+        Surface
+        
+    
+
+
+    viewoptions
+    
+        
+        View Options
+        
+    
+    
+        
+        Show MetaData
+        
+    
+    
+        
+        Show Categorized
+        
+    
+    
+        
+        Show Scientific
+        
+    
+
+
+    ImportSummaryDialog
+    
+        
+        Dialog
+        
+    
+    
+        
+        UAV Settings import summary
+        
+    
+    
+        
+        Save all settings checked above to persistent board storage,
+then close the dialog.
+        
+    
+    
+        
+        Save to Board Flash
+        
+    
+    
+        
+        Close this dialog without saving to persistent storage
+        
+    
+    
+        
+        Close
+        Cerrar
+    
+    
+        
+        Import Summary
+        
+    
+
+
+    deviceWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        lblDevName
+        
+    
+    
+        
+        DeviceID
+        
+    
+    
+        
+        lblHWRev
+        
+    
+    
+        
+        RW
+        
+    
+    
+        
+        BL Version
+        
+    
+    
+        
+        MaxCodeSize
+        
+    
+    
+        
+        Open a file with new firmware image to be flashed
+        
+    
+    
+        
+        Open...
+        
+    
+    
+        
+        I know what I'm doing
+        
+    
+    
+        
+        Write loaded firmware image to the board
+        
+    
+    
+        
+        Flash
+        
+    
+    
+        
+        Read and save current board firmware to a file
+        
+    
+    
+        
+        Retrieve...
+        
+    
+    
+        
+        ic
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Firmware:
+        
+    
+    
+        
+        Board name:
+        
+    
+    
+        
+        Firmware tag:
+        
+    
+    
+        
+        Firmware date:
+        
+    
+    
+        
+        Git commit hash:
+        
+    
+    
+        
+        CRC:
+        
+    
+    
+        
+        On Device
+        
+    
+    
+        
+        lblBrdName
+        
+    
+    
+        
+        lblDescription
+        
+    
+    
+        
+        lblBuildDate
+        
+    
+    
+        
+        lblGitTag
+        
+    
+    
+        
+        lblCRC
+        
+    
+    
+        
+        lblCertified
+        
+    
+    
+        
+        Loaded
+        Cargado
+    
+    
+        
+        lblDescritpionL
+        
+    
+    
+        
+        lblCertifiedL
+        
+    
+    
+        
+        Custom description:
+        
+    
+    
+        
+        HW Revision: 
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+    
+        
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Can't calculate, file too big for device
+        
+    
+    
+        
+        The board has the same firmware as loaded. No need to update
+        
+    
+    
+        
+        WARNING: the loaded firmware is for different hardware. Do not update!
+        
+    
+    
+        
+        The board has newer firmware than loaded. Are you sure you want to update?
+        
+    
+    
+        
+        The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)
+        
+    
+    
+        
+        This is the tagged officially released OpenPilot firmware
+        
+    
+    
+        
+        WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing
+        
+    
+    
+        
+        
+        Select firmware file
+        
+    
+    
+        
+        Firmware Files (*.opfw *.bin)
+        
+    
+    
+        
+        Firmware Files (*.bin)
+        
+    
+
+
+    runningDeviceWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        TextLabel
+        
+    
+    
+        
+        CPU Serial:
+        
+    
+    
+        
+        Firmware Information
+        
+    
+    
+        
+        HW Revision: 
+        
+    
+    
+        
+        Firmware CRC: 
+        
+    
+    
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+
+
+    UploaderWidget
+    
+        
+        Form
+        Formulario
+    
+    
+        
+        Tells the mainboard to go down
+to bootloader mode.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Halt
+        
+    
+    
+        
+        Boots the system.
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, green LED on)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Boot
+        
+    
+    
+        
+        Boots the system into safe mode (ie. default HwSettings).
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, orange LED off)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Safe Boot
+        
+    
+    
+        
+        Reset the system.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Reset
+        Restablecer
+    
+    
+        
+        Start a guided procedure to manually
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.
+        
+    
+    
+        
+        Rescue
+        
+    
+    
+        
+        When telemetry is not connected, select the communication
+method using this combo box.
+
+You can use this to force a communication channel when doing
+a "Boot" (button on the left). It is updated automatically when
+halting a running board.
+        
+    
+    
+        
+        Refresh the list of serial ports
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Running
+        Corriendo
+    
+    
+        
+        Mainboard
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To upgrade the firmware in your boards, proceed as follows:</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Connect telemetry</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Once telemetry is running, press &quot;Halt&quot; above</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You will get a list of devices.</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can then upload/download to/from each board as you wish</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can resume operations by pressing &quot;Boot&quot;</p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    NewsPanel
+    
+        
+        Project News
+        
+    
+
+
+    SitesPanel
+    
+        
+        OpenPilot Websites
+        
+    
+
+
+    XmlConfig
+    
+        
+        GCS config
+        
+    
+    
+        
+        Parse error at line %1, column %2:
+%3
+        
+    
+
+
+    AntennaTrackGadgetFactory
+    
+        
+        Antenna Track Gadget
+        
+    
+
+
+    ConfigMultiRotorWidget
+    
+        
+        
+        Configuration OK
+        
+    
+
+
+    ConfigCCHWWidget
+    
+        
+        Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported
+        
+    
+    
+        
+        Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported
+        
+    
+    
+        
+        Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported
+        
+    
+
+
+    ConfigCCAttitudeWidget
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    ConfigGadgetWidget
+    
+        
+        Unsaved changes
+        
+    
+    
+        
+        The tab you are leaving has unsaved changes,if you proceed they will be lost.Do you still want to proceed?
+        
+    
+
+
+    ConfigInputWidget
+    
+        
+        
+        Arming Settings are now set to 'Always Disarmed' for your safety.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished. After the last step of the wizard you will be taken to the Arming Settings screen.
+        
+    
+    
+        
+        Welcome to the inputs configuration wizard.
+
+Please follow the instructions on the screen and only move your controls when asked to.
+Make sure you already configured your hardware settings on the proper tab and restarted your board.
+
+You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.
+
+        
+    
+    
+        
+        Please choose your transmitter type:
+        
+    
+    
+        
+        Acro: normal transmitter for fixed-wing or quad
+        
+    
+    
+        
+        Helicopter: has collective pitch and throttle input
+        
+    
+    
+        
+        If selecting the Helicopter option, please engage throttle hold now.
+        
+    
+    
+        
+        Please choose your transmitter mode:
+        
+    
+    
+        
+        Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right
+        
+    
+    
+        
+        Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right
+        
+    
+    
+        
+        Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right
+        
+    
+    
+        
+        Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right
+        
+    
+    
+        
+        Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right
+        
+    
+    
+        
+        Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right
+        
+    
+    
+        
+        Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right
+        
+    
+    
+        
+        Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right
+        
+    
+    
+        
+        For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw.
+        
+    
+    
+        
+        Please center all controls and trims and press Next when ready.
+
+If your FlightMode switch has only two positions, leave it in either position.
+        
+    
+    
+        
+        Please move all controls to their maximum extents on both directions.
+
+Press Next when ready.
+        
+    
+    
+        
+        Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.
+        
+    
+    
+        
+        You have completed this wizard, please check below if the picture mimics your sticks movement.
+
+IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings tab where you can set your desired arming sequence and save the configuration.
+        
+    
+    
+        
+        Please enable throttle hold mode.
+
+Move the Collective Pitch stick.
+        
+    
+    
+        
+        Please toggle the Flight Mode switch.
+
+For switches you may have to repeat this rapidly.
+        
+    
+    
+        
+        Please disable throttle hold mode.
+
+Move the Throttle stick.
+        
+    
+    
+        
+        Please move each control one at a time according to the instructions and picture below.
+
+Move the %1 stick.
+        
+    
+    
+        
+         Alternatively, click Next to skip this channel.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished.
+        
+    
+
+
+    ConfigOutputWidget
+    
+        
+        The actuator module is in an error state.  This can also occur because there are no inputs.  Please fix these before testing outputs.
+        
+    
+    
+        
+        This option will start your motors by the amount selected on the sliders regardless of transmitter.  It is recommended to remove any blades from motors.  Are you sure you want to do this?
+        
+    
+
+
+    ConfigPlugin
+    
+        
+        Erase all settings from board...
+        
+    
+    
+        
+        Are you sure you want to erase all board settings?.
+        
+    
+    
+        
+        All settings stored in your board flash will be deleted.
+        
+    
+    
+        
+        
+        Error trying to erase settings.
+        
+    
+    
+        
+        
+        Power-cycle your board after removing all blades. Settings might be inconsistent.
+        
+    
+    
+        
+        Settings are now erased.
+        
+    
+    
+        
+        Please wait for the status LED to begin flashing regularly (up to a minute) then power-cycle your board to complete reset.
+        
+    
+
+
+    Core::Internal::AuthorsDialog
+    
+        
+        About OpenPilot Authors
+        
+    
+    
+        
+        From revision %1<br/>
+        This gets conditionally inserted as argument %8 into the description string.
+        Revisión %1<br/>
+    
+    
+        
+        <h3>The OpenPilot Project</h3>Proudly brought to you by this fine team:<br/>
+        
+    
+
+
+    Core::ConnectionManager
+    
+        
+        Connections:
+        
+    
+    
+        
+        Connect
+        
+    
+
+
+    DebugGadgetFactory
+    
+        
+        DebugGadget
+        
+    
+
+
+    DebugGadgetWidget
+    
+        
+        Save log File As
+        
+    
+    
+        
+        Log Save
+        
+    
+    
+        
+        Unable to save log: 
+        
+    
+
+
+    DialGadgetFactory
+    
+        
+        Analog Dial
+        
+    
+
+
+    GCSControlGadgetFactory
+    
+        
+        Controller
+        
+    
+
+
+    GpsDisplayGadgetFactory
+    
+        
+        GPS Display
+        
+    
+
+
+    ImportExportPlugin
+    
+        
+        GCS Settings Import/Export...
+        
+    
+
+
+    LineardialGadgetFactory
+    
+        
+        Bargraph Dial
+        
+    
+
+
+    LoggingConnection
+    
+        
+        Open file
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        
+    
+
+
+    LoggingThread
+    
+        
+        Logging: retrieve settings objects from the autopilot (%1 objects)
+        
+    
+
+
+    LoggingPlugin
+    
+        
+        Start Log
+        
+    
+    
+        
+        OP-%0.opl
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        
+    
+    
+        
+        Stop logging
+        
+    
+    
+        
+        Start logging...
+        
+    
+
+
+    MagicWaypointGadgetFactory
+    
+        
+        Magic Waypoint
+        
+    
+
+
+    ModelViewGadgetFactory
+    
+        
+        ModelView
+        
+    
+
+
+    NotificationItem
+    
+        
+        Never
+        Nunca
+    
+    
+        
+        Before first
+        
+    
+    
+        
+        Before second
+        
+    
+    
+        
+        After second
+        
+    
+    
+        
+        Repeat Once
+        
+    
+    
+        
+        Repeat Once per update
+        
+    
+    
+        
+        Repeat Instantly
+        
+    
+    
+        
+        Repeat 10 seconds
+        
+    
+    
+        
+        Repeat 30 seconds
+        
+    
+    
+        
+        Repeat 1 minute
+        
+    
+
+
+    flightDataModel
+    
+        
+        Unable to open file
+        
+    
+    
+        
+        File Parsing Failed.
+        
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        
+    
+    
+        
+        This file does not contain correct UAVSettings
+        
+    
+
+
+    OPMapGadgetFactory
+    
+        
+        OPMap
+        
+    
+
+
+    pathPlanner
+    
+        
+        Open File
+        
+    
+    
+        
+        Save File
+        
+    
+
+
+    PFDGadgetFactory
+    
+        
+        Primary Flight Display
+        
+    
+
+
+    PfdQmlGadgetFactory
+    
+        
+        PFD (qml)
+        
+    
+
+
+    PowerlogPlugin
+    
+        
+        Log filename
+        
+    
+    
+        
+        PowerLog-%0.csv
+        
+    
+    
+        
+        Comma Separated Values (*.csv)
+        
+    
+
+
+    QmlViewGadgetFactory
+    
+        
+        QML Viewer, QML
+        
+    
+
+
+    ScopeGadgetFactory
+    
+        
+        Scope
+        
+    
+
+
+    ScopeGadgetWidget
+    
+        
+        Click legend to show/hide scope trace
+        
+    
+
+
+    LevellingUtil
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    SetupWizard
+    
+        
+        OpenPilot Setup Wizard
+        
+    
+    
+        
+        Controller type: 
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        
+        
+        
+        
+        Unknown
+        
+    
+    
+        
+        Vehicle type: 
+        
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        Vehicle sub type: 
+        
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        Quadcopter X
+        
+    
+    
+        
+        Quadcopter +
+        
+    
+    
+        
+        Hexacopter
+        
+    
+    
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Octocopter
+        
+    
+    
+        
+        Octocopter Coax X
+        
+    
+    
+        
+        Octocopter Coax +
+        
+    
+    
+        
+        Octocopter V
+        
+    
+    
+        
+        Fixed wing
+        
+    
+    
+        
+        Helicopter
+        
+    
+    
+        
+        Surface vehicle
+        
+    
+    
+        
+        Input type: 
+        
+    
+    
+        
+        PWM (One cable per channel)
+        
+    
+    
+        
+        PPM (One cable for all channels)
+        
+    
+    
+        
+        Futaba S.Bus
+        
+    
+    
+        
+        Spektrum satellite (DSM2)
+        
+    
+    
+        
+        Spektrum satellite (DSMX10BIT)
+        
+    
+    
+        
+        Spektrum satellite (DSMX11BIT)
+        
+    
+    
+        
+        ESC type: 
+        
+    
+    
+        
+        Legacy ESC (50 Hz)
+        
+    
+    
+        
+        Rapid ESC (400 Hz)
+        
+    
+
+
+    SetupWizardPlugin
+    
+        
+        Vehicle Setup Wizard
+        
+    
+
+
+    VehicleConfigurationHelper
+    
+        
+        
+        Done!
+        
+    
+    
+        
+        
+        Failed!
+        
+    
+    
+        
+        Writing hardware settings
+        
+    
+    
+        
+        Writing actuator settings
+        
+    
+    
+        
+        Writing flight mode settings
+        
+    
+    
+        
+        Writing gyro and accelerometer bias settings
+        
+    
+    
+        
+        Writing stabilization settings
+        
+    
+    
+        
+        Writing mixer settings
+        
+    
+    
+        
+        Writing vehicle settings
+        
+    
+    
+        
+        Writing manual control defaults
+        
+    
+    
+        
+        Preparing mixer settings
+        
+    
+    
+        
+        Preparing vehicle settings
+        
+    
+
+
+    SystemHealthGadgetFactory
+    
+        
+        System Health
+        
+    
+
+
+    SystemHealthGadgetWidget
+    
+        
+        Displays flight system errors. Click on an alarm for more information.
+        
+    
+
+
+    UAVObjectField
+    
+        
+        0
+        
+    
+    
+        
+        1
+        
+    
+
+
+    PopupWidget
+    
+        
+        Close
+        Cerrar
+    
+
+
+    UAVSettingsImportExportFactory
+    
+        
+        Export UAV Settings...
+        
+    
+    
+        
+        Import UAV Settings...
+        
+    
+    
+        
+        Export UAV Data...
+        
+    
+    
+        
+        UAVObjects XML files (*.uav);; XML files (*.xml)
+        
+    
+    
+        
+        Import UAV Settings
+        
+    
+    
+        
+        File Parsing Failed.
+        
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        
+    
+    
+        
+        This file does not contain correct UAVSettings
+        
+    
+    
+        
+        
+        UAVObjects XML files (*.uav)
+        
+    
+    
+        
+        Save UAVSettings File As
+        
+    
+    
+        
+        UAV Settings Export
+        
+    
+    
+        
+        Unable to save settings: 
+        
+    
+    
+        
+        Settings saved.
+        
+    
+    
+        
+        Are you sure?
+        
+    
+    
+        
+        This option is only useful for passing your current system data to the technical support staff. Do you really want to export?
+        
+    
+    
+        
+        Save UAVData File As
+        
+    
+    
+        
+        UAV Data Export
+        
+    
+    
+        
+        Unable to save data: 
+        
+    
+    
+        
+        Data saved.
+        
+    
+
+
+    UploaderGadgetFactory
+    
+        
+        Uploader
+        
+    
+
+
+    UploaderGadgetWidget
+    
+        
+        The controller board is armed and can not be halted.
+
+Please make sure the board is not armed and then press halt again to proceed
+or use the rescue option to force a firmware upgrade.
+        
+    
+    
+        
+        The controller board is armed and can not be reset.
+
+Please make sure the board is not armed and then press reset again to proceed
+or power cycle to force a board reset.
+        
+    
+    
+        
+        
+        OpenPilot Uploader
+        
+    
+    
+        
+        
+        Please disconnect all openpilot boards
+        
+    
+    
+        
+        Please connect the board (USB only!)
+        
+    
+    
+        
+        Cancel
+        Cancelar
+    
+    
+        
+        Openpilot Uploader
+        
+    
+    
+        
+        No board connection was detected!
+        
+    
+    
+        
+        GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. GCS version: %1 Firmware version: %2.
+        
+    
+
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 5fa6b2309..c8fb34488 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -4,7 +4,7 @@
 
     Application
     
-        
+        
         Failed to load core: %1
         Échec dans le chargement du core : %1
     
@@ -14,14 +14,14 @@
         Impossible de passer les arguments de la ligne de commande à l'instance en cours d'execution. Elle semble ne pas répondre.
     
     
-        
+        
         Could not find 'Core.pluginspec' in %1
         'Core.pluginspec' introuvable dans %1
     
     
-        
+        
         OpenPilot GCS - Plugin loader messages
-        
+        Openpilot GCS - Messages du chargeur de plugins
     
 
 
@@ -50,22 +50,7 @@
         R
     
     
-        
-        Terminal:
-        Terminal :
-    
-    
-        
-        External editor:
-        Éditeur externe :
-    
-    
-        
-        ?
-        ?
-    
-    
-        
+        
         General
         Général
     
@@ -75,40 +60,65 @@
         Environnement
     
     
-        
+        
+        <System Language>
+        
+    
+    
+        
         Variables
         Variables
     
+    
+        
+        Restart required
+        Redémarrage nécessaire
+    
+    
+        
+        The language change will take effect after a restart of the OpenPilot GCS.
+        Le changement de langue ne prendra effet qu'après le redémarrage d'OpenPilot GCS.
+    
     
         
-        When files are externally modified:
-        Quand des fichiers ont été modifiés en dehors de Qt Creator :
-    
-    
-        
-        Always ask
-        Demander quoi faire
-    
-    
-        
-        Reload all modified files
-        Recharger tous les fichiers modifiés
-    
-    
-        
-        Ignore modifications
-        Ignorer les modifications
-    
-    
-        
         User interface color:
-        
+        Couleur de l'interface utilisateur :
+    
+    
+        
+        Save configuration settings on exit:
+        Enregistrer la configuration en quittant :
+    
+    
+        
+        Automatically connect an OpenPilot USB device:
+        Connecter automatiquement un appareil OpenPilot USB :
+    
+    
+        
+        Automatically select an OpenPilot USB device:
+        Sélectionner automatiquement un appareil OpenPilot USB :
+    
+    
+        
+        Use UDP Mirror
+        Utiliser Mirroir UDP
+    
+    
+        
+        Expert Mode
+        Mode Expert
+    
+    
+        
+        Language:
+        Langue :
     
 
 
     Core::Internal::MainWindow
     
-        
+        
         &File
         &Fichier
     
@@ -133,70 +143,37 @@
         &Aide
     
     
-        
+        
         OpenPilot GCS
         
     
     
-        
-        &New File or Project...
-        &Nouveau fichier ou projet...
-    
-    
-        
-        &Open File or Project...
-        &Ouvrir un fichier ou projet...
-    
-    
-        
-        &Open File With...
-        Ouvrir le fichier &avec...
-    
-    
-        
-        Recent Files
-        Fichiers récents
-    
-    
-        
-        
-        &Save
-        &Enregistrer
-    
-    
-        
-        
-        Save &As...
-        Enregistrer &sous...
-    
-    
-        
-        
+        
         Ctrl+Shift+S
         Ctrl+Shift+S
     
     
-        
-        Save A&ll
-        &Tout enregistrer
-    
-    
-        
+        
         About &OpenPilot GCS
-        
+        A propos d'&Openpilot GCS
     
     
         
         About &OpenPilot GCS...
-        
+        A propos d'&Openpilot GCS...
     
     
-        
+        
         E&xit
         &Quitter
     
     
-        
+        
+        Save &GCS Default Settings
+        Enregistrer Paramètres par &Défaut
+    
+    
+        
         Ctrl+Q
         Ctrl+Q
     
@@ -253,17 +230,92 @@
         Plein écran
     
     
-        
-        &Help...
+        
+        Edit Gadgets Mode
+        Editer Mode Gadgets
+    
+    
+        
+        Ctrl+Shift+F10
+        Ctrl+Maj+F10
+    
+    
+        
+        Meta+Shift
         
     
     
-        
+        
+        Ctrl+Shift
+        
+    
+    
+        
+        Split
+        Scinder
+    
+    
+        
+        %1+Down
+        
+    
+    
+        
+        Split Side by Side
+        Scinder verticalement
+    
+    
+        
+        %1+Right
+        
+    
+    
+        
+        Close Current View
+        Fermer Vue Actuelle
+    
+    
+        
+        %1+C
+        
+    
+    
+        
+        Close All Other Views
+        Fermer Toutes les Autres Vues
+    
+    
+        
+        %1+A
+        
+    
+    
+        
+        Goto Next View
+        Aller à la Vue Suivante
+    
+    
+        
+        %1+N
+        
+    
+    
+        
+        &Help...
+        &Aide...
+    
+    
+        
         About &Plugins...
         À propos des &Plugins...
     
     
-        
+        
+        About &Authors...
+        A propos des &Auteurs...
+    
+    
+        
         Settings...
         Paramètres...
     
@@ -357,24 +409,18 @@
     
         
         About OpenPilot GCS
-        
+        A propos d'Openpilot GCS
     
     
-        
-        From revision %1<br/>
-        This gets conditionally inserted as argument %8 into the description string.
-        Depuis la révision %1<br/>
-    
-    
-        
-        <h3>OpenPilot GCS %1</h3>Based on Qt %2 (%3 bit)<br/><br/>Built on %4 at %5<br /><br/>%8<br/>Copyright 2008-%6 %7. All rights reserved.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.<br/>
-        
+        
+        <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
+        <h3>Station de Contrôle au Sol</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
     
 
 
     Core::ModeManager
     
-        
+        
         Switch to %1 mode
         Basculer vers le mode %1
     
@@ -746,17 +792,17 @@
     
         
         Choose the location
-        Choisir l'emplacement
+        Choisir l'emplacement
     
     
         
         Name:
-        Nom :
+        Nom :
     
     
         
         Path:
-        Chemin :
+        Chemin :
     
 
 
@@ -828,7 +874,7 @@
     
         
         Developer:
-        
+        Développeur :
     
 
 
@@ -887,7 +933,7 @@
     
         
         Developer
-        
+        Développeur
     
 
 
@@ -976,7 +1022,7 @@
 
     ExtensionSystem::PluginManager
     
-        
+        
         Circular dependency detected:
 
         Dépendance circulaire détecté :
@@ -1011,12 +1057,14 @@ Raison : %3
 
     MainWindow
     
+        
         
+        
         MainWindow
         
     
     
-        
+        
         Go
         
     
@@ -1063,7 +1111,7 @@ Raison : %3
     
         
         Output
-        Sortie
+        Sortie
     
     
         
@@ -1075,6 +1123,120 @@ Raison : %3
         namespace
         
     
+    
+        
+        
+        MapType
+        
+    
+    
+        
+        
+        TextLabel
+        Label de texte
+    
+    
+        
+        
+        PushButton
+        
+    
+    
+        
+        
+        Goto Place
+        
+    
+    
+        
+        
+        GO
+        
+    
+    
+        
+        
+        GeoCoderStatusCode
+        
+    
+    
+        
+        
+        Rotate
+        
+    
+    
+        
+        
+        Left
+        
+    
+    
+        
+        
+        Center
+        
+    
+    
+        
+        
+        Right
+        
+    
+    
+        
+        
+        Zoom
+        Zoom
+    
+    
+        
+        
+        +
+        
+    
+    
+        
+        
+        -
+        -
+    
+    
+        
+        
+        ZoomIncrement
+        
+    
+    
+        
+        
+        CurrentZoom=
+        
+    
+    
+        
+        
+        Misc
+        
+    
+    
+        
+        
+        ShowGridLines
+        
+    
+    
+        
+        
+        UseOpenGL
+        
+    
+    
+        
+        
+        ReloadMap
+        
+    
 
 
     MyMain
@@ -1315,92 +1477,12 @@ Raison : %3
         Texte 3 :
     
 
-
-    Welcome::Internal::CommunityWelcomePageWidget
-    
-        
-        Form
-        Formulaire
-    
-    
-        
-        News From the OpenPilot Project
-        
-    
-    
-        
-        OpenPilot Websites
-        
-    
-    
-        
-        http://forums.openpilot.org/blog/rss/4-openpilot-development-blog
-        Add localized feed here only if one exists
-        
-    
-    
-        
-        OpenPilot Home
-        
-    
-    
-        
-        OpenPilot Wiki
-        
-    
-    
-        
-        OpenPilot Store
-        
-    
-    
-        
-        OpenPilot Forums
-        
-    
-    
-        
-        OpenPilot Bug Tracker
-        
-    
-
 
     Welcome::WelcomeMode
     
-        
-        #gradientWidget {
-  background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(247, 247, 247, 255), stop:1 rgba(215, 215, 215, 255));
-}
-        #gradientWidget {
-  background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(247, 247, 247, 255), stop:1 rgba(215, 215, 215, 255));
-}
-    
-    
-        
-        #headerFrame {
-    border-image: url(:/welcome/images/center_frame_header.png) 0;
-    border-width: 0;
-}
-
-        #headerFrame {
-    border-image: url(:/welcome/images/center_frame_header.png) 0;
-    border-width: 0;
-}
-    
-    
-        
-        Feedback
-        Votre avis nous interesse
-    
-    
-        
+        
         Welcome
-        Accueil
-    
-    
-        
-        Help us make OpenPilot even better
-        
+        Accueil
     
 
 
@@ -1414,7 +1496,7 @@ Raison : %3
 
     OpenWith::Editors
     
-        
+        
         Plain Text Editor
         Éditeur de texte
     
@@ -1427,7 +1509,7 @@ Raison : %3
 
     Core::Internal::SettingsDialog
     
-        
+        
         Preferences
         Préférences
     
@@ -1437,40 +1519,32 @@ Raison : %3
         Options
     
 
-
-    Welcome::Internal::CommunityWelcomePage
-    
-        
-        Community
-        Communauté
-    
-
 
     TopOptionsPage
     
         
         Configuration
-        
+        Configuration
     
     
         
         Clone
-        
+        Dupliquer
     
     
         
         Delete
-        Supprimer
+        Supprimer
     
     
         
         Lock
-        
+        Verrouiller
     
     
         
         Settings
-        
+        Paramètres
     
 
 
@@ -1484,32 +1558,32 @@ Raison : %3
         
         
         Workspaces
-        
+        Espaces de travail
     
     
         
         Number of workspaces:
-        
+        Nombre d'espaces de travail :
     
     
         
         Change details of workspace:
-        
+        Changer les détails de l'espace de travail :
     
     
         
         Details
-        Détails
+        Détails
     
     
         
         Icon:
-        
+        Icône :
     
     
         
         Name:
-        Nom :
+        Nom :
     
     
         
@@ -1518,95 +1592,262 @@ Raison : %3
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Note:</span> A restart is needed for changes to number of workspaces to take effect.</p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Note:</span> Un redémarrage est nécessaire pour que le nombre des espaces de travail soit pris en compte.</p></body></html>
     
     
         
         GCS
-        
+        
     
     
         
         Images (*.png *.jpg *.bmp *.xpm)
-        
+        
     
     
         
         Choose icon
-        
+        Choisir une icône
+    
+    
+        
+        Workspace panel
+        Barre des espaces de travail
+    
+    
+        
+        Placement:
+        Emplacement :
+    
+    
+        
+        Top
+        Haut
+    
+    
+        
+        Bottom
+        Bas
+    
+    
+        
+        Allow reordering:
+        Autoriser réorganisation :
     
 
 
     HITLOptionsPage
     
         
-        
+        
         Form
         Formulaire
     
     
         
-        
-        
         Manual aircraft control (can be used when hardware is not available)
-        
+        Contrôle manuel de l'appareil (peut être utilisé lorsque le matériel n'est pas disponible)
     
     
         
-        
+        
         Choose flight simulator:
-        
+        Sélectionner un simulateur de vol :
     
     
         
-        
         Latitude in degrees:
-        
+        Latitude en degrés :
     
     
         
-        
         Longitude in degrees:
-        
+        Longitude en degrés :
     
     
         
-        
+        
         Path executable:
-        
+        Chemin de l'exécutable :
     
     
         
-        
+        
         Data directory:
-        
+        Dossier de données :
     
     
         
-        
-        Host Address:
-        
-    
-    
-        
-        
+        
         Output Port:
-        
+        Port de sortie :
     
     
         
-        
+        
         Input Port:
-        
+        Port d'entrée :
     
     
         
+        
         Choose flight simulator executable
-        
+        Sélectionner l'exécutable du simulateur de vol
     
     
         
+        
         Choose flight simulator data directory
+        Sélectionner le dossier de données du simulateur de vol
+    
+    
+        
+        
+        For receiving data from sim
+        
+    
+    
+        
+        Check this box to start the simulator on the local computer
+        
+    
+    
+        
+        Start simulator on local machine
+        
+    
+    
+        
+        
+        Local interface (IP):
+        
+    
+    
+        
+        
+        For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.
+        
+    
+    
+        
+        
+        Remote interface (IP):
+        
+    
+    
+        
+        
+        Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.
+        
+    
+    
+        
+        
+        For sending data to sim
+        
+    
+    
+        
+        Attitude data
+        
+    
+    
+        
+        AttitudeRaw (gyro, accels)
+        
+    
+    
+        
+        Refresh rate
+        
+    
+    
+        
+        ms
+        ms
+    
+    
+        
+        AttitudeActual
+        
+    
+    
+        
+        send raw data to board
+        
+    
+    
+        
+        use values from simulator
+        
+    
+    
+        
+        calculate from AttitudeRaw
+        
+    
+    
+        
+        Other data
+        
+    
+    
+        
+        HomeLocation
+        
+    
+    
+        
+        0 - update once, or every N seconds
+        
+    
+    
+        
+        sec
+        
+    
+    
+        
+        GPSPosition
+        
+    
+    
+        
+        SonarAltitude
+        
+    
+    
+        
+        Range detection
+        
+    
+    
+        
+        m
+        
+    
+    
+        
+        Map command from simulator
+        
+    
+    
+        
+        to GCSReciver
+        
+    
+    
+        
+        to ManualCtrll (not implemented)
+        
+    
+    
+        
+        Maximum output rate
         
     
 
@@ -1614,50 +1855,58 @@ p, li { white-space: pre-wrap; }
     HITLWidget
     
         
-        
+        
         Form
         Formulaire
     
     
         
-        
+        
         Request update
         
     
     
         
-        
+        
         Start
-        
+        Démarrer
     
     
         
-        
+        
         Send update
-        
+        Envoyer mise à jour
     
     
         
-        
+        
         Stop
-        Arrêter
+        Arrêter
     
     
         
-        
         AutoPilot disconnected
-        
+        AutoPilot déconnecté
     
     
         
-        
          Simulator disconnected 
+        Simulateur déconnecté
+    
+    
+        
+        
+        Clear Log
+        Effacer le journal
+    
+    
+        
+        AP OFF
         
     
     
         
-        
-        Clear Log
+        Sim OFF
         
     
 
@@ -1681,32 +1930,32 @@ p, li { white-space: pre-wrap; }
     
         
         Min:
-        
+        Mini :
     
     
         
         Max:
-        
+        Maxi :
     
     
         
         Green:
-        
+        Vert :
     
     
         
         Yellow:
-        
+        Jaune :
     
     
         
         Red:
-        
+        Rouge :
     
     
         
         Input:
-        
+        Entrée :
     
     
         
@@ -1721,12 +1970,12 @@ p, li { white-space: pre-wrap; }
     
         
         Dial font:
-        
+        Police Dial :
     
     
         
         Select...
-        
+        Sélectionner...
     
     
         
@@ -1739,14 +1988,19 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         SVG image (*.svg)
-        
+        Image SVG (*.svg)
     
     
         
         Choose SVG image
-        
+        Choisir une image SVG
+    
+    
+        
+        Use OpenGL
+        Utiliser OpenGL
     
 
 
@@ -1754,27 +2008,47 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         3D model:
-        
+        Modèle 3D :
     
     
         
         Background image:
-        
+        Image d'arrière plan :
     
     
         
         VBO allow for performance gains for GPUs that support it (most cards).  This may cause cards with faulty drivers to crash.
-        
+        Les VBOs (de l'anglais Vertex Buffer Object dont une traduction pourrait être objet tampon de vertex) @Wikipedia
+        VBO permet des gains de performance avec les cartes graphiques le supportant (la plupart). Cela peut entrainer des plantages avec des pilotes défectueux.
     
     
         
         Enable VBOs:
-        
+        Activer les VBOs :
+    
+    
+        
+        Select the image that is shown in the background.
+        Sélectionner l'image affichée en fond.
+    
+    
+        
+        Select the 3D model file here.
+        Sélectionner ici le modèle 3D.
+    
+    
+        
+        Click to enable the use of Vertical Blanking.
+It is not enabled by default because some graphic cards do not
+support it, and crash the GCS. Enabling improves performance, though, so you can experiment at your own risk.
+        Cocher pour activer VBO.
+Ce n'est pas activé par défaut car certaines cartes ne le supportent pas et plantent GCS.
+Cela améliore les performances, mais c'est à utiliser à vos risques et périls.
     
 
 
@@ -1787,67 +2061,37 @@ p, li { white-space: pre-wrap; }
     
         
         Play
-        
+        Jouer
     
     
-        
+        
         Equal to
+        Egal à
+    
+    
+        
+        Large than
+        Plus grand que
+    
+    
+        
+        Lower than
+        Plus petit que
+    
+    
+        
+        In range
         
     
     
-        
-        Greater than
-        
-    
-    
-        
-        Less than
-        
-    
-    
-        
+        
         Sound1:
-        
-    
-    
-        
-        Select if the value of the object should be spoken and if so, either before the configured sound or after it.
-        
-    
-    
-        
-        Never
-        Jamais
-    
-    
-        
-        Before first
-        
-    
-    
-        
-        After first
-        
-    
-    
-        
-        After second
-        
-    
-    
-        
-        Value is
-        
-    
-    
-        
-        Say Order
-        
+        Son 1 :
     
     
         
         Sound2:
-        
+        Son 2 :
     
     
         
@@ -1857,7 +2101,7 @@ p, li { white-space: pre-wrap; }
     
         
         Language
-        
+        Langue
     
     
         
@@ -1871,22 +2115,22 @@ p, li { white-space: pre-wrap; }
     
         
         Enable Sounds
-        
+        Activer Sons
     
     
         
         Add
-        Ajouter
+        Ajouter
     
     
         
         Modify
-        
+        Modifier
     
     
         
         Delete
-        Supprimer
+        Supprimer
     
     
         
@@ -1899,14 +2143,14 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         Choose sound collection directory
         
     
     
-        
+        
         settings
-        
+        Paramètres
     
     
         
@@ -1916,75 +2160,79 @@ p, li { white-space: pre-wrap; }
     
         
         Sound Notifications
-        
+        Avertissements Sonores
     
     
         
         Sound3:
-        
-    
-    
-        
-        After third
-        
+        Son 3 :
     
 
 
     OPMap_Widget
     
         
+        
         Form
-        Formulaire
+        Formulaire
     
     
-        
+        
         Find place
-        
+        Chercher un lieu
     
     
-        
+        
+        
         Zoom out
-        
+        Zoom arrière
     
     
         
+        
         Zoom in
-        
+        Zoom avant
     
     
         
+        
         Zoom level
-        
+        Niveau de Zoom
     
     
         
+        
         Map position
-        
+        Position carte
     
     
         
+        
         labelMapPos
         
     
     
         
+        
         Mouse position
-        
+        Position souris
     
     
         
+        
         labelMousePos
         
     
     
         
+        
         %v
         
     
     
-        
+        
         Enter place to find
-        
+        Indiquer le lieu à chercher
     
     
         
@@ -2004,7 +2252,7 @@ p, li { white-space: pre-wrap; }
     
         
          Places 
-        
+        Lieux
     
     
         
@@ -2019,97 +2267,101 @@ p, li { white-space: pre-wrap; }
     
         
         New waypoints
-        
+        Nouveau waypoint
     
     
         
         New
-        
+        Nouveau
     
     
         
         Open waypoints
-        
+        Ouvrir waypoint
     
     
         
         Open
-        
+        Ouvrir
     
     
         
         Save waypoints
-        
+        Enregistrer waypoint
     
     
         
         Save
-        Enregistrer
+        Enregistrer
     
     
         
         Add a waypoint
-        
+        Ajouter un waypoint
     
     
         
         Add
-        Ajouter
+        Ajouter
     
     
-        
+        
+        
         Center map over home position
-        
+        Centrer la carte sur le point de départ
     
     
         
+        
         Center map over UAV position
-        
+        Centrer la carte sur la position de l'appareil
     
     
         
+        
         Map rotation follows UAV heading
-        
+        La rotation de la carte suit la direction de l'appareil
     
     
-        
+        
         UAV hold position
-        
+        L'appareil reste sur sa position
     
     
         
         Hold
-        
+        Maintenir
     
     
         
         UAV go home
-        
+        L'appareil revient au point de départ
     
     
-        
+        
+        
         Home
-        
+        Maison
     
     
-        
+        
         Move UAV to previous waypoint
-        
+        Déplacer l'appareil au précédent waypoint
     
     
         
         Previous WP
-        
+        Précédent WP
     
     
         
         Move UAV to next waypoint
-        
+        Déplacer l'appareil au waypoint suivant
     
     
         
         Next WP
-        
+        WP Suivant
     
     
         
@@ -2122,30 +2374,93 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
+        
         UAV position
-        
+        Position de l'appareil
     
     
         
+        
         labelUAVPos
         
     
     
         
-        Show/Hide the UAV trail
-        
-    
-    
-        
-        Clear the UAV trail
-        
-    
-    
-        
+        
         labelMapZoom
         
     
+    
+        
+        
+        Normal Map Mode
+        Mode Carte Normale
+    
+    
+        
+        
+           Normal   
+           Normal 
+    
+    
+        
+        
+        Magic Waypoint Map Mode
+        Mode Carte Waypoint Magique
+    
+    
+        
+        
+           Magic Waypoint   
+           Waypoint Magique 
+    
+    
+        
+        Go To Place:
+        Aller Au Lieu :
+    
+    
+        
+        ...
+        
+    
+    
+        
+        
+        Click to move the UAV to the magic waypoint position
+        Cliquer pour déplacer l'appareil à la position du waypoint magique
+    
+    
+        
+        
+        Move to WP
+        Dépacer au Waypoint
+    
+    
+        
+        
+        Move the magic waypoint to the home position
+        Déplacer le Waypoint magique au point de départ
+    
+    
+        
+        
+        Home WP
+        WP Maison
+    
+    
+        
+        
+        UAV
+        Appareil
+    
+    
+        
+        
+        Heading
+        Orientation
+    
 
 
     OPMapGadgetOptionsPage
@@ -2157,67 +2472,77 @@ p, li { white-space: pre-wrap; }
     
         
          Default 
-        
+        Paramètres par défaut
     
     
         
         Default longitude 
-        
+        Longitude par défaut
     
     
         
         Use OpenGL
-        
+        Utiliser OpenGL
     
     
         
         Default latitude 
-        
+        Latitude par défaut
     
     
         
         Default zoom 
-        
+        Zoom par défaut
     
     
         
         Map type 
-        
+        Type de carte
     
     
         
         Show Tile Grid Lines
-        
+        Afficher Grille
     
     
         
         Server and Cache
-        
+        Serveur et Cache
     
     
         
         Restore default server and cache settings
-        
+        Restaurer les paramètres de serveur et cache par défaut
     
     
         
         Access mode 
-        
+        Mode d'accès
     
     
         
         Cache location 
-        
+        Dossier de cache
     
     
         
         Use Memory Cache
-        
+        Utiliser Mémoire Cache
     
     
-        
+        
         Choose Cache Directory
-        
+        Sélectionner le dossier de cache
+    
+    
+        
+        UAV Symbol
+        Symbole Appareil
+    
+    
+        
+        Default Max Update Rate 
+        Fréquence d'Actualisation Maximale par Défaut
     
 
 
@@ -2230,17 +2555,17 @@ p, li { white-space: pre-wrap; }
     
         
         Plot Type:
-        
+        Type Graphique :
     
     
         
          seconds
-        
+        secondes
     
     
         
         Data Size:
-        
+        Taille Données :
     
     
         
@@ -2250,42 +2575,32 @@ p, li { white-space: pre-wrap; }
     
         
         Color:
-        
+        Couleur :
     
     
         
         UAVField:
         
     
-    
-        
-        Scale:
-        
-    
-    
-        
-        Plot curves
-        
-    
     
         
         X-Axis
-        
+        Axe X
     
     
         
         Choose
-        
+        Choisir
     
     
         
         Update Interval:
-        
+        Intervale de MAJ :
     
     
         
         ms
-        
+        ms
     
     
         
@@ -2307,8 +2622,53 @@ Update
         
         Remove
 
+        Supprimer
+    
+    
+        
+        Y-axis
+        Axe Y
+    
+    
+        
+        Y-axis scale factor:
+        Facteur d'échelle Axe Y :
+    
+    
+        
+        Math window size
         
     
+    
+        
+         samples
+        
+    
+    
+        
+        Math function:
+        
+    
+    
+        
+        Log data to csv file (not interpolated)
+        
+    
+    
+        
+        New file on connect
+        Nouveau fichier à la connexion
+    
+    
+        
+        Logging path
+        Chemin du journal
+    
+    
+        
+        Choose Logging Directory
+        Choisir le dossier des journaux
+    
 
 
     SystemHealthGadgetOptionsPage
@@ -2323,14 +2683,14 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
-        
+        Image SVG (*.svg)
     
     
         
         Choose SVG image
-        
+        Choisir une image SVG
     
 
 
@@ -2340,60 +2700,40 @@ Update
         Form
         Formulaire
     
-    
-        
-        Request update
-        
-    
     
         
         Request
-        
-    
-    
-        
-        Send update
-        
+        Demander
     
     
         
         Send
-        
-    
-    
-        
-        Save to SD Card
-        
+        Envoyer
     
     
         
         Save
         Enregistrer
     
-    
-        
-        Load from SD Card
-        
-    
     
         
         Load
-        
-    
-    
-        
-        Erase from SD card
-        
+        Charger
     
     
         
         Erase
+        Supprimer
+    
+    
+        
+        ...
         
     
     
         
-        Show Meta Data
-        
+        View Options
+        Voir Options
     
 
 
@@ -2418,6 +2758,11 @@ Update
         Recently updated timeout (ms):
         
     
+    
+        
+        Only highlight nodes when value actually changes
+        
+    
 
 
     QuaZipFile
@@ -3479,7 +3824,7 @@ Update
     
         
         Do not show again.
-        
+        Ne plus afficher.
     
 
 
@@ -3729,22 +4074,22 @@ Update
     
         
         Czech
-        
+        Tchèque
     
     
         
         Danish
-        
+        Danois
     
     
         
         Dutch
-        
+        Néerlandais
     
     
         
         English
-        
+        Anglais
     
     
         
@@ -3754,7 +4099,7 @@ Update
     
         
         Estonian
-        
+        Estonien
     
     
         
@@ -3769,12 +4114,12 @@ Update
     
         
         Finnish
-        
+        Finnois
     
     
         
         French
-        
+        Français
     
     
         
@@ -3799,7 +4144,7 @@ Update
     
         
         German
-        
+        Allemand
     
     
         
@@ -3829,7 +4174,7 @@ Update
     
         
         Hebrew
-        
+        Hébreu
     
     
         
@@ -3849,7 +4194,7 @@ Update
     
         
         Indonesian
-        
+        Indonésien
     
     
         
@@ -3879,7 +4224,7 @@ Update
     
         
         Italian
-        
+        Italien
     
     
         
@@ -4014,7 +4359,7 @@ Update
     
         
         Norwegian
-        
+        Norvégien
     
     
         
@@ -4044,12 +4389,12 @@ Update
     
         
         Polish
-        
+        Polonais
     
     
         
         Portuguese
-        
+        Portugais
     
     
         
@@ -4069,12 +4414,12 @@ Update
     
         
         Romanian
-        
+        Roumain
     
     
         
         Russian
-        
+        Russe
     
     
         
@@ -4149,7 +4494,7 @@ Update
     
         
         Spanish
-        
+        Espagnol
     
     
         
@@ -4164,7 +4509,7 @@ Update
     
         
         Swedish
-        
+        Suédois
     
     
         
@@ -4219,7 +4564,7 @@ Update
     
         
         Turkish
-        
+        Turque
     
     
         
@@ -5630,17 +5975,22 @@ Update
 
     ConfigGadgetFactory
     
-        
+        
         Config Gadget
         
     
+    
+        
+        Radio Setup Wizard
+        Assistant Configuration Radio
+    
 
 
     ConsoleGadgetFactory
     
         
         Console
-        
+        Console
     
 
 
@@ -5649,89 +5999,28 @@ Update
         
         
         default
-        
+        défaut
     
 
 
     Core::UAVGadgetInstanceManager
     
-        
+        
+        Migrating UAVGadgetConfigurations from version 1.1.0 to 
+        
+    
+    
+        
+        You might want to save your old config NOW since it might be replaced by broken one when you exit the GCS!
+        
+    
+    
+        
+        
+        
         
         default
-        
-    
-
-
-    Core::UAVGadgetManager
-    
-        
-        Edit Gadgets Mode
-        
-    
-    
-        
-        Ctrl+Shift+F10
-        Ctrl+Maj+F10
-    
-    
-        
-        Meta+Shift
-        
-    
-    
-        
-        Ctrl+Shift
-        
-    
-    
-        
-        Split
-        Scinder
-    
-    
-        
-        %1+Down
-        
-    
-    
-        
-        Split Side by Side
-        Scinder verticalement
-    
-    
-        
-        %1+Right
-        
-    
-    
-        
-        Close Current View
-        
-    
-    
-        
-        %1+C
-        
-    
-    
-        
-        Close All Other Views
-        
-    
-    
-        
-        %1+A
-        
-    
-    
-        
-        Goto Next View
-        
-    
-    
-        
-        %1+N
-        
+        défaut
     
 
 
@@ -5739,7 +6028,8 @@ Update
     
         
         Active
-        
+        Activé ?
+        Actif
     
 
 
@@ -5747,7 +6037,7 @@ Update
     
         
         Choose Gadget...
-        
+        Choisir Gadget...
     
 
 
@@ -5756,14 +6046,14 @@ Update
         
         Choose a gadget to display in this view.
 
-        
+        Choisir le gadget à afficher dans cette vue.
     
     
         
         You can also split this view in two.
 
 
-        
+        Vous pouvez également scinder cette vue en deux.
     
     
         
@@ -5778,20 +6068,9 @@ Update
         HITL Simulation
         
     
-
-
-    LineardialGadgetFactory
     
-        
-        Bargraph Dial Gadget
-        
-    
-
-
-    ModelViewGadgetFactory
-    
-        
-        ModelView Gadget
+        
+        HITL Simulation (v2)
         
     
 
@@ -5800,22 +6079,22 @@ Update
     
         
         3D model (*.dae *.3ds)
-        
+        Modèle 3D (*.dae *.3ds)
     
     
         
         Choose 3D model
-        
+        Choir le modèle 3D
     
     
         
         Images (*.png *.jpg *.bmp *.xpm)
-        
+        
     
     
         
         Choose background image
-        
+        Choisir l'image d'arrière plan
     
 
 
@@ -5826,20 +6105,12 @@ Update
         
     
 
-
-    OPMapGadgetFactory
-    
-        
-        OPMap Gadget
-        
-    
-
 
     OPMapGadgetWidget
     
-        
+        
         &Zoom 
-        
+        &Zoom
     
     
         
@@ -5847,34 +6118,26 @@ Update
         Zoom
     
     
-        
-        Flight path 62
-        
-    
-    
-        
+        
         Copy
-        
+        Copier
     
     
-        
+        
+        
         Waypoints
-        
+        Waypoints
     
     
-        
-        &Close menu
-        
-    
-    
-        
+        
+        
         Close the context menu
-        
+        Fermer le menu contextuel
     
     
         
         &Reload map
-        
+        &Recharger carte
     
     
         
@@ -5884,62 +6147,52 @@ Update
     
         
         Reload the map tiles
-        
+        Recherger les dalles de la carte
     
     
-        
+        
         Mouse latitude and longitude
-        
+        Latitude et longitude de la souris
     
     
         
         Copy the mouse latitude and longitude to the clipboard
-        
+        Copier la lat/long de la souris dans le presse-papier
     
     
         
         Mouse latitude
-        
+        souris ou pointeur ??
+        Latitude de la souris
     
     
         
         Copy the mouse latitude to the clipboard
-        
+        Copier la latitude de saouris dans le presse-papier
     
     
         
         Mouse longitude
-        
+        Longitude de la souris
     
     
         
         Copy the mouse longitude to the clipboard
-        
+        Copier la longitude de saouris dans le presse-papier
     
     
-        
-        &Find place
-        
-    
-    
-        
-        
+        
         
         Ctrl+F
         
     
     
-        
-        Find a location
-        
-    
-    
-        
+        
         Show compass
-        
+        Afficher la boussole
     
     
-        
+        
         Zoom &In
         
     
@@ -5949,7 +6202,7 @@ Update
         
     
     
-        
+        
         Zoom &Out
         
     
@@ -5959,12 +6212,12 @@ Update
         
     
     
-        
+        
         Go to where you right clicked the mouse
         
     
     
-        
+        
         Go to &Home location
         
     
@@ -5974,7 +6227,7 @@ Update
         
     
     
-        
+        
         Follow UAV position
         
     
@@ -5989,7 +6242,7 @@ Update
         
     
     
-        
+        
         &Waypoint editor
         
     
@@ -5999,27 +6252,28 @@ Update
         
     
     
-        
+        
         Center the map onto where you right clicked the mouse
         
     
     
-        
+        
         HOME
         
     
     
-        
+        
+        
         UAV
-        
+        Appareil
     
     
-        
+        
         Show/Hide the compass
         
     
     
-        
+        
         Show Home
         
     
@@ -6039,7 +6293,7 @@ Update
         
     
     
-        
+        
         Ctrl+H
         Ctrl+H
     
@@ -6058,33 +6312,13 @@ Update
         Center the map onto the UAV location
         
     
-    
-        
-        Set Home location
-        
-    
-    
-        
-        Set the current UAV location as the HOME location
-        
-    
     
         
         Keep the map centered onto the UAV
         
     
     
-        
-        Show UAV trail
-        
-    
-    
-        
-        Show/Hide the UAV trail
-        
-    
-    
-        
+        
         Clear UAV trail
         
     
@@ -6094,27 +6328,141 @@ Update
         
     
     
-        
+        
         Ctrl+W
         Ctrl+W
     
     
+        
+        &Max Update Rate 
+        
+    
+    
+        
+         (Normal)
+        
+    
+    
+        
+         (Magic Waypoint)
+        
+    
+    
+        
+         (Unknown)
+        
+    
+    
+        
+        Map mode
+        
+    
+    
+        
+        Safe Area Radius
+        
+    
+    
+        
+        UAV Trail
+        
+    
+    
+        
+        UAV trail type
+        
+    
+    
+        
+        UAV trail time
+        
+    
+    
+        
+        UAV trail distance
+        
+    
+    
+        
+        &Overlay Opacity 
+        
+    
+    
+        
+        
+        Close menu
+        
+    
+    
+        
+        &Rip map
+        
+    
+    
+        
+        Rip the map tiles
+        
+    
+    
+        
+        Show Diagnostics
+        
+    
+    
+        
+        Show/Hide the diagnostics
+        
+    
+    
+        
+        Show UAV Info
+        
+    
+    
+        
+        Show/Hide the UAV info
+        
+    
+    
+        
+        Set default zoom and location
+        
+    
+    
+        
+        Changes the map default zoom and location to the current values
+        
+    
+    
+        
+        Set the home location
+        
+    
+    
+        
+        Set the home location to where you clicked
+        
+    
+    
+        
         
         &Add waypoint
         
     
     
-        
+        
+        
         Ctrl+A
         
     
     
-        
+        
+        
         Add waypoint
         
     
     
-        
+        
         &Edit waypoint
         
     
@@ -6169,24 +6517,73 @@ Update
         
     
     
-        
-        OpenPilot GCS
+        
+        Home magic waypoint
         
     
-
-
-    ScopeGadgetFactory
     
-        
-        Scope Gadget
+        
+        Move the magic waypoint to the home position
+        Déplacer le Waypoint magique au point de départ
+    
+    
+        
+        Normal
         
     
-
-
-    SystemHealthGadgetFactory
     
-        
-        System Health Gadget
+        
+        Magic Waypoint
+        
+    
+    
+        
+        Show Safe Area
+        
+    
+    
+        
+        Show/Hide the Safe Area around the home location
+        
+    
+    
+        
+        Show Trail dots
+        
+    
+    
+        
+        Show/Hide the Trail dots
+        
+    
+    
+        
+        Show Trail lines
+        
+    
+    
+        
+        Show/Hide the Trail lines
+        
+    
+    
+        
+        Set home altitude
+        
+    
+    
+        
+        In [m], referenced to WGS84:
+        
+    
+    
+        
+        Are you sure you want to clear waypoints?
+        
+    
+    
+        
+        All associated data will be lost.
         
     
 
@@ -6201,7 +6598,7 @@ Update
 
     UAVObjectTreeModel
     
-        
+        
         Property
         Propriété
     
@@ -6218,20 +6615,20 @@ Update
     
         
         Settings
-        
+        Paramètres
     
     
-        
+        
         Data Objects
         
     
     
-        
+        
         Meta Data
         
     
     
-        
+        
         Instance
         
     
@@ -6239,63 +6636,53 @@ Update
 
     UAVMetaObject
     
-        
-        False
+        
+        FlightReadOnly
         
     
     
         
-        True
+        GCSReadOnly
+        
+    
+    
+        
+        FlightTelemetryAcked
+        
+    
+    
+        
+        GCSTelemetryAcked
+        
+    
+    
+        
+        FlightUpdatePeriodic
+        
+    
+    
+        
+        FlightUpdateOnChange
+        
+    
+    
+        
+        GCSUpdatePeriodic
+        
+    
+    
+        
+        GCSUpdateOnChange
         
     
     
         
-        Periodic
+        Modes
         
     
     
         
-        On Change
-        
-    
-    
-        
-        Manual
-        Manuel
-    
-    
-        
-        Never
-        Jamais
-    
-    
-        
-        Read/Write
-        
-    
-    
-        
-        Read Only
-        
-    
-    
-        
-        Flight Access Mode
-        
-    
-    
-        
-        GCS Access Mode
-        
-    
-    
-        
-        Flight Telemetry Acked
-        
-    
-    
-        
-        Flight Telemetry Update Mode
+        boolean
         
     
     
@@ -6304,25 +6691,17 @@ Update
         
     
     
+        
         
-        GCS Telemetry Acked
-        
+        
+        ms
+        ms
     
     
-        
-        GCS Telemetry Update Mode
-        
-    
-    
-        
+        
         GCS Telemetry Update Period
         
     
-    
-        
-        Logging Update Mode
-        
-    
     
         
         Logging Update Period
@@ -6332,7 +6711,7 @@ Update
 
     Telemetry
     
-        
+        
         Telemetry: priority event queue is full, event lost (%1)
         
     
@@ -6340,32 +6719,11 @@ Update
 
     TelemetryMonitor
     
-        
+        
         Starting to retrieve meta and settings objects from the autopilot (%1 objects)
         
     
 
-
-    UploaderGadgetFactory
-    
-        
-        Uploader Gadget
-        
-    
-
-
-    UploaderGadgetWidget
-    
-        
-        QFileDialog::getOpenFileName()
-        
-    
-    
-        
-        All Files (*);;Text Files (*.bin)
-        
-    
-
 
     DialGadgetOptionsPage
     
@@ -6391,12 +6749,12 @@ Update
     
         
         Dial font:
-        
+        Police Dial :
     
     
         
         Select...
-        
+        Sélectionner...
     
     
         
@@ -6416,12 +6774,12 @@ Update
     
         
         Min:
-        
+        Mini :
     
     
         
         Max:
-        
+        Maxi :
     
     
         
@@ -6449,13 +6807,48 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
-        
+        Image SVG (*.svg)
     
     
         
         Choose SVG image
+        Choisir une image SVG
+    
+    
+        
+        XML ID of the SVG source file used to display the dial background.
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the dial foreground (above everything else, needles included).
+        
+    
+    
+        
+        Use OpenGL for rendering. Will lower CPU usage, depending on the capabilities of your graphics card, but might slightly alter the look & feel of the dial.
+        
+    
+    
+        
+        Use OpenGL
+        Utiliser OpenGL
+    
+    
+        
+        When checked, the Dial plugin will make needle moves smoother by simulating inertia.
+        
+    
+    
+        
+        Smooth updates
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the first needle/indicator.
         
     
 
@@ -6469,67 +6862,67 @@ Update
     
         
         Mode:
-        
+        Mode :
     
     
         
         Port:
-        
+        Port :
     
     
         
         Port Speed:
-        
+        Vitesse Port :
     
     
         
         Flow Control:
-        
+        Contrôle Flux :
     
     
         
         Serial Connection
-        
+        Connexion Série
     
     
         
         Data Bits:
-        
+        Bits Données :
     
     
         
         Stop Bits:
-        
+        Bits Stop :
     
     
         
         Parity:
-        
+        Parité :
     
     
         
         Timeout(ms):
-        
+        Temps de latence (ms) :
     
     
         
         IP Connection
-        
+        Connexion IP
     
     
         
         Host
-        
+        Hôte
     
     
         
         Port
-        
+        Port
     
     
         
         Telemetry
-        
+        Télémétrie
     
 
 
@@ -6537,31 +6930,32 @@ Update
     
         
         Speed:
-        
+        Vitesse :
     
     
         
         Connect
-        
+        Connecter
     
     
         
         Disconnect
-        
+        Déconnecter
     
     
         
         Coord:
-        
+        
     
     
         
         Unknown
-        
+        Inconnu
     
     
         
         Heading:
+        Direction ?
         
     
     
@@ -6577,17 +6971,26 @@ Update
     
         
         Sats Used:
-        
+        Sats Utilisés :
     
     
         
         Fix Type:
-        
+        Type Fix :
     
     
         
         GPS Data Stream
-        
+        Flot Données GPS
+    
+    
+        
+        Displays the SNR for each detected sat.
+Satellite number (PRN) is displayed inside the green bar.
+Sat SNR is displayed above (in dBHz)
+        Affiche le SNR pour chaue satellite détecté.
+Le numéro du satellite (PRN) est affiché sur une barre verte.
+Le SNR du satellite est affiche au dessus (en dBHz)
     
 
 
@@ -6600,27 +7003,32 @@ Update
     
         
         TCP connection
-        
+        Connexion TCP
     
     
         
         UDP connection
-        
+        Connexion UDP
     
     
         
         Port
-        
+        Port
     
     
         
         Host Name/Number
-        
+        Nom d'Hôte / Adresse IP
     
     
         
         settings
-        
+        paramètres
+    
+    
+        
+        IP Network Telemetry
+        Télémétrie Réseau IP
     
 
 
@@ -6678,18 +7086,113 @@ Update
     
         
         Apply
-        
-    
-    
-        
-        Revert
-        
+        Appliquer
     
     
         
         Cancel
         Annuler
     
+    
+        
+        Position
+        Position
+    
+    
+        
+        Relative to Home 
+        
+    
+    
+        
+        Bearing 
+        
+    
+    
+        
+        Distance 
+        
+    
+    
+        
+        0
+        0
+    
+    
+        
+        Velocity 
+        
+    
+    
+        
+        Relative altitude 
+        
+    
+    
+        
+        m/s
+        
+    
+    
+        
+        Mode
+        
+    
+    
+        
+        param1
+        
+    
+    
+        
+        param2
+        
+    
+    
+        
+        param3
+        
+    
+    
+        
+        param4
+        
+    
+    
+        
+        End condition
+        
+    
+    
+        
+        Condition
+        
+    
+    
+        
+        Command
+        Commande
+    
+    
+        
+        Jump Destination
+        
+    
+    
+        
+        Error Destination
+        
+    
+    
+        
+        Previous
+        
+    
+    
+        
+        Next
+        Suivant
+    
 
 
     opmap_overlay_widget
@@ -6727,74 +7230,6 @@ Update
         
     
 
-
-    opmap_waypointeditor_dialog
-    
-        
-        OpenPilot GCS Waypoint Editor
-        
-    
-    
-        
-        Waypoints
-        
-    
-    
-        
-        Num
-        
-    
-    
-        
-        Locked
-        
-    
-    
-        
-        Latitude
-        
-    
-    
-        
-        Longitude
-        
-    
-    
-        
-        Altitude
-        
-    
-    
-        
-        Time
-        
-    
-    
-        
-        Hold Time
-        
-    
-    
-        
-        Height and Timeline
-        
-    
-    
-        
-        Waypoint 1
-        
-    
-    
-        
-        Waypoint 2
-        
-    
-    
-        
-        Waypoint 3
-        
-    
-
 
     opmap_zoom_slider_widget
     
@@ -6818,21 +7253,26 @@ Update
     
         
         Use OpenGL for rendering
-        
+        Utiliser le rendu OpenGL
     
     
         
         High Quality text (OpenGL)
-        
+        Texte Haute Qualité (OpenGL)
     
     
-        
+        
         SVG image (*.svg)
-        
+        Image SVG (*.svg)
     
     
         
         Choose SVG image
+        Choisir une image SVG
+    
+    
+        
+        Smooth updates
         
     
 
@@ -6841,41 +7281,17 @@ Update
     
         
         Position:
-        
+        Position :
     
     
         
         Altitude:
-        
+        Altitude :
     
     
         
         Time:
-        
-    
-
-
-    DialGadgetFactory
-    
-        
-        Analog Dial Gadget
-        
-    
-
-
-    GpsDisplayGadgetFactory
-    
-        
-        GPS Display Gadget
-        
-    
-
-
-    PFDGadgetFactory
-    
-        
-        Primary Flight Display Gadget
-        
+        Heure :
     
 
 
@@ -6901,165 +7317,6 @@ Update
         Annuler
     
 
-
-    AHRSWidget
-    
-        
-        Form
-        Formulaire
-    
-    
-        
-        These are the sensor variance values computed by the AHRS.
-
-Tip: lower is better!
-        
-    
-    
-        
-        Telemetry link not established.
-        
-    
-    
-        
-        Press to start a calibration procedure, about 15 seconds.
-
-Hint: run this with engines at cruising speed.
-        
-    
-    
-        
-        Start
-        
-    
-    
-        
-        AHRS Algorithm:
-        
-    
-    
-        
-        Select the sensor integration algorithm here.
-"Simple" only uses accelerometer values
-"INSGPS" the full featured algorithm integrating all sensors
-        
-    
-    
-        
-        Nice paper plane, eh?
-        
-    
-    
-        
-        Six Point Calibration
-        
-    
-    
-        
-        Launch a sensor range and bias calibration.
-        
-    
-    
-        
-        Six Point Calibration instructions
-        
-    
-    
-        
-        Saves the Home Location. This is only enabled
-if the Home Location is set, i.e. if the GPS fix is
-successful.
-
-Disabled if there is no GPS fix.
-        
-    
-    
-        
-        Set
-        
-    
-    
-        
-        buttonGroup
-        
-    
-    
-        
-        Refresh this screen with current values from the board.
-        
-    
-    
-        
-        Request
-        
-    
-    
-        
-        Sensor noise calibration
-        
-    
-    
-        
-        Save settings (only enabled when calibration is running)
-        
-    
-    
-        
-        Save Position
-        
-    
-    
-        
-        Check this box if you are flying indoors and have no GPS fix.
-Only makes sense with the "INSGPS" algorithm.
-        
-    
-    
-        
-        Indoor flight mode
-        
-    
-    
-        
-        Save settings to the OP board (RAM only).
-
-This does not save the calibration settings, this is done using the
-specific calibration button on top of the screen.
-        
-    
-    
-        
-        Save to RAM
-        
-    
-    
-        
-        Send settings to OP board, and save to the microSD card.
-        
-    
-    
-        
-        Save to SD
-        
-    
-    
-        
-        Clears the HomeLocation: only makes sense if you save
-to SD. This will force the AHRS to use the next GPS fix as the
-new home location unless it is in indoor mode.
-        
-    
-    
-        
-        Clear
-        Effacer tout
-    
-    
-        
-        Home Location:
-        
-    
-
 
     AircraftWidget
     
@@ -7067,20 +7324,15 @@ new home location unless it is in indoor mode.
         Form
         Formulaire
     
-    
-        
-        Aircraft type:
-        
-    
     
         
         Select aircraft type here
-        
+        Sélectionner ici le type d'appareil
     
     
         
         Airplane type:
-        
+        Type d'avion :
     
     
         
@@ -7090,12 +7342,12 @@ new home location unless it is in indoor mode.
     
         
         Channel Assignment
-        
+        Affectation Canaux
     
     
         
         Engine
-        
+        Moteur
     
     
         
@@ -7112,11 +7364,6 @@ new home location unless it is in indoor mode.
         Elevator 1
         
     
-    
-        
-        Rudder
-        
-    
     
         
         Elevator 2
@@ -7125,27 +7372,7 @@ new home location unless it is in indoor mode.
     
         
         Throttle Curve
-        
-    
-    
-        
-        Frame type:
-        
-    
-    
-        
-        Idle Throttle
-        
-    
-    
-        
-        Cyclic Rate
-        
-    
-    
-        
-        Tricopter Yaw Ch
-        
+        Courbe Gaz
     
     
         
@@ -7162,125 +7389,365 @@ new home location unless it is in indoor mode.
         Decel Time Constant
         
     
-    
-        
-        Motor 1
-        
-    
     
         
         Motor 2
+        Moteur 2
+    
+    
+        
+        Mixer Settings
+        Paramètres de Mixage
+    
+    
+        
+        Vehicle type:
+        véhicule / appareil ?
+        Type de Véhicule :
+    
+    
+        
+        Output Channel Assignments
+        Affectation Canaux de Sortie
+    
+    
+        
+        Select output channel for the engine
+        Sélectionner le canal de sortie pour le moteur
+    
+    
+        
+        Select output channel for the first aileron (or elevon)
         
     
     
         
-        Motor 3
+        Select output channel for the second aileron (or elevon)
         
     
     
         
-        Motor 4
+        Select output channel for the first elevator
         
     
     
         
-        Motor 5
+        Select output channel for a secondary elevator
         
     
     
         
-        Motor 6
+        Rudder 1
         
     
     
         
-        Motor 7
+        Select output channel for the first rudder
         
     
     
         
-        Motor 8
+        Rudder 2
         
     
     
         
-        CCPM Heli
+        Select output channel for a secondary rudder
         
     
     
         
-        This is not implemented yet, sorry
+        Elevon Mix
         
     
     
         
-        Custom / Advanced setup UI
+        Rudder %
         
     
     
         
-        Retrieve settings from OpenPilot
+        50
+        50
+    
+    
+        
+        Pitch %
         
     
     
         
-        Get Current
+        Frame Type
+        Type de Chassis
+    
+    
+        
+        Select the Multirotor frame type here.
+        Sélectionner ici le type de chassis de Multirotor.
+    
+    
+        
+        Mix Level
         
     
     
         
-        Send to OpenPilot but don't write in SD.
+        100
+        100
+    
+    
+        
+        Weight of Roll mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
         
     
     
         
-        Save to RAM
+        Roll
         
     
     
         
-        Applies and Saves all settings to SD
+        Weight of Pitch mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
         
     
     
         
-        Save to SD
-        
-    
-
-
-    SettingsWidget
-    
-        
-        Form
-        Formulaire
-    
-    
-        
-        RC Input
+        Pitch
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel value</p></body></html>
+        Weight of Yaw mixing in percent.
+Typical value is 50% for + or X configuration on quads.
         
     
     
         
-        2000
-        2000
+        Yaw
+        
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:9pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current channel value.</p></body></html>
+        Motor output channels
+        Canaux de sortie moteurs
+    
+    
+        
+        1
+        1
+    
+    
+        
+        Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.
+        Affecter les canaux de sortie des moteurs en utilisant le dessin ci-dessus comme référence. Respectez le sens des moteurs.
+    
+    
+        
+        2
+        2
+    
+    
+        
+        3
+        3
+    
+    
+        
+        4
+        4
+    
+    
+        
+        5
+        5
+    
+    
+        
+        6
+        6
+    
+    
+        
+        7
+        7
+    
+    
+        
+        8
+        8
+    
+    
+        
+        Multirotor Motor Direction
+        Direction Moteur Multirotor
+    
+    
+        
+        Tricopter Yaw Servo channel
+        Canal de Servo Yaw Tricoptère
+    
+    
+        
+        Reverse all motors
+        Inverser tous les moteurs
+    
+    
+        
+        Output channel asignmets
+        
+    
+    
+        
+        Motor
+        Moteur
+    
+    
+        
+        Select output channel for the first motor
+        Sélectionner le canal de sortie pour le premier moteur
+    
+    
+        
+        Select output channel for a second motor
+        Sélectionner le canal de sortie pour le deuxième moteur
+    
+    
+        
+        Front Steering
+        
+    
+    
+        
+        Select output channel for the first steering actuator
+        
+    
+    
+        
+        Rear Steering
+        
+    
+    
+        
+        Select output channel for a second steering actuator
+        
+    
+    
+        
+        Differential Steering Mix
+        
+    
+    
+        
+        Left %
+        
+    
+    
+        
+        Right %
+        
+    
+    
+        
+        Front throttle curve
+        
+    
+    
+        
+        Rear throttle curve
+        
+    
+    
+        
+        Curve 1
+        Courbe 1
+    
+    
+        
+        Curve 2
+        Courbe 2
+    
+    
+        
+        Type
+        Type
+    
+    
+        
+        Ch 1
+        
+    
+    
+        
+        Ch 2
+        
+    
+    
+        
+        Ch 3
+        
+    
+    
+        
+        Ch 4
+        
+    
+    
+        
+        Ch 5
+        
+    
+    
+        
+        Ch 6
+        
+    
+    
+        
+        Ch 7
+        
+    
+    
+        
+        Ch 8
+        
+    
+    
+        
+        Ch 9
+        
+    
+    
+        
+        Ch 10
+        
+    
+    
+        
+        -
+        -
+    
+    
+        
+        Feed Forward Configuration
+        
+    
+    
+        
+        When tuning: Slowly raise decel time from zero to just
+under the level where the motor starts to undershoot
+its target speed when decelerating.
+
+Do it after accel time is setup.
+        
+    
+    
+        
+        In miliseconds.
+When tuning: Slowly raise accel time from zero to just
+under the level where the motor starts to overshoot
+its target speed.
         
     
     
@@ -7290,34 +7757,28 @@ p, li { white-space: pre-wrap; }
     
     
         
-        Retrieve settings from OpenPilot
+        Overall level of feed forward (in percentage).
         
     
     
         
-        Get Current
+        Limits how much the engines can accelerate or decelerate.
+In 'units per second', a sound default is 1000.
         
     
     
         
-        Be sure to set the Neutral position on all sliders before sending!
-Applies and Saves all settings to SD
+        MaxAccel
         
     
     
         
-        Save to SD
-        
+        000
+        000
     
     
         
-        Send to OpenPilot but don't write in SD.
-Be sure to set the Neutral position on all sliders before sending!
-        
-    
-    
-        
-        Save to RAM
+        FeedForward 
         
     
     
@@ -7325,82 +7786,14 @@ Be sure to set the Neutral position on all sliders before sending!
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel value.</p></body></html>
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware! Check </span><span style=" font-family:'Sans'; font-size:10pt; font-weight:600;">all three</span><span style=" font-family:'Sans'; font-size:10pt;"> checkboxes to test Feed Forward.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">It will run only if your airframe armed.</span></p></body></html>
         
     
     
         
-        Start calibrating the RC Inputs.
-Uncheck/Check to restart calibration.
-        
-    
-    
-        
-        Run Calibration
-        
-    
-    
-        
-        Indicates whether OpenPilot is getting a signal from the RC receiver.
-        
-    
-    
-        
-        RC Receiver Not Connected
-        
-    
-    
-        
-        Select the receiver type here:
-- PWM is the most usual type
-- PPM is connected to input XXX 
-- Spektrum is used with Spektrum 'satellite' receivers
-        
-    
-    
-        
-        RC Receiver Type:
-        
-    
-    
-        
-        Servo Output
-        
-    
-    
-        
-        Aircraft type: undefined
-        
-    
-    
-        
-        Channel 0
-        
-    
-    
-        
-        Channel 1
-        
-    
-    
-        
-        Channel 2
-        
-    
-    
-        
-        Channel 3
-        
-    
-    
-        
-        Channel 4
-        
-    
-    
-        
-        Channel 5
+        Enable FF tuning
         
     
     
@@ -7408,149 +7801,41 @@ Uncheck/Check to restart calibration.
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Select the kind of actuator (servo) connected to this output channel.</p></body></html>
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD REQUIRES CAUTION</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</p>
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.</p></td></tr></table></body></html>
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum PWM value, beware of not overdriving your servo.</p></body></html>
-        
+        Takes you to the wiki page
+        Vous renvoie à la page wiki
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum PWM value, beware of not overdriving your servo.</p></body></html>
-        
+        Send to board, but don't save permanently (flash or SD).
+        Envoyer sur la carte mais ne pas enregistrer durablement (flash ou SD).
     
     
         
-        Move the servos using the sliders. Two important things:
-- Take extra care if the output is connected to an motor controller!
-- Will only work if the RC receiver is working (failsafe)
-        
+        Apply
+        Appliquer
     
     
         
-        Test outputs
-        
+        Applies and Saves all settings to flash or SD depending on board.
+        Appliquer et Enregistrer tous les paramètres dans la flash (ou la SD en fonction de la carte).
     
     
         
-        Channel 6
-        
-    
-    
-        
-        Channel 7
-        
-    
-    
-        
-        Update rate:
-        
-    
-    
-        
-        Channel 0-3
-        
-    
-    
-        
-        Channel 4-7
-        
-    
-    
-        
-        Current value of slider.
-        
-    
-    
-        
-        0000
-        0000
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Check to invert the channel.</p></body></html>
-        
-    
-    
-        
-        Rev.
-        
-    
-
-
-    TelemetryWidget
-    
-        
-        Form
-        Formulaire
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the serial speed of your telemetry modem here. It is the speed between the OpenPilot board and the modem, and could be different from the radio link speed.</p>
-<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</p></body></html>
-        
-    
-    
-        
-        Telemetry speed:
-        
-    
-    
-        
-        Select the speed here.
-        
-    
-    
-        
-        Send to OpenPilot but don't write in SD.
-Beware of not locking yourself out!
-        
-    
-    
-        
-        Save to RAM
-        
-    
-    
-        
-        Retrieve settings from OpenPilot
-        
-    
-    
-        
-        Get Current
-        
-    
-    
-        
-        Applies and Saves all settings to SD.
-Beware of not locking yourself out!
-        
-    
-    
-        
-        Save to SD
-        
+        Save
+        Enregistrer
     
 
 
@@ -7568,39 +7853,16 @@ Beware of not locking yourself out!
     
         
         Armed
-        
+        Armé
     
     
         
         Flight Mode:
-        
-    
-
-
-    FGOptionsPage
-    
-        
-        
-        Form
-        Formulaire
+        Mode Vol :
     
     
         
-        
-        FlightGear executable:
-        
-    
-    
-        
-        
-        FlightGear data directory:
-        
-    
-    
-        
-        
-        
-        Manual aircraft control (can be used when hardware is not available)
+        UDP Control
         
     
 
@@ -7612,32 +7874,9 @@ Beware of not locking yourself out!
         Boîte de dialogue
     
     
-        
+        
         Import Export Settings
-        
-    
-
-
-    ImportExportGadgetOptionsPage
-    
-        
-        Form
-        Formulaire
-    
-    
-        
-        Default Config File 
-        
-    
-    
-        
-        INI file (*.ini)
-        
-    
-    
-        
-        Choose configuration file
-        
+        Paramètres Import Export
     
 
 
@@ -7647,21 +7886,6 @@ Beware of not locking yourself out!
         Form
         Formulaire
     
-    
-        
-        This is experimental. Use at own risk.
-        
-    
-    
-        
-        Please report bugs!
-        
-    
-    
-        
-        Config File
-        
-    
     
         
         Items
@@ -7678,45 +7902,91 @@ Beware of not locking yourself out!
         
     
     
-        
-        Export
+        
+        
+        GCS Settings file (*.xml)
         
     
     
-        
-        Import
+        
+        Save GCS Settings too file ..
         
     
     
-        
-        Help
-        
-    
-    
-        
+        
         Can't write file 
-        
+        Impossible d'écrire dans le fichier 
     
     
         
         The settings have been exported to 
+        Les paramètres ont été exportés vers 
+    
+    
+        
+        Load GCS Settings from file ..
         
     
     
-        
+        
         Can't read file 
-        
+        Impossible de lire le fichier 
     
     
         
         The settings have been imported from 
-        
+        Les paramètrs ont été importés depuis 
     
     
         
         . Restart the application.
+        . Redémarrer le programme.
+    
+    
+        
+        All your settings will be deleted!
         
     
+    
+        
+        You must restart the GCS in order to activate the changes.
+        
+    
+    
+        
+        Plugins
+        
+    
+    
+        
+        Export the GCS settings selected in the checkboxes above.
+        Exporte les paramètres de GCS sélectionnés avec les cases cochées ci-dessus.
+    
+    
+        
+        Export...
+        Exporter...
+    
+    
+        
+        Import settings from the config file, only for the items checked above.
+        Importe les paramètres du fichier de configuration, uniquement pour les éléments cochés ci-dessus.
+    
+    
+        
+        Import...
+        Importer...
+    
+    
+        
+        Resets your GCS configuration to its default configuration.
+        Remettre à zéro GCS avec la configuration par défaut.
+    
+    
+        
+        Reset Config
+        RaZ Config
+    
 
 
     Logging
@@ -7728,7 +7998,7 @@ Beware of not locking yourself out!
     
         
         Play
-        
+        Jouer
     
     
         
@@ -7738,56 +8008,45 @@ Beware of not locking yourself out!
     
         
         Status: 
-        
+        Statut :
     
     
         
         Idle
-        
+        Ralenti
+    
+    
+        
+        Playback speed:
+        Vitesse playback :
     
 
 
     Core::UAVConfigInfo
     
-        
+        
         Do you want to continue the import?
-        
+        Voulez-vous continuer l'importation ?
     
     
         
         INFO: 
-        
+        INFO : 
     
     
         
         WARNING: 
-        
+        ATTENTION : 
     
     
         
         ERROR: 
-        
+        ERREUR : 
     
     
-        
+        
         Unknown compatibility level: 
-        
-    
-
-
-    GCSControlGadgetFactory
-    
-        
-        UAV Control
-        
-    
-
-
-    ImportExportGadgetFactory
-    
-        
-        Import/Export GCS Config
-        
+        Niveau de compatibilité inconnu :
     
 
 
@@ -7798,4 +8057,6100 @@ Beware of not locking yourself out!
         
     
 
+
+    AntennaTrackGadgetOptionsPage
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Mode:
+        Mode :
+    
+    
+        
+        Serial Connection
+        Connexion Série
+    
+    
+        
+        Data Bits:
+        Bits Données :
+    
+    
+        
+        Stop Bits:
+        Bits Stop :
+    
+    
+        
+        Parity:
+        Parité :
+    
+    
+        
+        Timeout(ms):
+        Temps de latence (ms) :
+    
+    
+        
+        Port:
+        Port :
+    
+    
+        
+        Port Speed:
+        Vitesse Port :
+    
+    
+        
+        Flow Control:
+        Contrôle Flux :
+    
+
+
+    AntennaTrackWidget
+    
+        
+        Coord:
+        
+    
+    
+        
+        Unknown
+        Inconnu
+    
+    
+        
+        HomeCoord:
+        
+    
+    
+        
+        Azimuth
+        
+    
+    
+        
+        Elevation
+        
+    
+    
+        
+        Connect
+        Connecter
+    
+    
+        
+        Disconnect
+        Déconnecter
+    
+    
+        
+        Output
+        Sortie
+    
+
+
+    AutotuneWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Pre-Autotune
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be </span><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> for it creating bad tuning values.  Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:<br /></span></p>
+<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">On the <span style=" font-style:italic;">Input configuration</span> tab, <span style=" font-style:italic;">Flight Mode Switch Settings</span>, set one of your flight modes to &quot;Autotune&quot;.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, change flight mode to autotune, keep it in the air while it's shaking.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm.  (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly the new settings.</li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the <span style=" font-style:italic;">Enable Autotune Module</span> checkbox above this text, click <span style=" font-style:italic;">save</span> and go to the next tab.</li></ul></body></html>
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable Autotune Module
+        
+    
+    
+        
+        Autotune Setup
+        
+    
+    
+        
+        Tuning Aggressiveness
+        
+    
+    
+        
+        Rate Tuning:
+        
+    
+    
+        
+        Attitude Tuning:
+        
+    
+    
+        
+        objname:RelayTuningSettings
+        
+    
+    
+        
+        fieldname:RateGain
+        
+    
+    
+        
+        scale:0.01
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        fieldname:AttitudeGain
+        
+    
+    
+        
+        Measured Properties
+        
+    
+    
+        
+        Roll:
+        
+    
+    
+        
+        0
+        0
+    
+    
+        
+        objname:RelayTuning
+        
+    
+    
+        
+        fieldname:Period
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:Gain
+        
+    
+    
+        
+        Period (ms)
+        
+    
+    
+        
+        Gain (deg/s) / output
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Computed Values
+        
+    
+    
+        
+        RateKi
+        
+    
+    
+        
+        AttitudeKp
+        
+    
+    
+        
+        RateKp
+        
+    
+    
+        
+        AttitudeKi
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Apply Computed Values
+        
+    
+    
+        
+        Step Size
+        
+    
+    
+        
+        fieldname:Amplitude
+        
+    
+    
+        
+        The Apply and Save buttons below save the autotuning settings which
+will alter settings for the next autotuning flight
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        Recharger Données Carte
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        Envoyer les paramètres sur la carte et enregistrer dans la mémoire
+    
+    
+        
+        Save
+        Enregistrer
+    
+    
+        
+        button:save
+        
+    
+
+
+    CameraStabilizationWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Camera Stabilization
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable CameraStabilization module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Basic Settings (Stabilization)
+        
+    
+    
+        
+        Camera yaw angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        objname:CameraStabSettings
+        
+    
+    
+        
+        fieldname:OutputRange
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Camera pitch angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Camera roll angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        Yaw output channel for camera gimbal
+        
+    
+    
+        
+        None
+        Aucune
+    
+    
+        
+        Pitch output channel for camera gimbal
+        
+    
+    
+        
+        Roll output channel for camera gimbal
+        
+    
+    
+        
+        Output Channel
+        
+    
+    
+        
+        Output Range
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Advanced Settings (Control)
+        
+    
+    
+        
+        Input channel to control camera yaw
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        fieldname:Input
+        
+    
+    
+        
+        Input channel to control camera pitch
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input channel to control camera roll
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input Channel
+        
+    
+    
+        
+        Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.
+        
+    
+    
+        
+        fieldname:StabilizationMode
+        
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Maximum camera yaw deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        fieldname:InputRange
+        
+    
+    
+        
+        Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        fieldname:InputRate
+        
+    
+    
+        
+        Input low-pass filter response time for yaw axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        fieldname:ResponseTime
+        
+    
+    
+        
+        Maximum camera pitch deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for pitch axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        Maximum camera roll deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera roll rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for roll axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        MaxAxisLockRate
+        
+    
+    
+        
+        Response Time
+        
+    
+    
+        
+        Input Rate
+        
+    
+    
+        
+        Input Range
+        
+    
+    
+        
+        Stabilization Mode
+        
+    
+    
+        
+        (the same value for Roll, Pitch, Yaw)
+        
+    
+    
+        
+        Stick input deadband for all axes in AxisLock mode, deg/s.
+
+When stick input is within the MaxAxisLockRate range, camera tracks
+current attitude. Otherwise it starts moving according to input with
+rate depending on input value.
+
+If you have drift in your Tx controls, you may want to increase this
+value.
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Messages
+        Messages
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration
+        
+    
+    
+        
+        Load default CameraStabilization settings except output channels into GCS.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reset To Defaults
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        Reloads saved CameraStabilization settings  except output channels
+from board into GCS. Useful if you have accidentally changed some
+settings.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reload Board Data
+        Recharger Données Carte
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        Envoyer les paramètres sur la carte et enregistrer dans la mémoire
+    
+    
+        
+        Save
+        Enregistrer
+    
+    
+        
+        button:save
+        
+    
+
+
+    CC_HW_Widget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        HW settings
+        Paramètres Matériels
+    
+    
+        
+        Messages
+        Messages
+    
+    
+        
+        Changes on this page only take effect after board reset or power cycle
+        Les changements sur cette page ne prendront effet qu'après un reset ou une coupure d'alimentation
+    
+    
+        
+        Telemetry speed:
+        Vitesse de télémétrie :
+    
+    
+        
+        GPS speed:
+        Vitesse GPS :
+    
+    
+        
+        ComUsbBridge speed:
+        Vitesse COMUsbBridge :
+    
+    
+        
+        Select the speed here.
+        Sélectionner ici la vitesse.
+    
+    
+        
+        USB HID Port
+        
+    
+    
+        
+        MainPort
+        
+    
+    
+        
+        FlexiPort
+        
+    
+    
+        
+        USB VCP Port
+        
+    
+    
+        
+        RcvrPort
+        
+    
+    
+        
+        Takes you to the wiki page
+        Vous renvoie à la page wiki
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        Envoie vers l'OpenPilot mais n'écrit pas dans la SD.
+Méfiez-vous de ne pas vous verrouiller l'accès !
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        Applique et Enregistre tous les paramètres dans la SD.
+Méfiez-vous de ne pas vous verrouiller l'accès !
+    
+    
+        
+        Save
+        Enregistrer
+    
+
+
+    ccattitude
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Rotate virtual attitude relative to board
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Calibration
+        Calibration
+    
+    
+        
+        Place aircraft very flat, and then click level to compute the accelerometer and gyro bias
+        Placer l'appareil bien à plat et cliquer ensuite sur Niveau pour calculer les ajustements des accéléromètres et gyroscopes 
+    
+    
+        
+        Launch horizontal calibration.
+        Lancer la calibration du niveau horizontal.
+    
+    
+        
+        Level
+        Niveau
+    
+    
+        
+        If enabled, a fast recalibration of gyro zero point will be done
+whenever the frame is armed. Do not move the airframe while
+arming it in that case!
+        Si activé, une recalibration rapide des gyros est effectuée à chaque fois que
+la carte est armée. Dans ce cas ne bougez pas l'appareil lors de l'armement !
+    
+    
+        
+        Zero gyros while arming aircraft
+        Mettre les gyros à zéro lors de l'armement
+    
+    
+        
+        AccelTau
+        
+    
+    
+        
+        Accelerometer filtering.
+
+Sets the amount of lowpass filtering of accelerometer data 
+for the attitude estimation. Higher values apply a stronger 
+filter, which may help with drifting in attitude mode.
+
+Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
+Start low and raise until drift stops.
+
+A setting of 0.00 disables the filter.
+        
+    
+    
+        
+        Takes you to the wiki page
+        Vous renvoie à la page wiki
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        Click to permanently save the accel bias in the CopterControl Flash.
+        Cliquer pour enregistrer définitivement les ajustements des
+accéléromètres dans la mémoire Flash de la carte.
+    
+    
+        
+        Save
+        Enregistrer
+    
+
+
+    ccpmWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Swashplate config:
+        
+    
+    
+        
+        Select aircraft type here
+        Sélectionner ici le type d'appareil
+    
+    
+        
+        Basic settings
+        
+    
+    
+        
+        Outputs
+        Sorties
+    
+    
+        
+        Tail Rotor
+        
+    
+    
+        
+        Engine
+        Moteur
+    
+    
+        
+        Swashplate Outputs
+        
+    
+    
+        
+        Servo W
+        
+    
+    
+        
+        Servo X
+        
+    
+    
+        
+        Front
+        
+    
+    
+        
+        Right
+        
+    
+    
+        
+        Rear
+        
+    
+    
+        
+        Left
+        
+    
+    
+        
+        1st Servo
+        
+    
+    
+        
+        Servo Z
+        
+    
+    
+        
+        Servo Y
+        
+    
+    
+        
+        Swashplate Servo Angles
+        
+    
+    
+        
+        Angle W
+        
+    
+    
+        
+        Angle X
+        
+    
+    
+        
+        Angle Y
+        
+    
+    
+        
+        Angle Z
+        
+    
+    
+        
+        Correction Angle
+        
+    
+    
+        
+        CCPM Options
+        
+    
+    
+        
+        Collective Pass through
+        
+    
+    
+        
+        Link Roll/Pitch
+        
+    
+    
+        
+        Link Cyclic/Collective
+        
+    
+    
+        
+        Swashplate Layout
+        
+    
+    
+        
+        REVO
+        
+    
+    
+        
+        100%
+        100%
+    
+    
+        
+        0%
+        0%
+    
+    
+        
+        CCPM
+        
+    
+    
+        
+        Collective
+        
+    
+    
+        
+        Cyclic
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Swashplate Levelling
+        
+    
+    
+        
+        Commands
+        
+    
+    
+        
+        Start
+        Démarrer
+    
+    
+        
+        Next
+        Suivant
+    
+    
+        
+        Cancel
+        Annuler
+    
+    
+        
+        Finish
+        Terminer
+    
+    
+        
+        Status
+        Statut
+    
+    
+        
+        Neutral
+        Neutre
+    
+    
+        
+        Max
+        Maxi
+    
+    
+        
+        Min
+        Mini
+    
+    
+        
+        Verify
+        Vérifier
+    
+    
+        
+        Position
+        Position
+    
+    
+        
+        Swashplate Adjustment
+        
+    
+    
+        
+        Curve settings
+        Paramètres de la courbe
+    
+    
+        
+        Advanced settings
+        Paramètres avancés
+    
+    
+        
+        Channel
+        Canal
+    
+    
+        
+        Curve 1
+        Courbe 1
+    
+    
+        
+        Curve 2
+        Courbe 2
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        -
+        -
+    
+
+
+    defaultattitude
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Attitude / INS calibration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This panel will be updated to provide the relevant controls to let you calibrate your OpenPilot INS or your CopterControl unit, depending on the board which is detected once telemetry is connected and running.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    defaulthwsettings
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Hardware Configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This panel will be updated to provide the relevant controls to let you configure your hardware once telemetry is connected and running.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p></body></html>
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Configuration Matérielle</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Ce panneau sera mis à jour pour vous fournir les contrôles pertinents afin de vous permettre de configurer votre matériel, une fois que la télémétrie est connectée et en cours d'exécution.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p></body></html>
+    
+
+
+    InputWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        RC Input
+        Entrées RC
+    
+    
+        
+        Roll/Pitch/Yaw stick deadband
+        Zone morte des manches Roll/Pitch/Yaw
+    
+    
+        
+        Stick deadband in percents of full range (0-10), zero to disable
+        Zone morte du manche en pourcentage du débattement maxi (0-10), zéro pour désactiver
+    
+    
+        
+        Back
+        Précédent
+    
+    
+        
+        Next
+        Suivant
+    
+    
+        
+        Cancel
+        Annuler
+    
+    
+        
+        Calibration and Configuration Options
+        Options de Configuration et Calibration
+    
+    
+        
+        Start Configuration Wizard
+        Démarrer l'Assistant de Configuration
+    
+    
+        
+        Manual Calibration
+        Calibration Manuelle
+    
+    
+        
+        Flight Mode Switch Settings
+        Inter. Mode Vol
+    
+    
+        
+        Configure each stabilization mode for each axis
+        Configurer chaque mode de stabilisation, sur chaque axe
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Stabilized1
+        Stabilisé 1
+    
+    
+        
+        Stabilized2
+        Stabilisé 2
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Stabilized3
+        Stabilisé 3
+    
+    
+        
+        FlightMode Switch Positions
+        Positions Inter Mode de Vol
+    
+    
+        
+        Pos. 1
+        
+    
+    
+        
+        Pos. 2
+        
+    
+    
+        
+        Pos. 3
+        
+    
+    
+        
+        Pos. 4
+        
+    
+    
+        
+        Pos. 5
+        
+    
+    
+        
+        Pos. 6
+        
+    
+    
+        
+        This slider moves when you move the flight mode switch
+on your remote. It shows currently active flight mode.
+
+Setup the flight mode channel on the RC Input tab if you have not done so already.
+        Le curseur se déplace lorque vous bougez l'inter de mode de vol sur votre radiocommande.
+Il affiche le mode actif actuellement.
+
+Configurez le canal de mode de vol dans l'onglet Entrées RC si vous ne l'avez pas déjà fait.
+
+    
+    
+        
+        Select the stabilization mode on this position (manual/stabilized/auto)
+        Sélectionner le mode de stabilisation dans cette position (manuel / stabilisé / auto)
+    
+    
+        
+        Number of flight modes:
+        Nombre de modes de vol :
+    
+    
+        
+        Number of positions your FlightMode switch has.
+
+Default is 3.
+
+It will be 2 or 3 for most of setups, but it also can be up to 6.
+In that case you have to configure your radio mixers so the whole range
+from min to max is split into N equal intervals, and you may set arbitrary
+channel value for each flight mode.
+        
+    
+    
+        
+        Avoid "Manual" for multirotors!
+        Eviter "Manuel" pour les Multirotors !
+    
+    
+        
+        Arming Settings
+        Paramètres d'Armement
+    
+    
+        
+        Arm airframe using throttle off and:
+        Armer l'appareil en mettant les gaz à zéro et :
+    
+    
+        
+        Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms "Throttle Off".
+        Indique la combinaison utilisée pour armer l'appareil en plus de 
+placer les gaz au minimum. Autrement dit, manche des gaz à zéro.
+    
+    
+        
+        Arming timeout:
+        Temps de latence d'armement :
+    
+    
+        
+        After the time indicated here, the frame go back to disarmed state.
+Set to 0 to disable (recommended for soaring fixed wings).
+        Après le temps indiqué ici, l'appareil revient à l'état désarmé.
+Réglé à 0 pour désactiver l'option (conseillé pour les planeurs).
+    
+    
+        
+        seconds (0 to disable).
+        secondes (0 pour désactiver).
+    
+    
+        
+        Airframe disarm is done by throttle off and opposite of above combination.
+        Le désarmement de l'appareil s'effectue gaz à zéro et le mouvement opposé à la combinaison ci-dessus.
+    
+    
+        
+        Takes you to the wiki page
+        Vous renvoie à la page wiki
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        Envoie vers OpenPilot mais n'écrit pas dans la SD.
+Soyez certain de régler la position de tous les curseurs avant d'envoyer !
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        Soyez certain de régler la position de tous les curseurs au Neutre avant d'envoyer !
+Applique et Enregistre tous les paramètres sur la SD
+    
+    
+        
+        Save
+        Enregistrer
+    
+
+
+    inputChannelForm
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Function
+        Fonction
+    
+    
+        
+        Type
+        Type
+    
+    
+        
+        Number
+        Nombre
+    
+    
+        
+        Min
+        Mini
+    
+    
+        
+        Neutral
+        Neutre
+    
+    
+        
+        Max
+        Maxi
+    
+    
+        
+        TextLabel
+        Label de texte
+    
+    
+        
+        Rev
+        Inv
+    
+    
+        
+        Chan %1
+        Canal %1
+    
+
+
+    MixerCurve
+    
+        
+        MixerCurve
+        Courbe Mixeur
+    
+    
+        
+        Throttle Curve
+        Courbe Gaz
+    
+    
+        
+        Max
+        Maxi
+    
+    
+        
+        4
+        4
+    
+    
+        
+        3
+        3
+    
+    
+        
+        2
+        2
+    
+    
+        
+        Min
+        Mini
+    
+    
+        
+        Value
+        Valeur
+    
+    
+        
+        1.0
+        1.0
+    
+    
+        
+        .75
+        
+    
+    
+        
+        .50
+        
+    
+    
+        
+        .25
+        
+    
+    
+        
+        .00
+        
+    
+    
+        
+        Linear
+        pas toucher !
+        
+    
+    
+        
+        Log
+        pas toucher !
+        
+    
+    
+        
+        Exp
+        pas toucher !
+        
+    
+    
+        
+        Flat
+        pas toucher !
+        
+    
+    
+        
+        Step
+        Saut ?
+        
+    
+    
+        
+        Generate
+        Générer
+    
+    
+        
+        Reset
+        Réinitialiser
+    
+    
+        
+        Advanced...
+        Avancé...
+    
+
+
+    OutputWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Output
+        Sortie
+    
+    
+        
+        Output Update Speed
+        Bof...
+        Fréquence Mise à Jour Sortie
+    
+    
+        
+        Channel:
+        Canal :
+    
+    
+        
+        -
+        -
+    
+    
+        
+        Update rate:
+        Fréquence de raffraichissement :
+    
+    
+        
+        Setup "TurboPWM" here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.
+        Configurer ici "TurboPWM": valeur classique pour les multirotors.
+Laisser à 50Hz pour une aile volante.
+    
+    
+        
+        50
+        50
+    
+    
+        
+        60
+        60
+    
+    
+        
+        125
+        125
+    
+    
+        
+        165
+        165
+    
+    
+        
+        270
+        270
+    
+    
+        
+        330
+        330
+    
+    
+        
+        400
+        400
+    
+    
+        
+        Motors spin at neutral output when armed and throttle below zero (be careful)
+        Armés, les moteurs tournent avec la sortie au neutre et les gaz à zéro (soyez prudent)
+    
+    
+        
+        Move the servos using the sliders. Two important things:
+- Take extra care if the output is connected to an motor controller!
+- Will only work if the RC receiver is working (failsafe)
+        Déplacer les servos en utilisant les curseurs. Deux choses importantes :
+- Faire très attention si la sortie est branchée sur un controleur de moteur !
+- Marche seulement si le récepteur RC est en fonctionnement (par sécurité)
+    
+    
+        
+        Test outputs
+        Tester les sorties
+    
+    
+        
+        Takes you to the wiki page
+        Vous renvoie à la page wiki
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        Envoie vers OpenPilot mais n'écrit pas dans la SD.
+Soyez certain de régler la position de tous les curseurs avant d'envoyer !
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        Soyez certain de régler la position de tous les curseurs au Neutre avant d'envoyer !
+Applique et Enregistre tous les paramètres sur la SD
+    
+    
+        
+        Save
+        Enregistrer
+    
+
+
+    outputChannelForm
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Current value of slider.
+        Valeur actuelle du curseur.
+    
+    
+        
+        0000
+        0000
+    
+    
+        
+        Link
+        
+    
+    
+        
+        TextLabel
+        Label de texte
+    
+    
+        
+        #
+        
+    
+    
+        
+        Channel Number
+        Numéro Canal
+    
+    
+        
+        Minimum PWM value, beware of not overdriving your servo.
+        Valeur minimum PWM, attention de respecter les limites de votre servo.
+    
+    
+        
+        Check to invert the channel.
+        Cocher pour inverser le canal.
+    
+    
+        
+        Neutral (slowest for motor)
+        Neutre (le plus bas pour avoir le moteur)
+    
+    
+        
+        Assignment
+        Affectation
+    
+    
+        
+        Min
+        Mini
+    
+    
+        
+        Max
+        Maxi
+    
+    
+        
+        Output mode
+        Mode de sortie
+    
+    
+        
+        Rev
+        Inv
+    
+    
+        
+        Maximum PWM value, beware of not overdriving your servo.
+        Valeur maximum PWM, attention de respecter les limites de votre servo.
+    
+
+
+    PipXtremeWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/dACrAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        Envoyer les paramètres sur la carte et enregistrer dans la mémoire
+    
+    
+        
+        Save
+        Enregistrer
+    
+    
+        
+        Pairing
+        
+    
+    
+        
+        Broadcast
+        
+    
+    
+        
+        Broadcast Address
+        
+    
+    
+        
+        12345678
+        12345678
+    
+    
+        
+        %v dBm
+        
+    
+    
+        
+        -100dB
+        
+    
+    
+        
+        Status
+        Statut
+    
+    
+        
+        Firmware Ver.
+        
+    
+    
+        
+        Serial Number
+        
+    
+    
+        
+        The modems serial number
+        
+    
+    
+        
+        Device ID
+        
+    
+    
+        
+        Pair ID
+        
+    
+    
+        
+        90ABCDEF
+        
+    
+    
+        
+        Min Frequency
+        
+    
+    
+        
+        The modems minimum allowed frequency
+        
+    
+    
+        
+        Max Frequency
+        
+    
+    
+        
+        The modems maximum allowed frequency
+        
+    
+    
+        
+        Freq. Step Size
+        
+    
+    
+        
+        The modems minimum frequency step size
+        
+    
+    
+        
+        Freq. Band
+        
+    
+    
+        
+        The current frequency band
+        
+    
+    
+        
+        RSSI
+        
+    
+    
+        
+        Rx AFC
+        
+    
+    
+        
+        TX Rate (B/s)
+        
+    
+    
+        
+        RX Rate (B/s)
+        
+    
+    
+        
+        Link State
+        
+    
+    
+        
+        The modems current state
+        
+    
+    
+        
+        Disconnected
+        
+    
+    
+        
+        Errors
+        
+    
+    
+        
+        Retries
+        
+    
+    
+        
+        UAVTalk Errors
+        
+    
+    
+        
+        Resets
+        
+    
+    
+        
+        Dropped
+        
+    
+    
+        
+        Configuration
+        Configuration
+    
+    
+        
+        Telemetry Port Config.
+        
+    
+    
+        
+        Set the telemetry port configuration
+        
+    
+    
+        
+        Telemetry Port Speed
+        
+    
+    
+        
+        Set the telemetry port speed
+        
+    
+    
+        
+        Flexi Port Configuration
+        
+    
+    
+        
+        Set the flexi port configuration
+        
+    
+    
+        
+        Flexi Port Speed
+        
+    
+    
+        
+        Set the flexi port speed
+        
+    
+    
+        
+        VCP Configuration
+        
+    
+    
+        
+        Set the virtual serial port configuration
+        
+    
+    
+        
+        VCP Speed
+        
+    
+    
+        
+        Set the virtual serial port speed
+        
+    
+    
+        
+        Max RF Datarate (bits/s)
+        
+    
+    
+        
+        Set the maximum RF datarate/channel bandwidth the modem will use
+        
+    
+    
+        
+        Max RF Tx Power(mW)
+        
+    
+    
+        
+        Set the maximum TX output power the modem will use
+        
+    
+    
+        
+        Send Timeout (ms)
+        
+    
+    
+        
+        Calibrate the modems RF carrier frequency
+        
+    
+    
+        
+        Min Packet Size
+        
+    
+    
+        
+        Frequency Calibration
+        
+    
+    
+        
+        Frequency (Hz)
+        
+    
+    
+        
+        Set the modems RF carrier frequency
+        
+    
+    
+        
+        AES Encryption
+        
+    
+    
+        
+        The AES encryption key - has to be the same key on the remote modem.
+        
+    
+    
+        
+        Radomise the AES encryption key
+        
+    
+    
+        
+         Rand
+        
+    
+    
+        
+        Enable/Disable AES encryption
+        
+    
+    
+        
+        Enable
+        
+    
+    
+        
+        Scan whole band to see where their is interference and/or used channels
+        
+    
+    
+        
+            Scan Spectrum    
+        
+    
+
+
+    PRO_HW_Widget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</span></p></body></html>
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Configurez ici la vitesse série de votre modem de télémétrie embarqué. Ceci correspond à la vitesse entre la carte OpenPilot et le modem embarqué, elle peut être différente de la vitesse sur le lien radio.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Méfiez-vous de ne pas vous verrouiller l'accès distant ! Vous devriez seulement modifier ce paramètre lorsque la carte OpenPilot est connectée via le port USB.</span></p></body></html>
+    
+    
+        
+        Telemetry speed:
+        Vitesse de télémétrie :
+    
+    
+        
+        Select the speed here.
+        Sélectionner ici la vitesse.
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        Envoie vers l'OpenPilot mais n'écrit pas dans la SD.
+Méfiez-vous de ne pas vous verrouiller l'accès distant !
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        Applique et Enregistre tous les paramètres dans la SD.
+Méfiez-vous de ne pas vous verrouiller l'accès distant !
+    
+    
+        
+        Save
+        Enregistrer
+    
+
+
+    RevoSensorsWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Calibration
+        Calibration
+    
+    
+        
+        #1: Multi-Point Calibration
+        
+    
+    
+        
+        Nice paper plane, eh?
+        Joli avion en papier, hein ?
+    
+    
+        
+        Launch a sensor range and bias calibration.
+        
+    
+    
+        
+        Start
+        Démarrer
+    
+    
+        
+        Save settings (only enabled when calibration is running)
+        Enregistrer les paramètres (actif uniquement lorsque la calibration est en route)
+    
+    
+        
+        Save Position
+        Enregistre Position
+    
+    
+        
+        #2: Sensor noise calibration
+        
+    
+    
+        
+        These are the sensor variance values computed by the AHRS.
+
+Tip: lower is better!
+        
+    
+    
+        
+        Press to start a calibration procedure, about 15 seconds.
+
+Hint: run this with engines at cruising speed.
+        Appuyer pour démarrer la procédure de calibration, environ 15 secondes.
+
+Astuce : Faites-le avec le moteur en vitesse de croisière.
+    
+    
+        
+        #3: Accelerometer Bias calibration
+        
+    
+    
+        
+        #4 Gyro temperature drift calibration
+        
+    
+    
+        
+        Temp:
+        
+    
+    
+        
+        Min
+        Mini
+    
+    
+        
+        Currently measured temperature on the system. This is actually the
+MB temperature, be careful if somehow you know that your INS
+temperature is very different from your MB temp...
+        
+    
+    
+        
+        Max
+        Maxi
+    
+    
+        
+        Current drift:
+        
+    
+    
+        
+        Saved drift:
+        
+    
+    
+        
+        Start gathering data for temperature drift calibration.
+Avoid sudden moves once you have started gathering!
+        
+    
+    
+        
+        Launch drift measurement based on gathered data.
+
+TODO: is this necessary? Measurement could be auto updated every second or so, or done when we stop measuring...
+        
+    
+    
+        
+        Measure
+        
+    
+    
+        
+        Updates the XYZ drift values into the AHRS (saves to SD)
+        
+    
+    
+        
+        Save
+        Enregistrer
+    
+    
+        
+        Six Point Calibration instructions
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Step #1 and #2 are really necessary. Steps #3 and #4 will help you achieve the best possible results.</span></p>
+<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#1: Multi-Point calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here.  Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#2: Sensor noise calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute sensor variance under standard conditions. You can leave your engines running at low to mid throttle to take their vibration into account before pressing &quot;Start&quot;.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#3: Accelerometer bias calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that accelerometer bias is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#4 Gyro temp drift calibration:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p></td></tr></table></body></html>
+        
+    
+    
+        
+        Settings
+        Paramètres
+    
+    
+        
+        Attitude Algorithm:
+        
+    
+    
+        
+        Select the sensor integration algorithm here.
+"Simple" only uses accelerometer values
+"INSGPS" the full featured algorithm integrating all sensors
+        Sélectionner ici l'algorithme d'intégration des capteurs.
+"Simple" utilise seulement les valeurs des accéléromètres
+"INSGPS" l'algorithme complet intégrant tous les capteurs
+    
+    
+        
+        Home Location:
+        
+    
+    
+        
+        Saves the Home Location. This is only enabled
+if the Home Location is set, i.e. if the GPS fix is
+successful.
+
+Disabled if there is no GPS fix.
+        
+    
+    
+        
+        Set
+        Régler
+    
+    
+        
+        buttonGroup
+        
+    
+    
+        
+        Clears the HomeLocation: only makes sense if you save
+to SD. This will force the INS to use the next GPS fix as the
+new home location unless it is in indoor mode.
+        
+    
+    
+        
+        Clear
+        Effacer tout
+    
+    
+        
+        Telemetry link not established.
+        Lien de télémétrie coupé.
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        Save settings to the board (RAM only).
+
+This does not save the calibration settings, this is done using the
+specific calibration button on top of the screen.
+        
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        Send settings to the board, and save to the non-volatile memory.
+        
+    
+
+
+    StabilizationWidget
+    
+        
+        Stabilization
+        Stabilisation
+    
+    
+        
+        Basic
+        Basique
+    
+    
+        
+        Rate Stabilization (Inner Loop)
+        
+    
+    
+        
+        Link Roll and Pitch
+        Lier Roll et Pitch
+    
+    
+        
+        Reset all values to GCS defaults
+        Raz aux valeurs par défaut de GCS
+    
+    
+        
+        Default
+        Défaut
+    
+    
+        
+        button:default
+        pas toucher ?
+        
+    
+    
+        
+        buttongroup:1
+        pas toucher ?
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Proportional
+        Proportionnel
+    
+    
+        
+        Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.
+        
+    
+    
+        
+        objname:StabilizationSettings
+        
+    
+    
+        
+        fieldname:RollRatePID
+        
+    
+    
+        
+        element:Kp
+        
+    
+    
+        
+        haslimits:yes
+        
+    
+    
+        
+        scale:0.0001
+        
+    
+    
+        
+        buttongroup:1,10
+        
+    
+    
+        
+        fieldname:PitchRatePID
+        
+    
+    
+        
+        fieldname:YawRatePID
+        
+    
+    
+        
+        Integral
+        Intégrale
+    
+    
+        
+        As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        element:Ki
+        
+    
+    
+        
+        Attitude Stabilization (Outer Loop)
+        
+    
+    
+        
+        buttongroup:2
+        
+    
+    
+        
+        fieldname:RollPI
+        
+    
+    
+        
+        scale:0.1
+        
+    
+    
+        
+        buttongroup:2,10
+        
+    
+    
+        
+        fieldname:PitchPI
+        
+    
+    
+        
+        fieldname:YawPI
+        
+    
+    
+        
+        When the throttle is low, zero the intergral term to prevent intergral wind-up
+        Quand les gaz sont faibles, mettre à zero le terme intégral pour éviter les secousses
+    
+    
+        
+        Zero the integral when throttle is low
+        Mettre l'intégrale à zéro lorsque les gaz sont faibles
+    
+    
+        
+        fieldname:LowThrottleZeroIntegral
+        
+    
+    
+        
+        Advanced
+        Avancé
+    
+    
+        
+        Rate Stabization Coefficients (Inner Loop)
+        
+    
+    
+        
+        buttongroup:4
+        
+    
+    
+        
+        element:Kd
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:4,20
+        
+    
+    
+        
+        As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+You can usually go for higher values for Yaw factors.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+        
+    
+    
+        
+        Derivative
+        Dérivée
+    
+    
+        
+        Attitude Stabization Coefficients (Outer Loop)
+        
+    
+    
+        
+        buttongroup:5
+        
+    
+    
+        
+        buttongroup:5,20
+        
+    
+    
+        
+        Stick Range and Limits
+        Plage des Manches et Limites
+    
+    
+        
+        buttongroup:6
+        
+    
+    
+        
+        fieldname:PitchMax
+        
+    
+    
+        
+        buttongroup:6,20
+        
+    
+    
+        
+        Max rate attitude (deg/s)
+        
+    
+    
+        
+        fieldname:MaximumRate
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:ManualRate
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        fieldname:YawMax
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Full stick angle (deg)
+        
+    
+    
+        
+        fieldname:RollMax
+        
+    
+    
+        
+        Full stick rate (deg/s)
+        
+    
+    
+        
+        Expert
+        
+    
+    
+        
+        Weak Leveling / Axis Lock
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Weak Leveling Kp 
+        
+    
+    
+        
+        Weak Leveling Rate 
+        
+    
+    
+        
+        Max Axis Lock 
+        
+    
+    
+        
+        Max Axis Lock Rate 
+        
+    
+    
+        
+        fieldname:WeakLevelingKp
+        
+    
+    
+        
+        fieldname:MaxWeakLevelingRate
+        
+    
+    
+        
+        fieldname:MaxAxisLock
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Integral Limits
+        
+    
+    
+        
+        buttongroup:13
+        
+    
+    
+        
+        element:ILimit
+        
+    
+    
+        
+        ILimit Attitude
+        
+    
+    
+        
+        ILimit Rate
+        
+    
+    
+        
+        Sensor Tuning
+        
+    
+    
+        
+        buttongroup:8
+        
+    
+    
+        
+        The proportional term for the accelerometer, the higher this term the more weight the  accel is given
+        
+    
+    
+        
+        objname:AttitudeSettings
+        
+    
+    
+        
+        fieldname:AccelKp
+        
+    
+    
+        
+        buttongroup:8,10
+        
+    
+    
+        
+        GyroTau
+        
+    
+    
+        
+        AccelKp
+        
+    
+    
+        
+        GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros
+        
+    
+    
+        
+        fieldname:GyroTau
+        
+    
+    
+        
+        AccelKi
+        
+    
+    
+        
+        The intergral term for the accelerometer within the filter 
+        
+    
+    
+        
+        fieldname:AccelKi
+        
+    
+    
+        
+        Real Time Updates
+        
+    
+    
+        
+        If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.
+        
+    
+    
+        
+        Update in real time
+        
+    
+    
+        
+        Takes you to the wiki page
+        Vous renvoie à la page wiki
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DAO9
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        Recharger Données Carte
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        Envoyer les paramètres sur la carte et enregistrer dans la mémoire
+    
+    
+        
+        Save
+        Enregistrer
+    
+    
+        
+        button:save
+        
+    
+
+
+    TxPIDWidget
+    
+        
+        TxPID
+        
+    
+    
+        
+        Tx PID
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        This module will periodically update values of stabilization PID settings
+depending on configured input control channels. New values of stabilization
+settings are not saved to flash, but updated in RAM. It is expected that the
+module will be enabled only for tuning. When desired values are found, they
+can be read via GCS and saved permanently. Then this module should be
+disabled again.
+
+Up to 3 separate PID options (or option pairs) can be selected and updated.
+        
+    
+    
+        
+        Enable TxPID module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Module Settings
+        
+    
+    
+        
+        PID option
+        
+    
+    
+        
+        Control Source
+        
+    
+    
+        
+        Min
+        Mini
+    
+    
+        
+        Max
+        Maxi
+    
+    
+        
+        Instance 1
+        
+    
+    
+        
+        Select PID option or option pair to update.
+Set to Disabled if not used.
+        
+    
+    
+        
+        Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min > Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.
+        
+    
+    
+        
+        Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.
+        
+    
+    
+        
+        Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.
+        
+    
+    
+        
+        Instance 2
+        
+    
+    
+        
+        Instance 3
+        
+    
+    
+        
+        Update Mode
+        
+    
+    
+        
+        PID values update mode which can be set to:
+- Never: this disables PID updates (but module still will be run if enabled),
+- When Armed: PID updated only when system is armed,
+- Always: PID updated always regardless of arm state.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.
+        
+    
+    
+        
+        Throttle Range
+        
+    
+    
+        
+        Throttle channel lower bound mapped to PID Min value
+        
+    
+    
+        
+        Throttle channel upper bound mapped to PID Max value
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DACiAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire
+    
+    
+        
+        Apply
+        Appliquer
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        Envoyer les paramètres sur la carte et enregistrer dans la mémoire
+    
+    
+        
+        Save
+        Enregistrer
+    
+
+
+    VernierWidget
+    
+        
+        Form
+        Formulaire
+    
+
+
+    importSettings
+    
+        
+        OpenPilotGCS
+        
+    
+    
+        
+        No configuration file could be found.
+Please choose from one of the default configurations
+        
+    
+    
+        
+        TextLabel
+        Label de texte
+    
+    
+        
+        Load
+        Charger
+    
+
+
+    Form
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Save to file
+        
+    
+
+
+    GCSControlGadgetOptionsPage
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Control Mode:
+        Mode de pilotage : 
+    
+    
+        
+        Mode 1
+        
+    
+    
+        
+        Mode 2
+        
+    
+    
+        
+        Mode 3
+        
+    
+    
+        
+        Mode 4
+        
+    
+    
+        
+        External input Device:
+        
+    
+    
+        
+        Only joystick is implemented at this stage, so this control is disabled.
+        
+    
+    
+        
+        Joystick
+        
+    
+    
+        
+        Audio
+        
+    
+    
+        
+        Available controllers
+        Controleurs disponibles
+    
+    
+        
+        Default
+        Défaut
+    
+    
+        
+        Joystick Axes
+        
+    
+    
+        
+        Rev
+        Inv
+    
+    
+        
+        Move your joystick controls to identify channels
+        
+    
+    
+        
+        Joystick Buttons
+        
+    
+    
+        
+        Press buttons on controller to identify mappings
+        
+    
+    
+        
+        button 1
+        
+    
+    
+        
+        button 2
+        
+    
+    
+        
+        button 8
+        
+    
+    
+        
+        button 7
+        
+    
+    
+        
+        button 6
+        
+    
+    
+        
+        button 5
+        
+    
+    
+        
+        button 4
+        
+    
+    
+        
+        button 3
+        
+    
+    
+        
+        by
+        
+    
+    
+        
+        Audio: soundcard-based PPM decoding for trainer port. Not implemented yet.
+        
+    
+    
+        
+        UDP Setup
+        Paramètres UDP
+    
+    
+        
+        UDP Port Configuration
+        Configuration Port UDP
+    
+    
+        
+        Host:
+        Hôte :
+    
+    
+        
+        127.0.0.1
+        127.0.0.1
+    
+    
+        
+        Port:
+        Port :
+    
+    
+        
+        2323
+        2323
+    
+
+
+    Widget
+    
+        
+        send data
+        
+    
+    
+        
+        Flight mode
+        
+    
+    
+        
+        Armed state
+        
+    
+    
+        
+        Disarmed
+        
+    
+    
+        
+        Arming
+        
+    
+    
+        
+        Armed
+        Armé
+    
+    
+        
+        Channels
+        
+    
+
+
+    MagicWaypoint
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Scale:
+        Echelle :
+    
+
+
+    homeEditor
+    
+        
+        Dialog
+        Boîte de dialogue
+    
+    
+        
+        Latitude:
+        Latitude :
+    
+    
+        
+        Longitude:
+        Longitude :
+    
+    
+        
+        Altitude:
+        Altitude :
+    
+
+
+    pathPlannerUI
+    
+        
+        PathPlanner
+        
+    
+    
+        
+        Add Leg
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Delete Leg
+        
+    
+    
+        
+        Insert Leg
+        
+    
+    
+        
+        Read from file
+        
+    
+    
+        
+        Save to file
+        
+    
+    
+        
+        Send to UAV
+        
+    
+    
+        
+        Fetch from UAV
+        
+    
+    
+        
+        Open Details
+        
+    
+
+
+    PfdQmlGadgetOptionsPage
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        QML file: 
+        Fichier  QML :
+    
+    
+        
+        Use OpenGL
+        Utiliser OpenGL
+    
+    
+        
+        Show Terrain:
+        
+    
+    
+        
+        OsgEarth file:
+        
+    
+    
+        
+        Use actual location
+        
+    
+    
+        
+        Use pre-defined location:
+        
+    
+    
+        
+        Latitude:
+        Latitude :
+    
+    
+        
+        Longitude:
+        Longitude :
+    
+    
+        
+        Altitude:
+        Altitude :
+    
+    
+        
+        Use only cache data
+        
+    
+    
+        
+        Pre seed terrain cache
+        
+    
+    
+        
+        QML file (*.qml)
+        Fichier QML (*.qml)
+    
+    
+        
+        Choose QML file
+        Choisir un fichier QML
+    
+    
+        
+        OsgEarth (*.earth)
+        
+    
+    
+        
+        Choose OsgEarth terrain file
+        
+    
+
+
+    QmlViewGadgetOptionsPage
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Use OpenGL for rendering
+        Utiliser le rendu OpenGL
+    
+    
+        
+        QML file: 
+        Fichier  QML :
+    
+    
+        
+        QML file (*.qml)
+        Fichier QML (*.qml)
+    
+    
+        
+        Choose QML file
+        Choisir un fichier QML
+    
+
+
+    SerialPluginOptionsPage
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Serial Connection
+        Connexion Série
+    
+    
+        
+        Serial telemetry speed:
+        Vitesse télémétrie série :
+    
+    
+        
+        settings
+        Paramètres
+    
+
+
+    ConnectionDiagram
+    
+        
+        Dialog
+        Boîte de dialogue
+    
+    
+        
+        Save
+        Enregistrer
+    
+    
+        
+        Close
+        Fermer
+    
+    
+        
+        Connection Diagram
+        Diagramme de Connexion
+    
+    
+        
+        Save File
+        Enregistrer Fichier
+    
+    
+        
+        Images (*.png *.xpm *.jpg)
+        
+    
+
+
+    AutoUpdatePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Firmware Update Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It is necessary that your firmware and ground control software are the same version.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To update your firmware to the correct version now:</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Unplug all batteries and USB from OpenPilot</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Ensure your board is powered down &amp; no LED's are active.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When you are ready you can start the upgrade below by pushing the button and follow the onscreen prompts, it is critical that nothing disturbs the board while the firmware is being written.</p></body></html>
+        
+    
+    
+        
+        Upgrade now
+        
+    
+    
+        
+        Upgrade
+        
+    
+    
+        
+        Ready...
+        Prêt...
+    
+
+
+    ControllerPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot board identification</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to determine the configuration required for the type of OpenPilot controller you have. When connected, the wizard will attempt to automatically detect the type of board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If the board is already connected and successfully detected, the board type will already be displayed. You can </span><span style=" font-size:10pt; font-weight:600;">Disconnect</span><span style=" font-size:10pt;"> and select another device if you need to detect another board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If your board is not connected, please connect the board to a USB port on your computer and select the device from the list below.  Then press </span><span style=" font-size:10pt; font-weight:600;">Connect</span><span style=" font-size:10pt;">.</span></p></body></html>
+        'moyen de connexion', à affiner...
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Identification de la carte OpenPilot</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Pour continuer, l'assistant de configuration doit déterminer la configuration nécessaire au type de carte dont vous disposez. Lorsque vous la branchez, l'assistant essaye de détecter automatiquement le type de carte.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Si la carte est déjà branchée et correctement détectée, le type de carte sera déjà affiché. Vous pouvez </span><span style=" font-size:10pt; font-weight:600;">Déconnecter</span><span style=" font-size:10pt;"> et sélectionner un autre moyen de connexion si vous avez besoin de détecter une autre carte.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Si votre carte n'est pas connectée, branchez votre carte sur un port USB de votre ordinateur et sélectionnez le moyen de connexion dans la liste ci-dessous. Appuyez ensuite sur </span><span style=" font-size:10pt; font-weight:600;">Connecter</span><span style=" font-size:10pt;">.</span></p></body></html>
+    
+    
+        
+        Connection device:
+        device moyen  de connexion... bof à corriger si besoin dans le texte ci-dessus.
+        Moyen de connexion :
+    
+    
+        
+        Detected board type:
+        Type de carte détectée :
+    
+    
+        
+        
+        Connect
+        Connecter
+    
+    
+        
+        <Unknown>
+        <Inconnu>
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        Disconnect
+        Déconnecter
+    
+
+
+    EndPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Congratulations!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Setup wizard is completed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the setup procedure is now complete and you are one step away from completing the setup of your OpenPilot controller.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To complete the setup please click the Radio Setup Wizard button below to close this wizard and go directly to the Radio Setup Wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p></body></html>
+        
+    
+    
+        
+        Go to Input Wizard...
+        
+    
+    
+        
+        Unable to open Input Wizard since the Config Plugin is not
+loaded in the current workspace.
+        
+    
+
+
+    FixedWingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Fixed Wing section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    HeliPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Helicopter section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    InputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot basic input signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The OpenPilot controller supports many different types of input signals. Please select the type of input that matches your receiver configuration. If you are unsure, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, you will be instructed to do so on the next page of this wizard.</span></p></body></html>
+        
+    
+    
+        
+        PWM - One cable per channel
+        PWM - Un câble par canal
+    
+    
+        
+        PWM
+        
+    
+    
+        
+        PPM - One cable for all channels
+        PPM - Un câble pour tous les canaux
+    
+    
+        
+        PPM
+        
+    
+    
+        
+        Futaba S-BUS
+        
+    
+    
+        
+        Futaba
+        
+    
+    
+        
+        Spektrum Satellite
+        
+    
+    
+        
+        Spektrum
+        
+    
+
+
+    LevellingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot controller leveling calibration procedure</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To perform the leveling, please push the Calculate button and wait for the process to finish. </span></p></body></html>
+        
+    
+    
+        
+        Calculate gyro and accelerometer bias
+        Calculer l'ajustement des gyros et des accéléromètres
+    
+    
+        
+        Calculate
+        Calculer
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to perform bias calculations.
+Please connect your OpenPilot controller to your computer and try again.
+        Un controleur OpenPilot doit être connecté à votre PC pour calculer l'ajustement du niveau.
+Connectez votre carte OpenPilot et essayez à nouveau.
+    
+    
+        
+        Retrieving data...
+        Récupération des données...
+    
+    
+        
+        <font color='green'>Done!</font>
+        <font color='green'>Terminé !</font>
+    
+
+
+    MultiPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot multirotor configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the wizard will set up the OpenPilot controller for use with a flying platform utilizing multiple rotors. The wizard supports the most common types of multirotors. Other variants of multirotors can be configured by using custom configuration options in the Configuration plugin in the GCS.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Please select the type of multirotor you want to create a configuration for below:</span></p></body></html>
+        
+    
+    
+        
+        Multirotor type:
+        Type Multirotor :
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        The Tricopter uses three motors and one servo. The servo is used to give yaw authority to the rear motor. The front motors are rotating in opposite directions. The Tricopter is known for its sweeping yaw movement and it is very well suited for FPV since the front rotors are spread wide apart.
+        
+    
+    
+        
+        Quadcopter X
+        Quadricopter X
+    
+    
+        
+        The X Quadcopter uses four motors and is the most common multi rotor configuration. Two of the motors rotate clockwise and two counter clockwise. The motors positioned diagonal to each other rotate in the same direction. This setup is perfect for sport flying and is also commonly used for FPV platforms.
+        
+    
+    
+        
+        Quadcopter +
+        Quadricopter +
+    
+    
+        
+        The Plus(+) Quadcopter uses four motors and is similar to the X Quadcopter but the forward direction is offset by 45 degrees. The motors front and rear rotate in clockwise and the motors right and left rotate counter-clockwise. This setup was one of the first to be used and is still used for sport flying. This configuration is not that well suited for FPV since the fore rotor tend to be in the way of the camera.
+        
+    
+    
+        
+        
+        Hexacopter
+        
+    
+    
+        
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Hexacopter H
+        
+    
+
+
+    NotYetImplementedPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">This section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    OutputCalibrationPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        Output calibration
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">It is now time to calibrate the output levels for the signals controlling your vehicle. </span></p>
+<p align="center" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">VERY IMPORTANT!</span><span style=" font-family:'Lucida Grande'; font-size:10pt;"><br /></span><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">REMOVE ALL PROPELLERS FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Connect all components according to the illustration on the summary page, and provide power using an external power supply such as a battery before continuing.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Depending on what vehicle you have selected, both the motors controlled by ESCs and/or servos controlled directly by the OpenPilot controller may have to be calibrated. The following steps will guide you safely through this process. </span></p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>In this step we will set the neutral rate for the motor highlighted in the illustration to the right. <br/>Plase pay attention to the details and in particular the motors position and its rotation direction.</p><p>To find the neutral rate for this engine, press the Start button below and slide the slider to the right until the engine just starts to spin stably. <br/><br/>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        
+        Start
+        Démarrer
+    
+    
+        
+        <html><head/><body><p>This step calibrates the center position of the servo. To set the center position for this servo, press the Start button below and slide the slider to center the servo. </p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To save the servo and other hardware from damage we have to set the max and min angles for the servo. </p><p>To set the minimum angle for the servo, press the Start button below and select the top slider and slide it to the left until min angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To set the maximum angle for the servo, press the Start button below and select the top slider and slide it to the right until max angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        Stop
+        Arrêter
+    
+    
+        
+        The actuator module is in an error state.
+
+Please make sure the correct firmware version is used then restart the wizard and try again. If the problem persists please consult the openpilot.org support forum.
+        
+    
+
+
+    OutputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot basic output signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To set an optimal configuration of the output signals powering your motors, the wizard needs to know what type of Electronic Speed Controllers (ESCs) you will use and what their capabilities are.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Please select one of the options below. If you are unsure about the capabilities of your ESCs, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To read more regarding ESC refresh rates, please see </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">this article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> in the OpenPilot Wiki</span></p></body></html>
+        
+    
+    
+        
+        Standard ESC 50Hz
+        
+    
+    
+        
+        Standard ESC
+        
+    
+    
+        
+        Turbo PWM ESC 400Hz
+        
+    
+    
+        
+        Turbo PWM
+        
+    
+
+
+    RebootPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ff0000;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ffd500;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">The configuration created by the wizard contains settings that require a reboot of your controller. Please power cycle the controller before continuing. To power cycle the controller remove all batteries and the USB cable for at least 30 seconds.</span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">After 30 seconds, plug in the board again and wait for it to connect, this can take a few seconds. Then press next.</span></p></body></html>
+        
+    
+
+
+    SavePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration ready to save</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The wizard is now ready to save the configuration directly to your OpenPilot controller. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If any of the selections made in this wizard require a reboot of the controller, then power cycling the OpenPilot controller board will have to be performed after you save in this step.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Press the Save button to save the configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;"><br /></span></p></body></html>
+        
+    
+    
+        
+        Write configuration to controller
+        Ecrire la configuration dans le controleur
+    
+    
+        
+        Save
+        Enregistrer
+    
+    
+        
+        Ready...
+        Prêt...
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to save the configuration.
+Please connect your OpenPilot controller to your computer and try again.
+        Un controleur OpenPilot doit être connecté à votre PC pour enregistrer la configuration.
+Connectez votre carte OpenPilot et essayez à nouveau.
+    
+
+
+    StartPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Welcome to the OpenPilot Setup Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard will guide you through the basic steps required to setup your OpenPilot controller for the first time.  You will be asked questions about your platform (multirotor/heli/fixed-wing) which this wizard will use to configure your aircraft for your maiden flight. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard does not configure all of the advanced settings available in the GCS Configuration. All basic and advanced configuration parameters can be modified later by using the GCS Configuration plugin.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">WARNING: YOU MUST REMOVE ALL PROPELLERS </span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Disregarding this warning puts you at</span><span style=" font-size:10pt; font-weight:600; color:#000000;"> risk of very serious injury</span><span style=" font-size:10pt;">!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Now that your props are removed we can get started. Ready?</span></p></body></html>
+        
+    
+
+
+    SummaryPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration summary</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The first part of this wizard is now complete. All information required to create a basic OpenPilot controller configuration for a specific vehicle has been collected.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Below is a summary of the configuration and a button that links to a diagram illustrating how to connect required hardware and the OpenPilot Controller with the current configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue the wizard and go through some basic configuration steps, please continue to the next step of this wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The following steps require that your OpenPilot controller is set up according to the diagram, it is </span><span style=" font-size:10pt; font-weight:600;">connected to the computer</span><span style=" font-size:10pt;"> by USB, and that the vehicle is</span><span style=" font-size:10pt; font-weight:600;"> powered by a battery</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Show connection diagram for configuration
+        
+    
+
+
+    SurfacePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Surface Vehicle section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    VehiclePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Vehicle type selection</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to know what type of vehicle the OpenPilot controller board is going to be used with. This step is crucial since much of the following configuration is unique per vehicle type.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Go ahead and select the type of vehicle for which you want to create a configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(The current version only provides functionality for multirotors.)</span></p></body></html>
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Sélection du type de véhicule</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to know what type of vehicle the OpenPilot controller board is going to be used with. This step is crucial since much of the following configuration is unique per vehicle type.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Go ahead and select the type of vehicle for which you want to create a configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(The current version only provides functionality for multirotors.)</span></p></body></html>
+    
+    
+        
+        Tricopter, Quadcopter, Hexacopter
+        Tricoptère, Quadricopter, Hexacopter
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        CCPM Helicopters
+        
+    
+    
+        
+        Helicopter
+        Hélicoptère
+    
+    
+        
+        Airplane, Sloper, Jet
+        Avion, Planeur, Jet
+    
+    
+        
+        Fixed wing
+        Aile
+    
+    
+        
+        Car, Boat, U-Boat
+        Voiture, Bateau, Sous-marin
+    
+    
+        
+        Surface
+        
+    
+
+
+    viewoptions
+    
+        
+        View Options
+        Voir Options
+    
+    
+        
+        Show MetaData
+        
+    
+    
+        
+        Show Categorized
+        
+    
+    
+        
+        Show Scientific
+        
+    
+
+
+    ImportSummaryDialog
+    
+        
+        Dialog
+        Boîte de dialogue
+    
+    
+        
+        UAV Settings import summary
+        
+    
+    
+        
+        Save all settings checked above to persistent board storage,
+then close the dialog.
+        
+    
+    
+        
+        Save to Board Flash
+        
+    
+    
+        
+        Close this dialog without saving to persistent storage
+        
+    
+    
+        
+        Close
+        Fermer
+    
+    
+        
+        Import Summary
+        Sommaire d'Importation
+    
+
+
+    deviceWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        lblDevName
+        
+    
+    
+        
+        DeviceID
+        
+    
+    
+        
+        lblHWRev
+        
+    
+    
+        
+        RW
+        
+    
+    
+        
+        BL Version
+        
+    
+    
+        
+        MaxCodeSize
+        
+    
+    
+        
+        Open a file with new firmware image to be flashed
+        Ouvrir un fichier avec le nouveau firmware à programmer
+    
+    
+        
+        Open...
+        Ouvrir...
+    
+    
+        
+        I know what I'm doing
+        Je sais ce que je fais
+    
+    
+        
+        Write loaded firmware image to the board
+        Ecrire l'image du firmware chargé sur la carte
+    
+    
+        
+        Flash
+        Programmer
+    
+    
+        
+        Read and save current board firmware to a file
+        Lire et enregistrer le firmware actuel dans un fichier
+    
+    
+        
+        Retrieve...
+        Lire...
+    
+    
+        
+        ic
+        
+    
+    
+        
+        Status
+        Statut
+    
+    
+        
+        Firmware:
+        Firmware :
+    
+    
+        
+        Board name:
+        Nom carte :
+    
+    
+        
+        Firmware tag:
+        Tag firmware :
+    
+    
+        
+        Firmware date:
+        Date firmware :
+    
+    
+        
+        Git commit hash:
+        Git commit hash :
+    
+    
+        
+        CRC:
+        CRC :
+    
+    
+        
+        On Device
+        Sur la Carte
+    
+    
+        
+        lblBrdName
+        
+    
+    
+        
+        lblDescription
+        
+    
+    
+        
+        lblBuildDate
+        
+    
+    
+        
+        lblGitTag
+        
+    
+    
+        
+        lblCRC
+        
+    
+    
+        
+        lblCertified
+        
+    
+    
+        
+        Loaded
+        Chargé
+    
+    
+        
+        lblDescritpionL
+        
+    
+    
+        
+        lblCertifiedL
+        
+    
+    
+        
+        Custom description:
+        Description personnalisée :
+    
+    
+        
+        HW Revision: 
+        Révision Matériel :
+    
+    
+        
+        Custom Firmware Build
+        
+    
+    
+        
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Can't calculate, file too big for device
+        Ne peut calculer, fichier trop gros pour l'appareil
+    
+    
+        
+        The board has the same firmware as loaded. No need to update
+        La carte a déjà le même firmware installé. Pas besoin de le mettre à jour
+    
+    
+        
+        WARNING: the loaded firmware is for different hardware. Do not update!
+        ATTENTION : le firmware chargé est destiné à une autre carte. Ne pas mettre à jour !
+    
+    
+        
+        The board has newer firmware than loaded. Are you sure you want to update?
+        La carte possède un firmware plus récent que celui sélectionné. Êtes-vous certain de vouloir mettre à jour ? 
+    
+    
+        
+        The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)
+        
+    
+    
+        
+        This is the tagged officially released OpenPilot firmware
+        
+    
+    
+        
+        WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing
+        ATTENTION : le firmware chargé n'est pas empaquetté avec le format OpenPilot. Ne le mettez pas à jour, à moins de savoir ce que vous faites
+    
+    
+        
+        
+        Select firmware file
+        Sélectionner le fichier de firmware
+    
+    
+        
+        Firmware Files (*.opfw *.bin)
+        Fichiers Firmware (*.opfw *.bin)
+    
+    
+        
+        Firmware Files (*.bin)
+        Fichiers Firmware (*.bin)
+    
+
+
+    runningDeviceWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        TextLabel
+        Label de texte
+    
+    
+        
+        CPU Serial:
+        
+    
+    
+        
+        Firmware Information
+        
+    
+    
+        
+        HW Revision: 
+        Révision Matériel :
+    
+    
+        
+        Firmware CRC: 
+        
+    
+    
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+
+
+    UploaderWidget
+    
+        
+        Form
+        Formulaire
+    
+    
+        
+        Tells the mainboard to go down
+to bootloader mode.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Halt
+        
+    
+    
+        
+        Boots the system.
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, green LED on)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Boot
+        
+    
+    
+        
+        Boots the system into safe mode (ie. default HwSettings).
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, orange LED off)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Safe Boot
+        
+    
+    
+        
+        Reset the system.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Reset
+        Réinitialiser
+    
+    
+        
+        Start a guided procedure to manually
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.
+        
+    
+    
+        
+        Rescue
+        
+    
+    
+        
+        When telemetry is not connected, select the communication
+method using this combo box.
+
+You can use this to force a communication channel when doing
+a "Boot" (button on the left). It is updated automatically when
+halting a running board.
+        
+    
+    
+        
+        Refresh the list of serial ports
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Running
+        En cours d'exécution
+    
+    
+        
+        Mainboard
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To upgrade the firmware in your boards, proceed as follows:</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Connect telemetry</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Once telemetry is running, press &quot;Halt&quot; above</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You will get a list of devices.</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can then upload/download to/from each board as you wish</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can resume operations by pressing &quot;Boot&quot;</p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    XmlConfig
+    
+        
+        GCS config
+        
+    
+    
+        
+        Parse error at line %1, column %2:
+%3
+        
+    
+
+
+    AntennaTrackGadgetFactory
+    
+        
+        Antenna Track Gadget
+        
+    
+
+
+    ConfigMultiRotorWidget
+    
+        
+        
+        Configuration OK
+        Configuration OK
+    
+
+
+    ConfigCCHWWidget
+    
+        
+        Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported
+        Attention
+        Attention : vous avez configuré la même fonction sur les deux ports MainPort et FlexiPort, ce n'est actuellement pas possible
+    
+    
+        
+        Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported
+        Attention : vous avez configuré la même fonction sur les deux ports USB HID et USB VCP, ce n'est actuellement pas possible
+    
+    
+        
+        Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported
+        Attention : vous avez désactivé la télémétrie USB sur les deux ports USB HID et USB VCP, ce n'est actuellement pas possible
+    
+
+
+    ConfigCCAttitudeWidget
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    ConfigGadgetWidget
+    
+        
+        Unsaved changes
+        Modifications non-sauvegardées
+        
+    
+    
+        
+        The tab you are leaving has unsaved changes,if you proceed they will be lost.Do you still want to proceed?
+        L'onglet que vous quittez contient des modifications non-sauvegardées, si  vous continuez elles seront perdues. Voulez-vous toujours continuer ?
+        
+    
+
+
+    ConfigInputWidget
+    
+        
+        
+        Arming Settings are now set to 'Always Disarmed' for your safety.
+        Les Paramètres d'Armement sont à présent réglés à 'Toujours Désarmé' pour votre sécurité.
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished. After the last step of the wizard you will be taken to the Arming Settings screen.
+        Vous devrez reconfigurer manuellement les paramètres d'armement lorsque l'assistant sera terminé. Après la dernière étape vous serez dirigé sur l'écran Paramètres d'Armement.
+    
+    
+        
+        Welcome to the inputs configuration wizard.
+
+Please follow the instructions on the screen and only move your controls when asked to.
+Make sure you already configured your hardware settings on the proper tab and restarted your board.
+
+You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.
+
+        Bienvenue sur l'assistant de configuration des entrées.
+
+Veuillez suivre les instructions à l'écran et uniquement bouger les commandes lorsque on vous le demande.
+Soyez certain d'avoir déjà configuré vos paramètres matériels dans l'onglet approprié et redémarré votre carte.
+
+Vous pouvez appuyer à tout moment sur 'Précédent' pour revenir à l'écran précédent ou appuyer sur 'Annuler' pour quitter l'assistant.
+    
+    
+        
+        Please choose your transmitter type:
+        Veuillez choisir votre type d'émetteur :
+    
+    
+        
+        Acro: normal transmitter for fixed-wing or quad
+        Acro : émetteur normal pour une aile ou un quad
+    
+    
+        
+        Helicopter: has collective pitch and throttle input
+        Hélicoptère : avec pas collectif et commande des gaz
+    
+    
+        
+        If selecting the Helicopter option, please engage throttle hold now.
+        please engage throttle hold now... à confirmer !
+        Si vous avez sélectionné l'option Hélicoptère, veuillez enclencher et maintenir les gaz.
+    
+    
+        
+        Please choose your transmitter mode:
+        Veuillez choisir votre mode de pilotage :
+    
+    
+        
+        Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right
+        
+    
+    
+        
+        Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right
+        
+    
+    
+        
+        Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right
+        
+    
+    
+        
+        Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right
+        
+    
+    
+        
+        Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right
+        
+    
+    
+        
+        Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right
+        
+    
+    
+        
+        Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right
+        
+    
+    
+        
+        Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right
+        
+    
+    
+        
+        For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw.
+        
+    
+    
+        
+        Please center all controls and trims and press Next when ready.
+
+If your FlightMode switch has only two positions, leave it in either position.
+        
+    
+    
+        
+        Please move all controls to their maximum extents on both directions.
+
+Press Next when ready.
+        
+    
+    
+        
+        Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.
+        
+    
+    
+        
+        You have completed this wizard, please check below if the picture mimics your sticks movement.
+
+IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings tab where you can set your desired arming sequence and save the configuration.
+        
+    
+    
+        
+        Please enable throttle hold mode.
+
+Move the Collective Pitch stick.
+        
+    
+    
+        
+        Please toggle the Flight Mode switch.
+
+For switches you may have to repeat this rapidly.
+        
+    
+    
+        
+        Please disable throttle hold mode.
+
+Move the Throttle stick.
+        
+    
+    
+        
+        Please move each control one at a time according to the instructions and picture below.
+
+Move the %1 stick.
+        
+    
+    
+        
+         Alternatively, click Next to skip this channel.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished.
+        
+    
+
+
+    ConfigOutputWidget
+    
+        
+        The actuator module is in an error state.  This can also occur because there are no inputs.  Please fix these before testing outputs.
+        
+    
+    
+        
+        This option will start your motors by the amount selected on the sliders regardless of transmitter.  It is recommended to remove any blades from motors.  Are you sure you want to do this?
+        
+    
+
+
+    ConfigPlugin
+    
+        
+        Erase all settings from board...
+        
+    
+    
+        
+        Are you sure you want to erase all board settings?.
+        
+    
+    
+        
+        All settings stored in your board flash will be deleted.
+        
+    
+    
+        
+        
+        Error trying to erase settings.
+        
+    
+    
+        
+        
+        Power-cycle your board after removing all blades. Settings might be inconsistent.
+        
+    
+    
+        
+        Settings are now erased.
+        
+    
+    
+        
+        Please wait for the status LED to begin flashing regularly (up to a minute) then power-cycle your board to complete reset.
+        
+    
+
+
+    Core::Internal::AuthorsDialog
+    
+        
+        About OpenPilot Authors
+        
+    
+    
+        
+        From revision %1<br/>
+        This gets conditionally inserted as argument %8 into the description string.
+        Depuis la révision %1<br/>
+    
+    
+        
+        <h3>The OpenPilot Project</h3>Proudly brought to you by this fine team:<br/>
+        
+    
+
+
+    Core::ConnectionManager
+    
+        
+        Connections:
+        Connexions :
+    
+    
+        
+        Connect
+        Connecter
+    
+
+
+    DebugGadgetFactory
+    
+        
+        DebugGadget
+        
+    
+
+
+    DebugGadgetWidget
+    
+        
+        Save log File As
+        Enregistrer Fichier Journal Sous
+    
+    
+        
+        Log Save
+        Enregistrer Journal
+    
+    
+        
+        Unable to save log: 
+        Impossible d'enregistrer le journal : 
+    
+
+
+    DialGadgetFactory
+    
+        
+        Analog Dial
+        
+    
+
+
+    GCSControlGadgetFactory
+    
+        
+        Controller
+        Controleur
+    
+
+
+    GpsDisplayGadgetFactory
+    
+        
+        GPS Display
+        Affichage GPS
+    
+
+
+    ImportExportPlugin
+    
+        
+        GCS Settings Import/Export...
+        Import / Export Paramètres GCS...
+    
+
+
+    LineardialGadgetFactory
+    
+        
+        Bargraph Dial
+        
+    
+
+
+    LoggingConnection
+    
+        
+        Open file
+        Ouvrir fichier
+    
+    
+        
+        OpenPilot Log (*.opl)
+        Journal OpenPilot (*.opl)
+    
+
+
+    LoggingThread
+    
+        
+        Logging: retrieve settings objects from the autopilot (%1 objects)
+        
+    
+
+
+    LoggingPlugin
+    
+        
+        Start Log
+        Démarrer Journal
+    
+    
+        
+        OP-%0.opl
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        Journal OpenPilot (*.opl)
+    
+    
+        
+        Stop logging
+        Arrêter enregistrement
+    
+    
+        
+        Start logging...
+        Démarrer enregistrement...
+    
+
+
+    MagicWaypointGadgetFactory
+    
+        
+        Magic Waypoint
+        
+    
+
+
+    ModelViewGadgetFactory
+    
+        
+        ModelView
+        
+    
+
+
+    NotificationItem
+    
+        
+        Never
+        Jamais
+    
+    
+        
+        Before first
+        
+    
+    
+        
+        Before second
+        
+    
+    
+        
+        After second
+        
+    
+    
+        
+        Repeat Once
+        
+    
+    
+        
+        Repeat Once per update
+        
+    
+    
+        
+        Repeat Instantly
+        
+    
+    
+        
+        Repeat 10 seconds
+        
+    
+    
+        
+        Repeat 30 seconds
+        
+    
+    
+        
+        Repeat 1 minute
+        
+    
+
+
+    flightDataModel
+    
+        
+        Unable to open file
+        
+    
+    
+        
+        File Parsing Failed.
+        Echec Parsing Fichier.
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        Mauvais contenu de fichier
+    
+    
+        
+        This file does not contain correct UAVSettings
+        Ce fichier ne contient pas de paramètres UAV corrects
+    
+
+
+    OPMapGadgetFactory
+    
+        
+        OPMap
+        
+    
+
+
+    pathPlanner
+    
+        
+        Open File
+        Ouvrir Fichier
+    
+    
+        
+        Save File
+        Enregistrer Fichier
+    
+
+
+    PFDGadgetFactory
+    
+        
+        Primary Flight Display
+        
+    
+
+
+    PfdQmlGadgetFactory
+    
+        
+        PFD (qml)
+        
+    
+
+
+    PowerlogPlugin
+    
+        
+        Log filename
+        
+    
+    
+        
+        PowerLog-%0.csv
+        
+    
+    
+        
+        Comma Separated Values (*.csv)
+        
+    
+
+
+    QmlViewGadgetFactory
+    
+        
+        QML Viewer, QML
+        
+    
+
+
+    ScopeGadgetFactory
+    
+        
+        Scope
+        
+    
+
+
+    ScopeGadgetWidget
+    
+        
+        Click legend to show/hide scope trace
+        
+    
+
+
+    LevellingUtil
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    SetupWizard
+    
+        
+        OpenPilot Setup Wizard
+        
+    
+    
+        
+        Controller type: 
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        
+        
+        
+        
+        Unknown
+        Inconnu
+    
+    
+        
+        Vehicle type: 
+        Type de véhicule :
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        Vehicle sub type: 
+        
+    
+    
+        
+        Tricopter
+        Tricoptère
+    
+    
+        
+        Quadcopter X
+        Quadricopter X
+    
+    
+        
+        Quadcopter +
+        Quadricopter +
+    
+    
+        
+        Hexacopter
+        
+    
+    
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Octocopter
+        
+    
+    
+        
+        Octocopter Coax X
+        
+    
+    
+        
+        Octocopter Coax +
+        
+    
+    
+        
+        Octocopter V
+        
+    
+    
+        
+        Fixed wing
+        Aile
+    
+    
+        
+        Helicopter
+        Hélicoptère
+    
+    
+        
+        Surface vehicle
+        
+    
+    
+        
+        Input type: 
+        Type d'entrée :
+    
+    
+        
+        PWM (One cable per channel)
+        PWM (Un câble par canal)
+    
+    
+        
+        PPM (One cable for all channels)
+        PPM (Un câble pour tous les canaux)
+    
+    
+        
+        Futaba S.Bus
+        
+    
+    
+        
+        Spektrum satellite (DSM2)
+        
+    
+    
+        
+        Spektrum satellite (DSMX10BIT)
+        
+    
+    
+        
+        Spektrum satellite (DSMX11BIT)
+        
+    
+    
+        
+        ESC type: 
+        Type de variateur :
+    
+    
+        
+        Legacy ESC (50 Hz)
+        
+    
+    
+        
+        Rapid ESC (400 Hz)
+        
+    
+
+
+    SetupWizardPlugin
+    
+        
+        Vehicle Setup Wizard
+        
+    
+
+
+    VehicleConfigurationHelper
+    
+        
+        
+        Done!
+        
+    
+    
+        
+        
+        Failed!
+        
+    
+    
+        
+        Writing hardware settings
+        
+    
+    
+        
+        Writing actuator settings
+        
+    
+    
+        
+        Writing flight mode settings
+        
+    
+    
+        
+        Writing gyro and accelerometer bias settings
+        
+    
+    
+        
+        Writing stabilization settings
+        
+    
+    
+        
+        Writing mixer settings
+        
+    
+    
+        
+        Writing vehicle settings
+        
+    
+    
+        
+        Writing manual control defaults
+        
+    
+    
+        
+        Preparing mixer settings
+        
+    
+    
+        
+        Preparing vehicle settings
+        
+    
+
+
+    SystemHealthGadgetFactory
+    
+        
+        System Health
+        
+    
+
+
+    SystemHealthGadgetWidget
+    
+        
+        Displays flight system errors. Click on an alarm for more information.
+        Affiche les erreurs du système de vol. Cliquer sur une alarme pour plus d'informations.
+    
+
+
+    UAVObjectField
+    
+        
+        0
+        0
+    
+    
+        
+        1
+        1
+    
+
+
+    PopupWidget
+    
+        
+        Close
+        Fermer
+    
+
+
+    UAVSettingsImportExportFactory
+    
+        
+        Export UAV Settings...
+        Exporter Paramètres UAV...
+    
+    
+        
+        Import UAV Settings...
+        Importer Paramètres UAV...
+    
+    
+        
+        Export UAV Data...
+        Exporter Données UAV...
+    
+    
+        
+        UAVObjects XML files (*.uav);; XML files (*.xml)
+        Fichiers XML UAVObjects (*.uav;; Fichiers XML (*.xml)
+    
+    
+        
+        Import UAV Settings
+        Importer Paramètres UAV
+    
+    
+        
+        File Parsing Failed.
+        Echec Parsing Fichier.
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        Mauvais contenu de fichier
+    
+    
+        
+        This file does not contain correct UAVSettings
+        Ce fichier ne contient pas de paramètres UAV corrects
+    
+    
+        
+        
+        UAVObjects XML files (*.uav)
+        Fichiers XML UAVObjects (*.uav)
+    
+    
+        
+        Save UAVSettings File As
+        Enregistrer Paramètres UAV Sous
+    
+    
+        
+        UAV Settings Export
+        
+    
+    
+        
+        Unable to save settings: 
+        Impossible d'enregistrer les paramètres :
+    
+    
+        
+        Settings saved.
+        Paramètres enregistrés.
+    
+    
+        
+        Are you sure?
+        Êtes-vous certain ?
+    
+    
+        
+        This option is only useful for passing your current system data to the technical support staff. Do you really want to export?
+        
+    
+    
+        
+        Save UAVData File As
+        Enregistrer Fichier Data UAV Sous 
+    
+    
+        
+        UAV Data Export
+        
+    
+    
+        
+        Unable to save data: 
+        Impossible d'enregistrer les données :
+    
+    
+        
+        Data saved.
+        Données enregistrées.
+    
+
+
+    UploaderGadgetFactory
+    
+        
+        Uploader
+        
+    
+
+
+    UploaderGadgetWidget
+    
+        
+        The controller board is armed and can not be halted.
+
+Please make sure the board is not armed and then press halt again to proceed
+or use the rescue option to force a firmware upgrade.
+        
+    
+    
+        
+        The controller board is armed and can not be reset.
+
+Please make sure the board is not armed and then press reset again to proceed
+or power cycle to force a board reset.
+        
+    
+    
+        
+        
+        OpenPilot Uploader
+        
+    
+    
+        
+        
+        Please disconnect all openpilot boards
+        
+    
+    
+        
+        Please connect the board (USB only!)
+        
+    
+    
+        
+        Cancel
+        Annuler
+    
+    
+        
+        Openpilot Uploader
+        
+    
+    
+        
+        No board connection was detected!
+        
+    
+    
+        
+        GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. GCS version: %1 Firmware version: %2.
+        
+    
+
+
+    NewsPanel
+    
+        
+        Project News
+        Nouvelles du Projet
+    
+
+
+    SitesPanel
+    
+        
+        OpenPilot Websites
+        Sites Web OpenPilot
+    
+
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_ru.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_ru.ts
index b9ba281e1..611533c3e 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_ru.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_ru.ts
@@ -4,12 +4,14 @@
 
     MainWindow
     
+        
         
+        
         MainWindow
         Главное окно
     
     
-        
+        
         Go
         Вперед
     
@@ -68,6 +70,120 @@
         namespace
         
     
+    
+        
+        
+        MapType
+        
+    
+    
+        
+        
+        TextLabel
+        Метка
+    
+    
+        
+        
+        PushButton
+        
+    
+    
+        
+        
+        Goto Place
+        
+    
+    
+        
+        
+        GO
+        
+    
+    
+        
+        
+        GeoCoderStatusCode
+        
+    
+    
+        
+        
+        Rotate
+        
+    
+    
+        
+        
+        Left
+        
+    
+    
+        
+        
+        Center
+        
+    
+    
+        
+        
+        Right
+        
+    
+    
+        
+        
+        Zoom
+        Масштабировать
+    
+    
+        
+        
+        +
+        
+    
+    
+        
+        
+        -
+        
+    
+    
+        
+        
+        ZoomIncrement
+        
+    
+    
+        
+        
+        CurrentZoom=
+        
+    
+    
+        
+        
+        Misc
+        
+    
+    
+        
+        
+        ShowGridLines
+        
+    
+    
+        
+        
+        UseOpenGL
+        
+    
+    
+        
+        
+        ReloadMap
+        
+    
 
 
     mainClass
@@ -386,46 +502,11 @@
         Form
         Форма
     
-    
-        
-        Applies and Saves all settings to SD
-        Принять изменения и сохранить на SD
-    
-    
-        
-        Save to SD
-        Сохранить на  SD
-    
-    
-        
-        Send to OpenPilot but don't write in SD.
-        Передать в OpenPilot но не записывать на SD.
-    
-    
-        
-        Save to RAM
-        Записать в RAM
-    
-    
-        
-        Retrieve settings from OpenPilot
-        Получить настройки из OpenPilot
-    
-    
-        
-        Get Current
-        Взять текущие
-    
     
         
         Select aircraft type here
         Здесь выберите тип БПЛА 
     
-    
-        
-        Aircraft type:
-        Тип БПЛА:
-    
     
         
         Airplane type:
@@ -461,11 +542,6 @@
         Elevator 1
         Руль высоты 1
     
-    
-        
-        Rudder
-        Руль направления
-    
     
         
         Elevator 2
@@ -476,21 +552,6 @@
         Throttle Curve
         Кривая газа
     
-    
-        
-        Frame type:
-        Тип корпуса:
-    
-    
-        
-        Cyclic Rate
-        Темп
-    
-    
-        
-        Tricopter Yaw Ch
-        Канал рыскания трикоптера
-    
     
         
         Feed Forward
@@ -506,16 +567,6 @@
         Decel Time Constant
         
     
-    
-        
-        CCPM Heli
-        
-    
-    
-        
-        This is not implemented yet, sorry
-        Это пока не реализовано, извините
-    
     
         
         Elevon Mix
@@ -546,16 +597,6 @@
         000
         000
     
-    
-        
-        Test
-        Тест
-    
-    
-        
-        Motors
-        Моторы
-    
     
         
         1
@@ -596,61 +637,6 @@
         8
         8
     
-    
-        
-        Channel1
-        Канал 1
-    
-    
-        
-        Channel 2
-        Канал 2
-    
-    
-        
-        Channel 3
-        Канал 3
-    
-    
-        
-        Channel 4
-        Канал 4
-    
-    
-        
-        Channel 5
-        Канал 5
-    
-    
-        
-        Channel 6
-        Канал 6
-    
-    
-        
-        Channel 7
-        Канал 7
-    
-    
-        
-        Channel 8
-        Каналы 8
-    
-    
-        
-        FeedForward
-        
-    
-    
-        
-        AccelTime
-        
-    
-    
-        
-        DecelTime
-        
-    
     
         
         Curve 1
@@ -678,392 +664,355 @@
     
     
         
-        C0
-        К0
+        Mixer Settings
+        
     
     
         
-        C1
-        К1
+        Vehicle type:
+        
     
     
         
-        C2
-        К2
+        Output Channel Assignments
+        
     
     
         
-        C3
-        К3
+        Select output channel for the engine
+        
     
     
         
-        C4
-        К4
+        Select output channel for the first aileron (or elevon)
+        
     
     
         
-        C5
-        К5
+        Select output channel for the second aileron (or elevon)
+        
     
     
         
-        C6
-        К6
+        Select output channel for the first elevator
+        
     
     
         
-        C7
-        К7
-    
-
-
-    SettingsWidget
-    
-        
-        Form
-        Форма
+        Select output channel for a secondary elevator
+        
     
     
         
-        RC Input
-        Вход с приемника
+        Rudder 1
+        
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel value</p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Максимальное значение</p></body></html>
+        Select output channel for the first rudder
+        
     
     
         
-        2000
-        
+        Rudder 2
+        
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Check to invert the channel.</p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Выберите для инверсии канала.</p></body></html>
+        Select output channel for a secondary rudder
+        
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:9pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current channel value.</p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:9pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Текущее значение.</p></body></html>
+        Frame Type
+        
+    
+    
+        
+        Select the Multirotor frame type here.
+        
+    
+    
+        
+        Mix Level
+        
+    
+    
+        
+        100
+        100
+    
+    
+        
+        Weight of Roll mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
+        
+    
+    
+        
+        Weight of Pitch mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
+        
+    
+    
+        
+        Weight of Yaw mixing in percent.
+Typical value is 50% for + or X configuration on quads.
+        
+    
+    
+        
+        Motor output channels
+        
+    
+    
+        
+        Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.
+        
+    
+    
+        
+        Multirotor Motor Direction
+        
+    
+    
+        
+        Tricopter Yaw Servo channel
+        
+    
+    
+        
+        Reverse all motors
+        
+    
+    
+        
+        Output channel asignmets
+        
+    
+    
+        
+        Motor
+        
+    
+    
+        
+        Select output channel for the first motor
+        
+    
+    
+        
+        Motor 2
+        
+    
+    
+        
+        Select output channel for a second motor
+        
+    
+    
+        
+        Front Steering
+        
+    
+    
+        
+        Select output channel for the first steering actuator
+        
+    
+    
+        
+        Rear Steering
+        
+    
+    
+        
+        Select output channel for a second steering actuator
+        
+    
+    
+        
+        Differential Steering Mix
+        
+    
+    
+        
+        Left %
+        
+    
+    
+        
+        Right %
+        
+    
+    
+        
+        Front throttle curve
+        
+    
+    
+        
+        Rear throttle curve
+        
+    
+    
+        
+        Type
+        
+    
+    
+        
+        Ch 1
+        
+    
+    
+        
+        Ch 2
+        
+    
+    
+        
+        Ch 3
+        
+    
+    
+        
+        Ch 4
+        
+    
+    
+        
+        Ch 5
+        
+    
+    
+        
+        Ch 6
+        
+    
+    
+        
+        Ch 7
+        
+    
+    
+        
+        Ch 8
+        
+    
+    
+        
+        Ch 9
+        
+    
+    
+        
+        Ch 10
+        
+    
+    
+        
+        -
+        
+    
+    
+        
+        Feed Forward Configuration
+        
+    
+    
+        
+        When tuning: Slowly raise decel time from zero to just
+under the level where the motor starts to undershoot
+its target speed when decelerating.
+
+Do it after accel time is setup.
+        
+    
+    
+        
+        In miliseconds.
+When tuning: Slowly raise accel time from zero to just
+under the level where the motor starts to overshoot
+its target speed.
+        
     
     
         
         1000
-        
+        1000
     
     
         
-        Retrieve settings from OpenPilot
-        Получить настройки из OpenPilot
+        Overall level of feed forward (in percentage).
+        
     
     
         
-        Get Current
-        Взять текущие
+        Limits how much the engines can accelerate or decelerate.
+In 'units per second', a sound default is 1000.
+        
     
     
         
-        Be sure to set the Neutral position on all sliders before sending!
-Applies and Saves all settings to SD
-        Не забудьте установить все ползунки в нейтральное положение перед сохранением!
-Применяются все настройки и сохраняются на SD
-    
-    
-        
-        Save to SD
-        Сохранить на SD
-    
-    
-        
-        Send to OpenPilot but don't write in SD.
-Be sure to set the Neutral position on all sliders before sending!
-        Настройки передаются в OpenPilot, но не сохраняются на SD
-Не забудьте установить все ползунки в нейтральное положение перед сохранением!
-    
-    
-        
-        Save to RAM
-        Записать в RAM
+        MaxAccel
+        
     
     
         
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel value.</p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Минимальное значение.</p></body></html>
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware! Check </span><span style=" font-family:'Sans'; font-size:10pt; font-weight:600;">all three</span><span style=" font-family:'Sans'; font-size:10pt;"> checkboxes to test Feed Forward.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">It will run only if your airframe armed.</span></p></body></html>
+        
     
     
         
-        Start calibrating the RC Inputs.
-Uncheck/Check to restart calibration.
-        Старт процесса калибровки входных сигналов RC
-Снимите/Установите галку для рестарта процесса.
-    
-    
-        
-        Run Calibration
-        Начать калибровку
-    
-    
-        
-        Indicates whether OpenPilot is getting a signal from the RC receiver.
-        Показывает, получает ли OpenPilot сигнал от приемника.
-    
-    
-        
-        RC Receiver Not Connected
-        Приёмник не подсоединен
-    
-    
-        
-        Select the receiver type here:
-- PWM is the most usual type
-- PPM is connected to input XXX 
-- Spektrum is used with Spektrum 'satellite' receivers
-        Выберите тип приемника:
-- PWM самый обычный тип
-- PPM подключен к входу XXX 
-- Spektrum используется с сателитами Spektrum
-    
-    
-        
-        RC Receiver Type:
-        Тип приёмника:
-    
-    
-        
-        Servo Output
-        Выход на приводы
-    
-    
-        
-        Aircraft type: undefined
-        Тип БПЛА: не определен
-    
-    
-        
-        Channel 0
-        Канал 0
-    
-    
-        
-        Channel 1
-        Канал 1
-    
-    
-        
-        Channel 2
-        Канал 2
-    
-    
-        
-        Channel 3
-        Канал 3
-    
-    
-        
-        Channel 4
-        Канал 4
-    
-    
-        
-        Channel 5
-        Канал 5
+        Enable FF tuning
+        
     
     
         
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Select the kind of actuator (servo) connected to this output channel.</p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Выберите тип привода, подключенного к данному каналу</p></body></html>
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD REQUIRES CAUTION</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</p>
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.</p></td></tr></table></body></html>
+        
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum PWM value, beware of not overdriving your servo.</p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Минимальное значение PWM. Не перегрузите сервомашинку.</p></body></html>
+        Takes you to the wiki page
+        
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum PWM value, beware of not overdriving your servo.</p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Максимальное значение PWM. Не перегрузите сервомашинку.</p></body></html>
+        Send to board, but don't save permanently (flash or SD).
+        
     
     
         
-        Move the servos using the sliders. Two important things:
-- Take extra care if the output is connected to an motor controller!
-- Will only work if the RC receiver is working (failsafe)
-        Управляйте приводами с помощью ползунков. Два важных замечания:
-- Будьте особенно осторожны, если выход подключен к контроллеру двигателя!
-- Будет работать, только если работает приёмник (failsafe)
+        Apply
+        Применить
     
     
         
-        Test outputs
-        Тест выходов
+        Applies and Saves all settings to flash or SD depending on board.
+        
     
     
         
-        Channel 6
-        Канал 6
-    
-    
-        
-        Channel 7
-        Канал 7
-    
-    
-        
-        Update rate:
-        Частота обновления:
-    
-    
-        
-        Channel 0-3
-        Каналы 0-3
-    
-    
-        
-        Channel 4-7
-        Каналы 4-7
-    
-    
-        
-        Current value of slider.
-        Текущее положение ползунка.
-    
-    
-        
-        0000
-        
-    
-    
-        
-        Rev.
-        Реверс.
-    
-
-
-    TelemetryWidget
-    
-        
-        Form
-        Форма
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the serial speed of your telemetry modem here. It is the speed between the OpenPilot board and the modem, and could be different from the radio link speed.</p>
-<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Установите скорость серийного порта модема телеметрии.<br>Это скорость между платой автопилота и блоком телеметрии. И должна отличаться от скорости радиолинка.</p>
-<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Осторожно! Не отключите сами себя!<br>Вы должны изменять эту настройку, только если плата автопилота подключена через USB.</p></body></html>
-    
-    
-        
-        Telemetry speed:
-        Скорость обмена:
-    
-    
-        
-        Select the speed here.
-        Укажите скорость.
-    
-    
-        
-        Send to OpenPilot but don't write in SD.
-Beware of not locking yourself out!
-        Передать в автопилот, но не записывать на SD.
-Осторожно, не отключите сами себя!
-    
-    
-        
-        Save to RAM
-        Записать в RAM
-    
-    
-        
-        Retrieve settings from OpenPilot
-        Получить настройки из OpenPilot
-    
-    
-        
-        Get Current
-        Взять текущие
-    
-    
-        
-        Applies and Saves all settings to SD.
-Beware of not locking yourself out!
-        Принять изменения и сохранить на SD
-Осторожно, не отключите сами себя!
-    
-    
-        
-        Save to SD
-        Сохранить на  SD
+        Save
+        Сохранить
     
 
 
@@ -1149,21 +1098,6 @@ Beware of not locking yourself out!
         General settings
         Общие настройки
     
-    
-        
-        Terminal:
-        Терминал:
-    
-    
-        
-        External editor:
-        Внешний редактор:
-    
-    
-        
-        When files are externally modified:
-        Когда файлы изменяются извне:
-    
     
         
         User interface color:
@@ -1180,27 +1114,7 @@ Beware of not locking yourself out!
         
     
     
-        
-        ?
-        
-    
-    
-        
-        Always ask
-        Всегда спрашивать
-    
-    
-        
-        Reload all modified files
-        Обновлять измененные
-    
-    
-        
-        Ignore modifications
-        Игнорировать изменения
-    
-    
-        
+        
         General
         Общие
     
@@ -1210,10 +1124,55 @@ Beware of not locking yourself out!
         Среда
     
     
-        
+        
+        <System Language>
+        
+    
+    
+        
         Variables
         Переменные
     
+    
+        
+        Restart required
+        
+    
+    
+        
+        The language change will take effect after a restart of the OpenPilot GCS.
+        
+    
+    
+        
+        Save configuration settings on exit:
+        
+    
+    
+        
+        Automatically connect an OpenPilot USB device:
+        
+    
+    
+        
+        Automatically select an OpenPilot USB device:
+        
+    
+    
+        
+        Use UDP Mirror
+        
+    
+    
+        
+        Expert Mode
+        
+    
+    
+        
+        Language:
+        
+    
 
 
     TopOptionsPage
@@ -1309,6 +1268,31 @@ p, li { white-space: pre-wrap; }
         Choose icon
         Выбор пиктограммы
     
+    
+        
+        Workspace panel
+        
+    
+    
+        
+        Placement:
+        
+    
+    
+        
+        Top
+        
+    
+    
+        
+        Bottom
+        
+    
+    
+        
+        Allow reordering:
+        
+    
 
 
     DialGadgetOptionsPage
@@ -1393,7 +1377,7 @@ p, li { white-space: pre-wrap; }
         Индикатор 3
     
     
-        
+        
         SVG image (*.svg)
         SVG изображение (*.svg)
     
@@ -1402,6 +1386,41 @@ p, li { white-space: pre-wrap; }
         Choose SVG image
         Выберите SVG изображение
     
+    
+        
+        XML ID of the SVG source file used to display the dial background.
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the dial foreground (above everything else, needles included).
+        
+    
+    
+        
+        Use OpenGL for rendering. Will lower CPU usage, depending on the capabilities of your graphics card, but might slightly alter the look & feel of the dial.
+        
+    
+    
+        
+        Use OpenGL
+        Использовать OpenGL
+    
+    
+        
+        When checked, the Dial plugin will make needle moves smoother by simulating inertia.
+        
+    
+    
+        
+        Smooth updates
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the first needle/indicator.
+        
+    
 
 
     GCSControl
@@ -1425,6 +1444,11 @@ p, li { white-space: pre-wrap; }
         Armed
         
     
+    
+        
+        UDP Control
+        
+    
 
 
     GpsDisplayGadgetOptionsPage
@@ -1556,153 +1580,283 @@ p, li { white-space: pre-wrap; }
         Sats Used:
         Спутников:
     
+    
+        
+        Displays the SNR for each detected sat.
+Satellite number (PRN) is displayed inside the green bar.
+Sat SNR is displayed above (in dBHz)
+        
+    
 
 
     HITLOptionsPage
     
         
-        
+        
         Form
         Форма
     
     
         
-        
-        
         Manual aircraft control (can be used when hardware is not available)
         Ручное управление (может быть использовано, когда отсутствует оборудование)
     
     
         
-        
+        
         Choose flight simulator:
         Симулятор полетов:
     
     
         
-        
         Latitude in degrees:
         Широта в градусах:
     
     
         
-        
         Longitude in degrees:
         Долгота в градусах:
     
     
         
-        
+        
         Path executable:
         Путь к исполняемому файлу:
     
     
         
-        
+        
         Data directory:
         Каталог данных:
     
     
         
-        
-        Host Address:
-        Адрес хоста:
-    
-    
-        
-        
+        
         Output Port:
         Порт вывода:
     
     
         
-        
+        
         Input Port:
         Порт ввода:
     
     
         
+        
         Choose flight simulator executable
         Укажите исполняемый файл симулятора
     
     
         
+        
         Choose flight simulator data directory
         Укажите каталог данных симулятора
     
+    
+        
+        
+        For receiving data from sim
+        
+    
+    
+        
+        Check this box to start the simulator on the local computer
+        
+    
+    
+        
+        Start simulator on local machine
+        
+    
+    
+        
+        
+        Local interface (IP):
+        
+    
+    
+        
+        
+        For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.
+        
+    
+    
+        
+        
+        Remote interface (IP):
+        
+    
+    
+        
+        
+        Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.
+        
+    
+    
+        
+        
+        For sending data to sim
+        
+    
+    
+        
+        Attitude data
+        
+    
+    
+        
+        AttitudeRaw (gyro, accels)
+        
+    
+    
+        
+        Refresh rate
+        
+    
+    
+        
+        ms
+        мс
+    
+    
+        
+        AttitudeActual
+        
+    
+    
+        
+        send raw data to board
+        
+    
+    
+        
+        use values from simulator
+        
+    
+    
+        
+        calculate from AttitudeRaw
+        
+    
+    
+        
+        Other data
+        
+    
+    
+        
+        HomeLocation
+        
+    
+    
+        
+        0 - update once, or every N seconds
+        
+    
+    
+        
+        sec
+        
+    
+    
+        
+        GPSPosition
+        
+    
+    
+        
+        SonarAltitude
+        
+    
+    
+        
+        Range detection
+        
+    
+    
+        
+        m
+        
+    
+    
+        
+        Map command from simulator
+        
+    
+    
+        
+        to GCSReciver
+        
+    
+    
+        
+        to ManualCtrll (not implemented)
+        
+    
+    
+        
+        Maximum output rate
+        
+    
 
 
     HITLWidget
     
         
-        
+        
         Form
         Форма
     
     
         
-        
+        
         Request update
         Запрос обновления
     
     
         
-        
+        
         Start
         Пуск
     
     
         
-        
+        
         Send update
         Передать обновления
     
     
         
-        
+        
         Stop
         Стоп
     
     
         
-        
         AutoPilot disconnected
         Автопилот не подключен
     
     
         
-        
          Simulator disconnected 
         Симулятор не подключен
     
     
         
-        
+        
         Clear Log
         Очистить журнал
     
-
-
-    ImportExportGadgetOptionsPage
     
-        
-        Form
-        Форма
+        
+        AP OFF
+        
     
     
         
-        Default Config File 
-        Файл конфигурации по умолчанию
-    
-    
-        
-        INI file (*.ini)
-        Файл настроек (*.ini)
-    
-    
-        
-        Choose configuration file
-        Укажите файл с настройками
+        Sim OFF
+        
     
 
 
@@ -1712,11 +1866,6 @@ p, li { white-space: pre-wrap; }
         Form
         Форма
     
-    
-        
-        Config File
-        Файл конфигурации
-    
     
         
         Items
@@ -1733,22 +1882,18 @@ p, li { white-space: pre-wrap; }
         Все инструменты
     
     
-        
-        Export
-        Экспорт
+        
+        
+        GCS Settings file (*.xml)
+        
     
     
-        
-        Import
-        Импорт
+        
+        Save GCS Settings too file ..
+        
     
     
-        
-        Help
-        Справка
-    
-    
-        
+        
         Can't write file 
         Невозможно записать файл
     
@@ -1758,7 +1903,12 @@ p, li { white-space: pre-wrap; }
         Настройки были экспортированы в
     
     
-        
+        
+        Load GCS Settings from file ..
+        
+    
+    
+        
         Can't read file 
         Невозможно прочитать файл
     
@@ -1772,6 +1922,51 @@ p, li { white-space: pre-wrap; }
         . Restart the application.
         . Перезапустите приложение.
     
+    
+        
+        All your settings will be deleted!
+        
+    
+    
+        
+        You must restart the GCS in order to activate the changes.
+        
+    
+    
+        
+        Plugins
+        
+    
+    
+        
+        Export the GCS settings selected in the checkboxes above.
+        
+    
+    
+        
+        Export...
+        Экспорт...
+    
+    
+        
+        Import settings from the config file, only for the items checked above.
+        
+    
+    
+        
+        Import...
+        Импорт...
+    
+    
+        
+        Resets your GCS configuration to its default configuration.
+        
+    
+    
+        
+        Reset Config
+        
+    
 
 
     IPconnectionOptionsPage
@@ -1805,6 +2000,11 @@ p, li { white-space: pre-wrap; }
         settings
         Настройки
     
+    
+        
+        IP Network Telemetry
+        
+    
 
 
     LineardialGadgetOptionsPage
@@ -1884,7 +2084,7 @@ p, li { white-space: pre-wrap; }
         Коэффициент:
     
     
-        
+        
         SVG image (*.svg)
         SVG изображение (*.svg)
     
@@ -1893,6 +2093,11 @@ p, li { white-space: pre-wrap; }
         Choose SVG image
         Выберите SVG изображение
     
+    
+        
+        Use OpenGL
+        Использовать OpenGL
+    
 
 
     ModelViewOptionsPage
@@ -1921,6 +2126,23 @@ p, li { white-space: pre-wrap; }
         Enable VBOs:
         Разрешить VBO:
     
+    
+        
+        Select the image that is shown in the background.
+        
+    
+    
+        
+        Select the 3D model file here.
+        
+    
+    
+        
+        Click to enable the use of Vertical Blanking.
+It is not enabled by default because some graphic cards do not
+support it, and crash the GCS. Enabling improves performance, though, so you can experiment at your own risk.
+        
+    
 
 
     NotifyPluginOptionsPage
@@ -2003,67 +2225,32 @@ p, li { white-space: pre-wrap; }
         Звук3:
     
     
-        
-        Value is
-        Значение
-    
-    
-        
+        
         Equal to
         Равно
     
     
-        
-        Greater than
-        Больше чем
+        
+        Large than
+        
     
     
-        
-        Less than
-        Меньше чем
+        
+        Lower than
+        
     
     
-        
-        Say Order
-        Когда озвучить
+        
+        In range
+        
     
     
-        
-        Select if the value of the object should be spoken and if so, either before the configured sound or after it.
-        Укажите, если значение свойства должно быть озвучено. И если да, то когда.
-    
-    
-        
-        Never
-        Никогда
-    
-    
-        
-        Before first
-        Перед первым
-    
-    
-        
-        After first
-        После первого
-    
-    
-        
-        After second
-        После второго
-    
-    
-        
-        After third
-        После третьего
-    
-    
-        
+        
         Choose sound collection directory
         Выберите каталог с коллекцией звуков
     
     
-        
+        
         settings
         Настройки
     
@@ -2137,13 +2324,108 @@ p, li { white-space: pre-wrap; }
     
     
         
-        Revert
-        Вернуть
+        Cancel
+        Отмена
     
     
         
-        Cancel
-        Отмена
+        Position
+        
+    
+    
+        
+        Relative to Home 
+        
+    
+    
+        
+        Bearing 
+        
+    
+    
+        
+        Distance 
+        
+    
+    
+        
+        0
+        0
+    
+    
+        
+        Velocity 
+        
+    
+    
+        
+        Relative altitude 
+        
+    
+    
+        
+        m/s
+        
+    
+    
+        
+        Mode
+        
+    
+    
+        
+        param1
+        
+    
+    
+        
+        param2
+        
+    
+    
+        
+        param3
+        
+    
+    
+        
+        param4
+        
+    
+    
+        
+        End condition
+        
+    
+    
+        
+        Condition
+        
+    
+    
+        
+        Command
+        Команда
+    
+    
+        
+        Jump Destination
+        
+    
+    
+        
+        Error Destination
+        
+    
+    
+        
+        Previous
+        
+    
+    
+        
+        Next
+        
     
 
 
@@ -2182,83 +2464,16 @@ p, li { white-space: pre-wrap; }
         
     
 
-
-    opmap_waypointeditor_dialog
-    
-        
-        OpenPilot GCS Waypoint Editor
-        Редактор точек маршрута
-    
-    
-        
-        Waypoints
-        Точки маршрута
-    
-    
-        
-        Num
-        Номер
-    
-    
-        
-        Locked
-        Блокировать
-    
-    
-        
-        Latitude
-        Широта
-    
-    
-        
-        Longitude
-        Долгота
-    
-    
-        
-        Altitude
-        Высота
-    
-    
-        
-        Time
-        Время
-    
-    
-        
-        Hold Time
-        Время удержания
-    
-    
-        
-        Height and Timeline
-        Высота и Хронология
-    
-    
-        
-        Waypoint 1
-        Точка маршрута 1
-    
-    
-        
-        Waypoint 2
-        Точка маршрута 2
-    
-    
-        
-        Waypoint 3
-        Точка маршрута 3
-    
-
 
     OPMap_Widget
     
         
+        
         Form
         Форма
     
     
-        
+        
         Enter place to find
         Поиск
     
@@ -2338,47 +2553,43 @@ p, li { white-space: pre-wrap; }
         Добавить
     
     
-        
+        
+        
         Zoom in
         Приблизить
     
     
         
+        
         Zoom level
         Уровень приближения
     
     
         
+        
         Zoom out
         Отдалить
     
     
         
+        
         Center map over home position
         Центр карты в домашнюю позицию
     
     
         
+        
         Center map over UAV position
         Центр карты в позицию БПЛА
     
     
         
+        
         Map rotation follows UAV heading
         Вращать карту по направлению полета БПЛА
     
     
-        
-        Show/Hide the UAV trail
-        Показать / скрыть траекторию полета
-    
-    
-        
-        Clear the UAV trail
-        Стереть траекторию
-    
-    
-        
+        
         UAV hold position
         Удерживать позицию
     
@@ -2393,12 +2604,13 @@ p, li { white-space: pre-wrap; }
         БПЛА в домашнюю позицию
     
     
-        
+        
+        
         Home
         Домой
     
     
-        
+        
         Move UAV to previous waypoint
         Переместить БПЛА в предыдущую точку маршрута
     
@@ -2428,45 +2640,123 @@ p, li { white-space: pre-wrap; }
         Лететь
     
     
-        
+        
+        
         UAV position
         Положение БПЛА
     
     
         
+        
         labelUAVPos
         
     
     
         
+        
         Map position
         Позиция карты
     
     
         
+        
         labelMapPos
         
     
     
         
+        
         Mouse position
         Позиция указателя мыши
     
     
         
+        
         labelMousePos
         
     
     
         
+        
         %v
         
     
     
         
+        
         labelMapZoom
         
     
+    
+        
+        
+        Normal Map Mode
+        
+    
+    
+        
+        
+           Normal   
+        
+    
+    
+        
+        
+        Magic Waypoint Map Mode
+        
+    
+    
+        
+        
+           Magic Waypoint   
+        
+    
+    
+        
+        Go To Place:
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        
+        Click to move the UAV to the magic waypoint position
+        
+    
+    
+        
+        
+        Move to WP
+        
+    
+    
+        
+        
+        Move the magic waypoint to the home position
+        
+    
+    
+        
+        
+        Home WP
+        
+    
+    
+        
+        
+        UAV
+        БПЛА
+    
+    
+        
+        
+        Heading
+        
+    
 
 
     opmap_zoom_slider_widget
@@ -2544,10 +2834,20 @@ p, li { white-space: pre-wrap; }
         Использовать память под кэш
     
     
-        
+        
         Choose Cache Directory
         Укажите каталог кэша
     
+    
+        
+        UAV Symbol
+        
+    
+    
+        
+        Default Max Update Rate 
+        
+    
 
 
     PFDGadgetOptionsPage
@@ -2572,7 +2872,7 @@ p, li { white-space: pre-wrap; }
         Высокое качество текста (OpenGL)
     
     
-        
+        
         SVG image (*.svg)
         SVG изображение (*.svg)
     
@@ -2581,6 +2881,11 @@ p, li { white-space: pre-wrap; }
         Choose SVG image
         Выберите SVG изображение
     
+    
+        
+        Smooth updates
+        
+    
 
 
     ScopeGadgetOptionsPage
@@ -2614,11 +2919,6 @@ p, li { white-space: pre-wrap; }
         ms
         мс
     
-    
-        
-        Plot curves
-        Кривые графика
-    
     
         
         UAVObject:
@@ -2639,11 +2939,6 @@ p, li { white-space: pre-wrap; }
         Choose
         Выбрать
     
-    
-        
-        Scale:
-        Масштаб:
-    
     
         
         Update Interval:
@@ -2672,6 +2967,51 @@ Update
 
         Удалить
     
+    
+        
+        Y-axis
+        
+    
+    
+        
+        Y-axis scale factor:
+        
+    
+    
+        
+        Math window size
+        
+    
+    
+        
+         samples
+        
+    
+    
+        
+        Math function:
+        
+    
+    
+        
+        Log data to csv file (not interpolated)
+        
+    
+    
+        
+        New file on connect
+        
+    
+    
+        
+        Logging path
+        
+    
+    
+        
+        Choose Logging Directory
+        
+    
 
 
     SystemHealthGadgetOptionsPage
@@ -2686,7 +3026,7 @@ Update
         Подсистема (SVG):
     
     
-        
+        
         SVG image (*.svg)
         SVG изображение (*.svg)
     
@@ -2703,51 +3043,26 @@ Update
         Form
         Форма
     
-    
-        
-        Request update
-        Получить данные
-    
     
         
         Request
         Получить
     
-    
-        
-        Send update
-        Установить новое значение
-    
     
         
         Send
         Установить
     
-    
-        
-        Save to SD Card
-        Сохранить на  SD
-    
     
         
         Save
         Сохранить
     
-    
-        
-        Load from SD Card
-        Загрузить с SD карты
-    
     
         
         Load
         Загрузить
     
-    
-        
-        Erase from SD card
-        Стереть с SD карты
-    
     
         
         Erase
@@ -2755,8 +3070,13 @@ Update
     
     
         
-        Show Meta Data
-        Показать метаданные
+        ...
+        
+    
+    
+        
+        View Options
+        
     
 
 
@@ -2781,86 +3101,16 @@ Update
         Recently updated timeout (ms):
         Тайм-аут обновления (мс):
     
-
-
-    Welcome::Internal::CommunityWelcomePageWidget
     
-        
-        Form
-        Форма
-    
-    
-        
-        News From the OpenPilot Project
-        Новости проекта
-    
-    
-        
-        OpenPilot Websites
-        Страницы проекта
-    
-    
-        
-        http://forums.openpilot.org/blog/rss/4-openpilot-development-blog
-        Add localized feed here only if one exists
-        
-    
-    
-        
-        OpenPilot Home
-        Домашняя страница
-    
-    
-        
-        OpenPilot Wiki
-        Вики
-    
-    
-        
-        OpenPilot Store
-        Магазин
-    
-    
-        
-        OpenPilot Forums
-        Форум
-    
-    
-        
-        OpenPilot Bug Tracker
-        Система отслеживания ошибок
+        
+        Only highlight nodes when value actually changes
+        
     
 
 
     Welcome::WelcomeMode
     
-        
-        #gradientWidget {
-  background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(247, 247, 247, 255), stop:1 rgba(215, 215, 215, 255));
-}
-        
-    
-    
-        
-        #headerFrame {
-    border-image: url(:/welcome/images/center_frame_header.png) 0;
-    border-width: 0;
-}
-
-        
-    
-    
-        
-        Help us make OpenPilot even better
-        Помогите нам сделать OpenPilot еще лучше
-    
-    
-        
-        Feedback
-        Обратная связь
-    
-    
-        
+        
         Welcome
         Приветствие
     
@@ -2868,7 +3118,7 @@ Update
 
     Application
     
-        
+        
         Failed to load core: %1
         Ошибка загрузки ядра: %1
     
@@ -2878,12 +3128,12 @@ Update
         Не удается отправить аргументы командной строки в уже запущенную программу. Похоже, что она не отвечает.
     
     
-        
+        
         Could not find 'Core.pluginspec' in %1
         Не удалось найти 'Core.pluginspec' в %1
     
     
-        
+        
         OpenPilot GCS - Plugin loader messages
         Сообщения загрузчика плагинов
     
@@ -3003,7 +3253,7 @@ Update
 
     ExtensionSystem::PluginManager
     
-        
+        
         Circular dependency detected:
 
         Обнаружено зацикливание:
@@ -6630,10 +6880,15 @@ Reason: %3
 
     ConfigGadgetFactory
     
-        
+        
         Config Gadget
         Настройка аппаратуры
     
+    
+        
+        Radio Setup Wizard
+        
+    
 
 
     ConsoleGadgetFactory
@@ -6646,7 +6901,7 @@ Reason: %3
 
     OpenWith::Editors
     
-        
+        
         Plain Text Editor
         Текстовый редактор
     
@@ -6659,7 +6914,7 @@ Reason: %3
 
     Core::Internal::SettingsDialog
     
-        
+        
         Preferences
         Настройки
     
@@ -6710,12 +6965,12 @@ Reason: %3
 
     Core::Internal::MainWindow
     
-        
+        
         OpenPilot GCS
         OpenPilot НСУ (Наземная Система Управления)
     
     
-        
+        
         &File
         &Файл
     
@@ -6740,50 +6995,12 @@ Reason: %3
         &Справка
     
     
-        
-        &New File or Project...
-        &Новый файл или проект...
-    
-    
-        
-        &Open File or Project...
-        &Открыть файл или проект...
-    
-    
-        
-        &Open File With...
-        &Открыть файл с...
-    
-    
-        
-        Recent Files
-        Недавние файлы
-    
-    
-        
-        
-        &Save
-        &Сохранить
-    
-    
-        
-        
-        Save &As...
-        Сохранить &как...
-    
-    
-        
-        
+        
         Ctrl+Shift+S
         
     
     
-        
-        Save A&ll
-        Сохранить в&се
-    
-    
-        
+        
         E&xit
         &Выход
     
@@ -6845,27 +7062,107 @@ Reason: %3
         Во весь экран
     
     
-        
+        
+        Edit Gadgets Mode
+        Режим настройки экрана
+    
+    
+        
+        Ctrl+Shift+F10
+        
+    
+    
+        
+        Meta+Shift
+        
+    
+    
+        
+        Ctrl+Shift
+        
+    
+    
+        
+        Split
+        
+    
+    
+        
+        %1+Down
+        
+    
+    
+        
+        Split Side by Side
+        Разделить по горизонтали
+    
+    
+        
+        %1+Right
+        
+    
+    
+        
+        Close Current View
+        Закрыть активную область
+    
+    
+        
+        %1+C
+        
+    
+    
+        
+        Close All Other Views
+        Закрыть все кроме активной
+    
+    
+        
+        %1+A
+        
+    
+    
+        
+        Goto Next View
+        Следующая область
+    
+    
+        
+        %1+N
+        
+    
+    
+        
         &Help...
         &Справка...
     
     
-        
+        
         About &Plugins...
         О &плагинах...
     
     
-        
+        
         About &OpenPilot GCS
         О проекте &OpenPilot
     
     
-        
+        
+        Save &GCS Default Settings
+        
+    
+    
+        
         About &OpenPilot GCS...
         &О программе...
     
     
-        
+        
+        About &Authors...
+        
+    
+    
+        
         Settings...
         Настройки...
     
@@ -6881,7 +7178,7 @@ Reason: %3
 
     Core::ModeManager
     
-        
+        
         Switch to %1 mode
         Переключиться в режим %1
     
@@ -6943,7 +7240,7 @@ Reason: %3
 
     Core::UAVGadgetInstanceManager
     
-        
+        
         Migrating UAVGadgetConfigurations from version 1.1.0 to 
         
     
@@ -6961,83 +7258,10 @@ Reason: %3
         по умолчанию
     
 
-
-    Core::UAVGadgetManager
-    
-        
-        Edit Gadgets Mode
-        Режим настройки экрана
-    
-    
-        
-        Ctrl+Shift+F10
-        
-    
-    
-        
-        Meta+Shift
-        
-    
-    
-        
-        Ctrl+Shift
-        
-    
-    
-        
-        Split
-        Разделить по вертикали
-    
-    
-        
-        %1+Down
-        
-    
-    
-        
-        Split Side by Side
-        Разделить по горизонтали
-    
-    
-        
-        %1+Right
-        
-    
-    
-        
-        Close Current View
-        Закрыть активную область
-    
-    
-        
-        %1+C
-        
-    
-    
-        
-        Close All Other Views
-        Закрыть все кроме активной
-    
-    
-        
-        %1+A
-        
-    
-    
-        
-        Goto Next View
-        Следующая область
-    
-    
-        
-        %1+N
-        
-    
-
 
     Core::Internal::UAVGadgetView
     
-        
+        
         Active
         Активная
     
@@ -7050,23 +7274,9 @@ Reason: %3
         О программе
     
     
-        
-        From revision %1<br/>
-        This gets conditionally inserted as argument %8 into the description string.
-        Ревизия %1<br/>
-    
-    
-        
-        <h3>OpenPilot GCS %1</h3>Based on Qt %2 (%3 bit)<br/><br/>Built on %4 at %5<br /><br/>%8<br/>Copyright 2008-%6 %7. All rights reserved.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.<br/>
-        <h3>OpenPilot GCS %1</h3>Основан на Qt %2 (%3 бит)<br/><br/>Собран %4 at %5<br /><br/>%8<br/>Copyright 2008-%6 %7. Все права защищены.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.<br/>
-    
-
-
-    DialGadgetFactory
-    
-        
-        Analog Dial Gadget
-        Индикатор стрелочный
+        
+        <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
+        
     
 
 
@@ -7102,14 +7312,6 @@ Reason: %3
              Возможно, сначала нужно выбрать "Режим настройки экрана", в меню окна.
     
 
-
-    GpsDisplayGadgetFactory
-    
-        
-        GPS Display Gadget
-        GPS монитор
-    
-
 
     HITLFactory
     
@@ -7117,29 +7319,10 @@ Reason: %3
         HITL Simulation
         HITL Симулятор (FlighGear)
     
-
-
-    ImportExportGadgetFactory
     
-        
-        Import/Export GCS Config
-        Импорт/Экспорт конфигурации НСУ
-    
-
-
-    LineardialGadgetFactory
-    
-        
-        Bargraph Dial Gadget
-        Индикатор цифровой
-    
-
-
-    ModelViewGadgetFactory
-    
-        
-        ModelView Gadget
-        3D Модель
+        
+        HITL Simulation (v2)
+        
     
 
 
@@ -7173,28 +7356,15 @@ Reason: %3
         Оповещения
     
 
-
-    OPMapGadgetFactory
-    
-        
-        OPMap Gadget
-        Карта местности
-    
-
 
     OPMapGadgetWidget
     
-        
-        Flight path 62
-        
-    
-    
-        
+        
         Copy
         Копировать
     
     
-        
+        
         Zoom
         Масштабировать
     
@@ -7209,27 +7379,20 @@ Reason: %3
         Домашняя позиция
     
     
-        
+        
+        
         UAV
         БПЛА
     
     
-        
+        
+        
         Waypoints
         Точки маршрута
     
     
-        
-        OpenPilot GCS
-        OpenPilot НСУ (Наземная Система Управления)
-    
-    
-        
-        &Close menu
-        
-    
-    
-        
+        
+        
         Close the context menu
         
     
@@ -7249,7 +7412,7 @@ Reason: %3
         
     
     
-        
+        
         Mouse latitude and longitude
         
     
@@ -7279,24 +7442,13 @@ Reason: %3
         
     
     
-        
-        &Find place
-        
-    
-    
-        
-        
+        
         
         Ctrl+F
         
     
     
-        
-        Find a location
-        
-    
-    
-        
+        
         Show compass
         
     
@@ -7306,7 +7458,7 @@ Reason: %3
         
     
     
-        
+        
         Show Home
         
     
@@ -7326,7 +7478,7 @@ Reason: %3
         
     
     
-        
+        
         Zoom &In
         
     
@@ -7336,7 +7488,7 @@ Reason: %3
         
     
     
-        
+        
         Zoom &Out
         
     
@@ -7346,7 +7498,7 @@ Reason: %3
         
     
     
-        
+        
         Go to where you right clicked the mouse
         
     
@@ -7356,7 +7508,7 @@ Reason: %3
         
     
     
-        
+        
         Go to &Home location
         
     
@@ -7406,17 +7558,7 @@ Reason: %3
         
     
     
-        
-        Show UAV trail
-        
-    
-    
-        
-        Show/Hide the UAV trail
-        Показать / скрыть траекторию полета
-    
-    
-        
+        
         Clear UAV trail
         
     
@@ -7426,12 +7568,123 @@ Reason: %3
         Стереть траекторию
     
     
-        
+        
         &Waypoint editor
         
     
+    
+        
+        &Max Update Rate 
+        
+    
+    
+        
+         (Normal)
+        
+    
     
         
+         (Magic Waypoint)
+        
+    
+    
+        
+         (Unknown)
+        
+    
+    
+        
+        Map mode
+        
+    
+    
+        
+        Safe Area Radius
+        
+    
+    
+        
+        UAV Trail
+        
+    
+    
+        
+        UAV trail type
+        
+    
+    
+        
+        UAV trail time
+        
+    
+    
+        
+        UAV trail distance
+        
+    
+    
+        
+        &Overlay Opacity 
+        
+    
+    
+        
+        
+        Close menu
+        
+    
+    
+        
+        &Rip map
+        
+    
+    
+        
+        Rip the map tiles
+        
+    
+    
+        
+        Show Diagnostics
+        
+    
+    
+        
+        Show/Hide the diagnostics
+        
+    
+    
+        
+        Show UAV Info
+        
+    
+    
+        
+        Show/Hide the UAV info
+        
+    
+    
+        
+        Set default zoom and location
+        
+    
+    
+        
+        Changes the map default zoom and location to the current values
+        
+    
+    
+        
+        Set the home location
+        
+    
+    
+        
+        Set the home location to where you clicked
+        
+    
+    
+        
         Ctrl+W
         
     
@@ -7441,22 +7694,25 @@ Reason: %3
         
     
     
-        
+        
+        
         &Add waypoint
         
     
     
-        
+        
+        
         Ctrl+A
         
     
     
-        
+        
+        
         Add waypoint
         
     
     
-        
+        
         &Edit waypoint
         
     
@@ -7510,29 +7766,75 @@ Reason: %3
         Clear waypoints
         
     
-
-
-    PFDGadgetFactory
     
-        
-        Primary Flight Display Gadget
-        Основной дисплей полета
+        
+        Home magic waypoint
+        
     
-
-
-    ScopeGadgetFactory
     
-        
-        Scope Gadget
-        Осциллограф
+        
+        Move the magic waypoint to the home position
+        
     
-
-
-    SystemHealthGadgetFactory
     
-        
-        System Health Gadget
-        Монитор состояния системы
+        
+        Normal
+        
+    
+    
+        
+        Magic Waypoint
+        
+    
+    
+        
+        Show Safe Area
+        
+    
+    
+        
+        Show/Hide the Safe Area around the home location
+        
+    
+    
+        
+        Show Trail dots
+        
+    
+    
+        
+        Show/Hide the Trail dots
+        
+    
+    
+        
+        Show Trail lines
+        
+    
+    
+        
+        Show/Hide the Trail lines
+        
+    
+    
+        
+        Set home altitude
+        
+    
+    
+        
+        In [m], referenced to WGS84:
+        
+    
+    
+        
+        Are you sure you want to clear waypoints?
+        
+    
+    
+        
+        All associated data will be lost.
+        
     
 
 
@@ -7546,7 +7848,7 @@ Reason: %3
 
     UAVObjectTreeModel
     
-        
+        
         Property
         Свойство
     
@@ -7566,17 +7868,17 @@ Reason: %3
         Установки
     
     
-        
+        
         Data Objects
         Объекты
     
     
-        
+        
         Meta Data
         Метаданные
     
     
-        
+        
         Instance
         Экземпляр
     
@@ -7584,64 +7886,54 @@ Reason: %3
 
     UAVMetaObject
     
-        
-        False
-        Нет
-    
-    
-        
-        True
-        Да
-    
-    
-        
-        Periodic
-        Периодически
-    
-    
-        
-        On Change
-        При изменении
-    
-    
-        
-        Manual
-        Вручную
-    
-    
-        
-        Never
-        Никогда
-    
-    
-        
-        Read/Write
-        Чтение/Запись
-    
-    
-        
-        Read Only
-        Только чтение
-    
-    
-        
-        Flight Access Mode
-        Flight Режим доступа
-    
-    
-        
-        GCS Access Mode
-        НСУ Режим доступа
-    
-    
-        
-        Flight Telemetry Acked
+        
+        FlightReadOnly
         
     
     
-        
-        Flight Telemetry Update Mode
-        Flight режим обновления телеметрии
+        
+        GCSReadOnly
+        
+    
+    
+        
+        FlightTelemetryAcked
+        
+    
+    
+        
+        GCSTelemetryAcked
+        
+    
+    
+        
+        FlightUpdatePeriodic
+        
+    
+    
+        
+        FlightUpdateOnChange
+        
+    
+    
+        
+        GCSUpdatePeriodic
+        
+    
+    
+        
+        GCSUpdateOnChange
+        
+    
+    
+        
+        Modes
+        
+    
+    
+        
+        boolean
+        
     
     
         
@@ -7649,25 +7941,17 @@ Reason: %3
         Flight период обновления телеметрии
     
     
+        
         
-        GCS Telemetry Acked
-        
+        
+        ms
+        мс
     
     
-        
-        GCS Telemetry Update Mode
-        НСУ режим обновления телеметрии
-    
-    
-        
+        
         GCS Telemetry Update Period
         НСУ период обновления телеметрии
     
-    
-        
-        Logging Update Mode
-        Режим обновления журнала
-    
     
         
         Logging Update Period
@@ -7677,7 +7961,7 @@ Reason: %3
 
     Telemetry
     
-        
+        
         Telemetry: priority event queue is full, event lost (%1)
         Телеметрия: очередь приоритетных сообщений заполнена, сообщение потеряно (%1)
     
@@ -7685,227 +7969,11 @@ Reason: %3
 
     TelemetryMonitor
     
-        
+        
         Starting to retrieve meta and settings objects from the autopilot (%1 objects)
         Старт получения метаданных и настроек объектов из автопилота (%1 объектов)
     
 
-
-    UploaderGadgetFactory
-    
-        
-        Uploader Gadget
-        Выгрузка файла
-    
-
-
-    UploaderGadgetWidget
-    
-        
-        QFileDialog::getOpenFileName()
-        
-    
-    
-        
-        All Files (*);;Text Files (*.bin)
-        Все файлы (*);;Текстовые файлы (*.bin)
-    
-
-
-    Welcome::Internal::CommunityWelcomePage
-    
-        
-        Community
-        Сообщество
-    
-
-
-    AHRSWidget
-    
-        
-        Form
-        Форма
-    
-    
-        
-        These are the sensor variance values computed by the AHRS.
-
-Tip: lower is better!
-        
-    
-    
-        
-        Telemetry link not established.
-        
-    
-    
-        
-        Start
-        Пуск
-    
-    
-        
-        AHRS Algorithm:
-        Алгоритм:
-    
-    
-        
-        Six Point Calibration
-        
-    
-    
-        
-        Save settings to the OP board (RAM only).
-
-This does not save the calibration settings, this is done using the
-specific calibration button on top of the screen.
-        
-    
-    
-        
-        Save to RAM
-        Записать в RAM
-    
-    
-        
-        Send settings to OP board, and save to the microSD card.
-        
-    
-    
-        
-        Save to SD
-        Сохранить на  SD
-    
-    
-        
-        Refresh this screen with current values from the board.
-        
-    
-    
-        
-        Request
-        Получить
-    
-    
-        
-        Sensor noise calibration
-        
-    
-    
-        
-        Save Position
-        Сохранить позицию
-    
-    
-        
-        Press to start a calibration procedure, about 15 seconds.
-
-Hint: run this with engines at cruising speed.
-        
-    
-    
-        
-        Select the sensor integration algorithm here.
-"Simple" only uses accelerometer values
-"INSGPS" the full featured algorithm integrating all sensors
-        
-    
-    
-        
-        Nice paper plane, eh?
-        
-    
-    
-        
-        Launch a sensor range and bias calibration.
-        
-    
-    
-        
-        Six Point Calibration instructions
-        
-    
-    
-        
-        Saves the Home Location. This is only enabled
-if the Home Location is set, i.e. if the GPS fix is
-successful.
-
-Disabled if there is no GPS fix.
-        
-    
-    
-        
-        Set
-        
-    
-    
-        
-        buttonGroup
-        
-    
-    
-        
-        Save settings (only enabled when calibration is running)
-        
-    
-    
-        
-        Check this box if you are flying indoors and have no GPS fix.
-Only makes sense with the "INSGPS" algorithm.
-        
-    
-    
-        
-        Indoor flight mode
-        
-    
-    
-        
-        Clears the HomeLocation: only makes sense if you save
-to SD. This will force the AHRS to use the next GPS fix as the
-new home location unless it is in indoor mode.
-        
-    
-    
-        
-        Clear
-        Очистить
-    
-    
-        
-        Home Location:
-        Домашняя позиция:
-    
-
-
-    FGOptionsPage
-    
-        
-        
-        Form
-        Форма
-    
-    
-        
-        
-        FlightGear executable:
-        Исполняемый файл FlightGear:
-    
-    
-        
-        
-        FlightGear data directory:
-        Каталог FlightGear:
-    
-    
-        
-        
-        
-        Manual aircraft control (can be used when hardware is not available)
-        Ручное управление (может быть использовано, когда отсутствует оборудование)
-    
-
 
     ImportExportDialog
     
@@ -7914,7 +7982,7 @@ new home location unless it is in indoor mode.
         Диалог
     
     
-        
+        
         Import Export Settings
         Настройки импорта\экспорта
     
@@ -7974,6 +8042,11 @@ new home location unless it is in indoor mode.
         Idle
         в холостую
     
+    
+        
+        Playback speed:
+        
+    
 
 
     LoggingGadgetFactory
@@ -8012,4 +8085,6004 @@ new home location unless it is in indoor mode.
         
     
 
+
+    AntennaTrackGadgetOptionsPage
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Mode:
+        Режим:
+    
+    
+        
+        Serial Connection
+        Последовательный порт
+    
+    
+        
+        Data Bits:
+        Бит данных:
+    
+    
+        
+        Stop Bits:
+        Стоповых бит:
+    
+    
+        
+        Parity:
+        Четность:
+    
+    
+        
+        Timeout(ms):
+        Тайм-аут(мс):
+    
+    
+        
+        Port:
+        Порт:
+    
+    
+        
+        Port Speed:
+        Скорость порта:
+    
+    
+        
+        Flow Control:
+        Управление потоком:
+    
+
+
+    AntennaTrackWidget
+    
+        
+        Coord:
+        Координаты:
+    
+    
+        
+        Unknown
+        не известно
+    
+    
+        
+        HomeCoord:
+        
+    
+    
+        
+        Azimuth
+        
+    
+    
+        
+        Elevation
+        
+    
+    
+        
+        Connect
+        Соединить
+    
+    
+        
+        Disconnect
+        Отсоединить
+    
+    
+        
+        Output
+        Вывод
+    
+
+
+    AutotuneWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Pre-Autotune
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be </span><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> for it creating bad tuning values.  Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:<br /></span></p>
+<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">On the <span style=" font-style:italic;">Input configuration</span> tab, <span style=" font-style:italic;">Flight Mode Switch Settings</span>, set one of your flight modes to &quot;Autotune&quot;.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, change flight mode to autotune, keep it in the air while it's shaking.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm.  (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly the new settings.</li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the <span style=" font-style:italic;">Enable Autotune Module</span> checkbox above this text, click <span style=" font-style:italic;">save</span> and go to the next tab.</li></ul></body></html>
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable Autotune Module
+        
+    
+    
+        
+        Autotune Setup
+        
+    
+    
+        
+        Tuning Aggressiveness
+        
+    
+    
+        
+        Rate Tuning:
+        
+    
+    
+        
+        Attitude Tuning:
+        
+    
+    
+        
+        objname:RelayTuningSettings
+        
+    
+    
+        
+        fieldname:RateGain
+        
+    
+    
+        
+        scale:0.01
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        fieldname:AttitudeGain
+        
+    
+    
+        
+        Measured Properties
+        
+    
+    
+        
+        Roll:
+        
+    
+    
+        
+        0
+        0
+    
+    
+        
+        objname:RelayTuning
+        
+    
+    
+        
+        fieldname:Period
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:Gain
+        
+    
+    
+        
+        Period (ms)
+        
+    
+    
+        
+        Gain (deg/s) / output
+        
+    
+    
+        
+        Pitch
+        Тангаж
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Computed Values
+        
+    
+    
+        
+        RateKi
+        
+    
+    
+        
+        AttitudeKp
+        
+    
+    
+        
+        RateKp
+        
+    
+    
+        
+        AttitudeKi
+        
+    
+    
+        
+        Roll
+        Крен
+    
+    
+        
+        Apply Computed Values
+        
+    
+    
+        
+        Step Size
+        
+    
+    
+        
+        fieldname:Amplitude
+        
+    
+    
+        
+        The Apply and Save buttons below save the autotuning settings which
+will alter settings for the next autotuning flight
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Сохранить
+    
+    
+        
+        button:save
+        
+    
+
+
+    CameraStabilizationWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Camera Stabilization
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable CameraStabilization module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Basic Settings (Stabilization)
+        
+    
+    
+        
+        Camera yaw angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        objname:CameraStabSettings
+        
+    
+    
+        
+        fieldname:OutputRange
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Camera pitch angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Camera roll angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        Yaw output channel for camera gimbal
+        
+    
+    
+        
+        None
+        Отсутствует
+    
+    
+        
+        Pitch output channel for camera gimbal
+        
+    
+    
+        
+        Roll output channel for camera gimbal
+        
+    
+    
+        
+        Output Channel
+        
+    
+    
+        
+        Output Range
+        
+    
+    
+        
+        Yaw
+        Рыскание
+    
+    
+        
+        Pitch
+        Тангаж
+    
+    
+        
+        Roll
+        Крен
+    
+    
+        
+        Advanced Settings (Control)
+        
+    
+    
+        
+        Input channel to control camera yaw
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        fieldname:Input
+        
+    
+    
+        
+        Input channel to control camera pitch
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input channel to control camera roll
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input Channel
+        
+    
+    
+        
+        Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.
+        
+    
+    
+        
+        fieldname:StabilizationMode
+        
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Maximum camera yaw deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        fieldname:InputRange
+        
+    
+    
+        
+        Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        fieldname:InputRate
+        
+    
+    
+        
+        Input low-pass filter response time for yaw axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        fieldname:ResponseTime
+        
+    
+    
+        
+        Maximum camera pitch deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for pitch axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        Maximum camera roll deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera roll rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for roll axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        MaxAxisLockRate
+        
+    
+    
+        
+        Response Time
+        
+    
+    
+        
+        Input Rate
+        
+    
+    
+        
+        Input Range
+        
+    
+    
+        
+        Stabilization Mode
+        
+    
+    
+        
+        (the same value for Roll, Pitch, Yaw)
+        
+    
+    
+        
+        Stick input deadband for all axes in AxisLock mode, deg/s.
+
+When stick input is within the MaxAxisLockRate range, camera tracks
+current attitude. Otherwise it starts moving according to input with
+rate depending on input value.
+
+If you have drift in your Tx controls, you may want to increase this
+value.
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration
+        
+    
+    
+        
+        Load default CameraStabilization settings except output channels into GCS.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reset To Defaults
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        Reloads saved CameraStabilization settings  except output channels
+from board into GCS. Useful if you have accidentally changed some
+settings.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Сохранить
+    
+    
+        
+        button:save
+        
+    
+
+
+    CC_HW_Widget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        HW settings
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        Changes on this page only take effect after board reset or power cycle
+        
+    
+    
+        
+        Telemetry speed:
+        Скорость обмена:
+    
+    
+        
+        GPS speed:
+        
+    
+    
+        
+        ComUsbBridge speed:
+        
+    
+    
+        
+        Select the speed here.
+        Укажите скорость.
+    
+    
+        
+        USB HID Port
+        
+    
+    
+        
+        MainPort
+        
+    
+    
+        
+        FlexiPort
+        
+    
+    
+        
+        USB VCP Port
+        
+    
+    
+        
+        RcvrPort
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        Передать в автопилот, но не записывать на SD.
+Осторожно, не отключите сами себя!
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        Принять изменения и сохранить на SD
+Осторожно, не отключите сами себя!
+    
+    
+        
+        Save
+        Сохранить
+    
+
+
+    ccattitude
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Rotate virtual attitude relative to board
+        
+    
+    
+        
+        Roll
+        Крен
+    
+    
+        
+        Yaw
+        Рыскание
+    
+    
+        
+        Pitch
+        Тангаж
+    
+    
+        
+        Calibration
+        
+    
+    
+        
+        Place aircraft very flat, and then click level to compute the accelerometer and gyro bias
+        
+    
+    
+        
+        Launch horizontal calibration.
+        
+    
+    
+        
+        Level
+        
+    
+    
+        
+        If enabled, a fast recalibration of gyro zero point will be done
+whenever the frame is armed. Do not move the airframe while
+arming it in that case!
+        
+    
+    
+        
+        Zero gyros while arming aircraft
+        
+    
+    
+        
+        AccelTau
+        
+    
+    
+        
+        Accelerometer filtering.
+
+Sets the amount of lowpass filtering of accelerometer data 
+for the attitude estimation. Higher values apply a stronger 
+filter, which may help with drifting in attitude mode.
+
+Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
+Start low and raise until drift stops.
+
+A setting of 0.00 disables the filter.
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        Click to permanently save the accel bias in the CopterControl Flash.
+        
+    
+    
+        
+        Save
+        Сохранить
+    
+
+
+    ccpmWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Swashplate config:
+        
+    
+    
+        
+        Select aircraft type here
+        Здесь выберите тип БПЛА 
+    
+    
+        
+        Basic settings
+        
+    
+    
+        
+        Outputs
+        
+    
+    
+        
+        Tail Rotor
+        
+    
+    
+        
+        Engine
+        Двигатель
+    
+    
+        
+        Swashplate Outputs
+        
+    
+    
+        
+        Servo W
+        
+    
+    
+        
+        Servo X
+        
+    
+    
+        
+        Front
+        
+    
+    
+        
+        Right
+        
+    
+    
+        
+        Rear
+        
+    
+    
+        
+        Left
+        
+    
+    
+        
+        1st Servo
+        
+    
+    
+        
+        Servo Z
+        
+    
+    
+        
+        Servo Y
+        
+    
+    
+        
+        Swashplate Servo Angles
+        
+    
+    
+        
+        Angle W
+        
+    
+    
+        
+        Angle X
+        
+    
+    
+        
+        Angle Y
+        
+    
+    
+        
+        Angle Z
+        
+    
+    
+        
+        Correction Angle
+        
+    
+    
+        
+        CCPM Options
+        
+    
+    
+        
+        Collective Pass through
+        
+    
+    
+        
+        Link Roll/Pitch
+        
+    
+    
+        
+        Link Cyclic/Collective
+        
+    
+    
+        
+        Swashplate Layout
+        
+    
+    
+        
+        REVO
+        
+    
+    
+        
+        100%
+        100%
+    
+    
+        
+        0%
+        0%
+    
+    
+        
+        CCPM
+        
+    
+    
+        
+        Collective
+        
+    
+    
+        
+        Cyclic
+        
+    
+    
+        
+        Pitch
+        Тангаж
+    
+    
+        
+        Roll
+        Крен
+    
+    
+        
+        Swashplate Levelling
+        
+    
+    
+        
+        Commands
+        
+    
+    
+        
+        Start
+        Пуск
+    
+    
+        
+        Next
+        
+    
+    
+        
+        Cancel
+        Отмена
+    
+    
+        
+        Finish
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Neutral
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Verify
+        
+    
+    
+        
+        Position
+        
+    
+    
+        
+        Swashplate Adjustment
+        
+    
+    
+        
+        Curve settings
+        
+    
+    
+        
+        Advanced settings
+        
+    
+    
+        
+        Channel
+        
+    
+    
+        
+        Curve 1
+        Кривизна 1
+    
+    
+        
+        Curve 2
+        Кривизна 2
+    
+    
+        
+        Yaw
+        Рыскание
+    
+    
+        
+        -
+        
+    
+
+
+    defaultattitude
+    
+        
+        Form
+        Форма
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Attitude / INS calibration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This panel will be updated to provide the relevant controls to let you calibrate your OpenPilot INS or your CopterControl unit, depending on the board which is detected once telemetry is connected and running.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    defaulthwsettings
+    
+        
+        Form
+        Форма
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Hardware Configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This panel will be updated to provide the relevant controls to let you configure your hardware once telemetry is connected and running.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p></body></html>
+        
+    
+
+
+    InputWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        RC Input
+        Вход с приемника
+    
+    
+        
+        Roll/Pitch/Yaw stick deadband
+        
+    
+    
+        
+        Stick deadband in percents of full range (0-10), zero to disable
+        
+    
+    
+        
+        Back
+        
+    
+    
+        
+        Next
+        
+    
+    
+        
+        Cancel
+        Отмена
+    
+    
+        
+        Calibration and Configuration Options
+        
+    
+    
+        
+        Start Configuration Wizard
+        
+    
+    
+        
+        Manual Calibration
+        
+    
+    
+        
+        Flight Mode Switch Settings
+        
+    
+    
+        
+        Configure each stabilization mode for each axis
+        
+    
+    
+        
+        Yaw
+        Рыскание
+    
+    
+        
+        Stabilized1
+        
+    
+    
+        
+        Stabilized2
+        
+    
+    
+        
+        Pitch
+        Тангаж
+    
+    
+        
+        Roll
+        Крен
+    
+    
+        
+        Stabilized3
+        
+    
+    
+        
+        FlightMode Switch Positions
+        
+    
+    
+        
+        Pos. 1
+        
+    
+    
+        
+        Pos. 2
+        
+    
+    
+        
+        Pos. 3
+        
+    
+    
+        
+        Pos. 4
+        
+    
+    
+        
+        Pos. 5
+        
+    
+    
+        
+        Pos. 6
+        
+    
+    
+        
+        This slider moves when you move the flight mode switch
+on your remote. It shows currently active flight mode.
+
+Setup the flight mode channel on the RC Input tab if you have not done so already.
+        
+    
+    
+        
+        Select the stabilization mode on this position (manual/stabilized/auto)
+        
+    
+    
+        
+        Number of flight modes:
+        
+    
+    
+        
+        Number of positions your FlightMode switch has.
+
+Default is 3.
+
+It will be 2 or 3 for most of setups, but it also can be up to 6.
+In that case you have to configure your radio mixers so the whole range
+from min to max is split into N equal intervals, and you may set arbitrary
+channel value for each flight mode.
+        
+    
+    
+        
+        Avoid "Manual" for multirotors!
+        
+    
+    
+        
+        Arming Settings
+        
+    
+    
+        
+        Arm airframe using throttle off and:
+        
+    
+    
+        
+        Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms "Throttle Off".
+        
+    
+    
+        
+        Arming timeout:
+        
+    
+    
+        
+        After the time indicated here, the frame go back to disarmed state.
+Set to 0 to disable (recommended for soaring fixed wings).
+        
+    
+    
+        
+        seconds (0 to disable).
+        
+    
+    
+        
+        Airframe disarm is done by throttle off and opposite of above combination.
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        Настройки передаются в OpenPilot, но не сохраняются на SD
+Не забудьте установить все ползунки в нейтральное положение перед сохранением!
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        Не забудьте установить все ползунки в нейтральное положение перед сохранением!
+Применяются все настройки и сохраняются на SD
+    
+    
+        
+        Save
+        Сохранить
+    
+
+
+    inputChannelForm
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Function
+        
+    
+    
+        
+        Type
+        
+    
+    
+        
+        Number
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Neutral
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        TextLabel
+        Метка
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Chan %1
+        
+    
+
+
+    MixerCurve
+    
+        
+        MixerCurve
+        
+    
+    
+        
+        Throttle Curve
+        Кривая газа
+    
+    
+        
+        Max
+        
+    
+    
+        
+        4
+        4
+    
+    
+        
+        3
+        3
+    
+    
+        
+        2
+        2
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Value
+        Значение
+    
+    
+        
+        1.0
+        1.0
+    
+    
+        
+        .75
+        
+    
+    
+        
+        .50
+        
+    
+    
+        
+        .25
+        
+    
+    
+        
+        .00
+        
+    
+    
+        
+        Linear
+        
+    
+    
+        
+        Log
+        
+    
+    
+        
+        Exp
+        
+    
+    
+        
+        Flat
+        
+    
+    
+        
+        Step
+        
+    
+    
+        
+        Generate
+        
+    
+    
+        
+        Reset
+        Сброс
+    
+    
+        
+        Advanced...
+        
+    
+
+
+    OutputWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Output
+        Вывод
+    
+    
+        
+        Output Update Speed
+        
+    
+    
+        
+        Channel:
+        
+    
+    
+        
+        -
+        
+    
+    
+        
+        Update rate:
+        Частота обновления:
+    
+    
+        
+        Setup "TurboPWM" here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.
+        
+    
+    
+        
+        50
+        50
+    
+    
+        
+        60
+        60
+    
+    
+        
+        125
+        125
+    
+    
+        
+        165
+        165
+    
+    
+        
+        270
+        270
+    
+    
+        
+        330
+        330
+    
+    
+        
+        400
+        400
+    
+    
+        
+        Motors spin at neutral output when armed and throttle below zero (be careful)
+        
+    
+    
+        
+        Move the servos using the sliders. Two important things:
+- Take extra care if the output is connected to an motor controller!
+- Will only work if the RC receiver is working (failsafe)
+        Управляйте приводами с помощью ползунков. Два важных замечания:
+- Будьте особенно осторожны, если выход подключен к контроллеру двигателя!
+- Будет работать, только если работает приёмник (failsafe)
+    
+    
+        
+        Test outputs
+        Тест выходов
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        Настройки передаются в OpenPilot, но не сохраняются на SD
+Не забудьте установить все ползунки в нейтральное положение перед сохранением!
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        Не забудьте установить все ползунки в нейтральное положение перед сохранением!
+Применяются все настройки и сохраняются на SD
+    
+    
+        
+        Save
+        Сохранить
+    
+
+
+    outputChannelForm
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Current value of slider.
+        Текущее положение ползунка.
+    
+    
+        
+        0000
+        0000
+    
+    
+        
+        Link
+        
+    
+    
+        
+        TextLabel
+        Метка
+    
+    
+        
+        #
+        
+    
+    
+        
+        Channel Number
+        
+    
+    
+        
+        Minimum PWM value, beware of not overdriving your servo.
+        
+    
+    
+        
+        Check to invert the channel.
+        
+    
+    
+        
+        Neutral (slowest for motor)
+        
+    
+    
+        
+        Assignment
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Output mode
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Maximum PWM value, beware of not overdriving your servo.
+        
+    
+
+
+    PipXtremeWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/dACrAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Сохранить
+    
+    
+        
+        Pairing
+        
+    
+    
+        
+        Broadcast
+        
+    
+    
+        
+        Broadcast Address
+        
+    
+    
+        
+        12345678
+        12345678
+    
+    
+        
+        %v dBm
+        
+    
+    
+        
+        -100dB
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Firmware Ver.
+        
+    
+    
+        
+        Serial Number
+        
+    
+    
+        
+        The modems serial number
+        
+    
+    
+        
+        Device ID
+        
+    
+    
+        
+        Pair ID
+        
+    
+    
+        
+        90ABCDEF
+        
+    
+    
+        
+        Min Frequency
+        
+    
+    
+        
+        The modems minimum allowed frequency
+        
+    
+    
+        
+        Max Frequency
+        
+    
+    
+        
+        The modems maximum allowed frequency
+        
+    
+    
+        
+        Freq. Step Size
+        
+    
+    
+        
+        The modems minimum frequency step size
+        
+    
+    
+        
+        Freq. Band
+        
+    
+    
+        
+        The current frequency band
+        
+    
+    
+        
+        RSSI
+        
+    
+    
+        
+        Rx AFC
+        
+    
+    
+        
+        TX Rate (B/s)
+        
+    
+    
+        
+        RX Rate (B/s)
+        
+    
+    
+        
+        Link State
+        
+    
+    
+        
+        The modems current state
+        
+    
+    
+        
+        Disconnected
+        
+    
+    
+        
+        Errors
+        
+    
+    
+        
+        Retries
+        
+    
+    
+        
+        UAVTalk Errors
+        
+    
+    
+        
+        Resets
+        
+    
+    
+        
+        Dropped
+        
+    
+    
+        
+        Configuration
+        Конфигурация
+    
+    
+        
+        Telemetry Port Config.
+        
+    
+    
+        
+        Set the telemetry port configuration
+        
+    
+    
+        
+        Telemetry Port Speed
+        
+    
+    
+        
+        Set the telemetry port speed
+        
+    
+    
+        
+        Flexi Port Configuration
+        
+    
+    
+        
+        Set the flexi port configuration
+        
+    
+    
+        
+        Flexi Port Speed
+        
+    
+    
+        
+        Set the flexi port speed
+        
+    
+    
+        
+        VCP Configuration
+        
+    
+    
+        
+        Set the virtual serial port configuration
+        
+    
+    
+        
+        VCP Speed
+        
+    
+    
+        
+        Set the virtual serial port speed
+        
+    
+    
+        
+        Max RF Datarate (bits/s)
+        
+    
+    
+        
+        Set the maximum RF datarate/channel bandwidth the modem will use
+        
+    
+    
+        
+        Max RF Tx Power(mW)
+        
+    
+    
+        
+        Set the maximum TX output power the modem will use
+        
+    
+    
+        
+        Send Timeout (ms)
+        
+    
+    
+        
+        Calibrate the modems RF carrier frequency
+        
+    
+    
+        
+        Min Packet Size
+        
+    
+    
+        
+        Frequency Calibration
+        
+    
+    
+        
+        Frequency (Hz)
+        
+    
+    
+        
+        Set the modems RF carrier frequency
+        
+    
+    
+        
+        AES Encryption
+        
+    
+    
+        
+        The AES encryption key - has to be the same key on the remote modem.
+        
+    
+    
+        
+        Radomise the AES encryption key
+        
+    
+    
+        
+         Rand
+        
+    
+    
+        
+        Enable/Disable AES encryption
+        
+    
+    
+        
+        Enable
+        
+    
+    
+        
+        Scan whole band to see where their is interference and/or used channels
+        
+    
+    
+        
+            Scan Spectrum    
+        
+    
+
+
+    PRO_HW_Widget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</span></p></body></html>
+        
+    
+    
+        
+        Telemetry speed:
+        Скорость обмена:
+    
+    
+        
+        Select the speed here.
+        Укажите скорость.
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        Передать в автопилот, но не записывать на SD.
+Осторожно, не отключите сами себя!
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        Принять изменения и сохранить на SD
+Осторожно, не отключите сами себя!
+    
+    
+        
+        Save
+        Сохранить
+    
+
+
+    RevoSensorsWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Calibration
+        
+    
+    
+        
+        #1: Multi-Point Calibration
+        
+    
+    
+        
+        Nice paper plane, eh?
+        
+    
+    
+        
+        Launch a sensor range and bias calibration.
+        
+    
+    
+        
+        Start
+        Пуск
+    
+    
+        
+        Save settings (only enabled when calibration is running)
+        
+    
+    
+        
+        Save Position
+        Сохранить позицию
+    
+    
+        
+        #2: Sensor noise calibration
+        
+    
+    
+        
+        These are the sensor variance values computed by the AHRS.
+
+Tip: lower is better!
+        
+    
+    
+        
+        Press to start a calibration procedure, about 15 seconds.
+
+Hint: run this with engines at cruising speed.
+        
+    
+    
+        
+        #3: Accelerometer Bias calibration
+        
+    
+    
+        
+        #4 Gyro temperature drift calibration
+        
+    
+    
+        
+        Temp:
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Currently measured temperature on the system. This is actually the
+MB temperature, be careful if somehow you know that your INS
+temperature is very different from your MB temp...
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Current drift:
+        
+    
+    
+        
+        Saved drift:
+        
+    
+    
+        
+        Start gathering data for temperature drift calibration.
+Avoid sudden moves once you have started gathering!
+        
+    
+    
+        
+        Launch drift measurement based on gathered data.
+
+TODO: is this necessary? Measurement could be auto updated every second or so, or done when we stop measuring...
+        
+    
+    
+        
+        Measure
+        
+    
+    
+        
+        Updates the XYZ drift values into the AHRS (saves to SD)
+        
+    
+    
+        
+        Save
+        Сохранить
+    
+    
+        
+        Six Point Calibration instructions
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Step #1 and #2 are really necessary. Steps #3 and #4 will help you achieve the best possible results.</span></p>
+<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#1: Multi-Point calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here.  Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#2: Sensor noise calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute sensor variance under standard conditions. You can leave your engines running at low to mid throttle to take their vibration into account before pressing &quot;Start&quot;.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#3: Accelerometer bias calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that accelerometer bias is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#4 Gyro temp drift calibration:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p></td></tr></table></body></html>
+        
+    
+    
+        
+        Settings
+        
+    
+    
+        
+        Attitude Algorithm:
+        
+    
+    
+        
+        Select the sensor integration algorithm here.
+"Simple" only uses accelerometer values
+"INSGPS" the full featured algorithm integrating all sensors
+        
+    
+    
+        
+        Home Location:
+        Домашняя позиция:
+    
+    
+        
+        Saves the Home Location. This is only enabled
+if the Home Location is set, i.e. if the GPS fix is
+successful.
+
+Disabled if there is no GPS fix.
+        
+    
+    
+        
+        Set
+        
+    
+    
+        
+        buttonGroup
+        
+    
+    
+        
+        Clears the HomeLocation: only makes sense if you save
+to SD. This will force the INS to use the next GPS fix as the
+new home location unless it is in indoor mode.
+        
+    
+    
+        
+        Clear
+        Очистить
+    
+    
+        
+        Telemetry link not established.
+        
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        Save settings to the board (RAM only).
+
+This does not save the calibration settings, this is done using the
+specific calibration button on top of the screen.
+        
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        Send settings to the board, and save to the non-volatile memory.
+        
+    
+
+
+    StabilizationWidget
+    
+        
+        Stabilization
+        
+    
+    
+        
+        Basic
+        
+    
+    
+        
+        Rate Stabilization (Inner Loop)
+        
+    
+    
+        
+        Link Roll and Pitch
+        
+    
+    
+        
+        Reset all values to GCS defaults
+        
+    
+    
+        
+        Default
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Roll
+        Крен
+    
+    
+        
+        Pitch
+        Тангаж
+    
+    
+        
+        Yaw
+        Рыскание
+    
+    
+        
+        Proportional
+        
+    
+    
+        
+        Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.
+        
+    
+    
+        
+        objname:StabilizationSettings
+        
+    
+    
+        
+        fieldname:RollRatePID
+        
+    
+    
+        
+        element:Kp
+        
+    
+    
+        
+        haslimits:yes
+        
+    
+    
+        
+        scale:0.0001
+        
+    
+    
+        
+        buttongroup:1,10
+        
+    
+    
+        
+        fieldname:PitchRatePID
+        
+    
+    
+        
+        fieldname:YawRatePID
+        
+    
+    
+        
+        Integral
+        
+    
+    
+        
+        As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        element:Ki
+        
+    
+    
+        
+        Attitude Stabilization (Outer Loop)
+        
+    
+    
+        
+        buttongroup:2
+        
+    
+    
+        
+        fieldname:RollPI
+        
+    
+    
+        
+        scale:0.1
+        
+    
+    
+        
+        buttongroup:2,10
+        
+    
+    
+        
+        fieldname:PitchPI
+        
+    
+    
+        
+        fieldname:YawPI
+        
+    
+    
+        
+        When the throttle is low, zero the intergral term to prevent intergral wind-up
+        
+    
+    
+        
+        Zero the integral when throttle is low
+        
+    
+    
+        
+        fieldname:LowThrottleZeroIntegral
+        
+    
+    
+        
+        Advanced
+        
+    
+    
+        
+        Rate Stabization Coefficients (Inner Loop)
+        
+    
+    
+        
+        buttongroup:4
+        
+    
+    
+        
+        element:Kd
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:4,20
+        
+    
+    
+        
+        As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+You can usually go for higher values for Yaw factors.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+        
+    
+    
+        
+        Derivative
+        
+    
+    
+        
+        Attitude Stabization Coefficients (Outer Loop)
+        
+    
+    
+        
+        buttongroup:5
+        
+    
+    
+        
+        buttongroup:5,20
+        
+    
+    
+        
+        Stick Range and Limits
+        
+    
+    
+        
+        buttongroup:6
+        
+    
+    
+        
+        fieldname:PitchMax
+        
+    
+    
+        
+        buttongroup:6,20
+        
+    
+    
+        
+        Max rate attitude (deg/s)
+        
+    
+    
+        
+        fieldname:MaximumRate
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:ManualRate
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        fieldname:YawMax
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Full stick angle (deg)
+        
+    
+    
+        
+        fieldname:RollMax
+        
+    
+    
+        
+        Full stick rate (deg/s)
+        
+    
+    
+        
+        Expert
+        
+    
+    
+        
+        Weak Leveling / Axis Lock
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Weak Leveling Kp 
+        
+    
+    
+        
+        Weak Leveling Rate 
+        
+    
+    
+        
+        Max Axis Lock 
+        
+    
+    
+        
+        Max Axis Lock Rate 
+        
+    
+    
+        
+        fieldname:WeakLevelingKp
+        
+    
+    
+        
+        fieldname:MaxWeakLevelingRate
+        
+    
+    
+        
+        fieldname:MaxAxisLock
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Integral Limits
+        
+    
+    
+        
+        buttongroup:13
+        
+    
+    
+        
+        element:ILimit
+        
+    
+    
+        
+        ILimit Attitude
+        
+    
+    
+        
+        ILimit Rate
+        
+    
+    
+        
+        Sensor Tuning
+        
+    
+    
+        
+        buttongroup:8
+        
+    
+    
+        
+        The proportional term for the accelerometer, the higher this term the more weight the  accel is given
+        
+    
+    
+        
+        objname:AttitudeSettings
+        
+    
+    
+        
+        fieldname:AccelKp
+        
+    
+    
+        
+        buttongroup:8,10
+        
+    
+    
+        
+        GyroTau
+        
+    
+    
+        
+        AccelKp
+        
+    
+    
+        
+        GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros
+        
+    
+    
+        
+        fieldname:GyroTau
+        
+    
+    
+        
+        AccelKi
+        
+    
+    
+        
+        The intergral term for the accelerometer within the filter 
+        
+    
+    
+        
+        fieldname:AccelKi
+        
+    
+    
+        
+        Real Time Updates
+        
+    
+    
+        
+        If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.
+        
+    
+    
+        
+        Update in real time
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DAO9
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Сохранить
+    
+    
+        
+        button:save
+        
+    
+
+
+    TxPIDWidget
+    
+        
+        TxPID
+        
+    
+    
+        
+        Tx PID
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        This module will periodically update values of stabilization PID settings
+depending on configured input control channels. New values of stabilization
+settings are not saved to flash, but updated in RAM. It is expected that the
+module will be enabled only for tuning. When desired values are found, they
+can be read via GCS and saved permanently. Then this module should be
+disabled again.
+
+Up to 3 separate PID options (or option pairs) can be selected and updated.
+        
+    
+    
+        
+        Enable TxPID module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Module Settings
+        
+    
+    
+        
+        PID option
+        
+    
+    
+        
+        Control Source
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Instance 1
+        
+    
+    
+        
+        Select PID option or option pair to update.
+Set to Disabled if not used.
+        
+    
+    
+        
+        Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min > Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.
+        
+    
+    
+        
+        Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.
+        
+    
+    
+        
+        Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.
+        
+    
+    
+        
+        Instance 2
+        
+    
+    
+        
+        Instance 3
+        
+    
+    
+        
+        Update Mode
+        
+    
+    
+        
+        PID values update mode which can be set to:
+- Never: this disables PID updates (but module still will be run if enabled),
+- When Armed: PID updated only when system is armed,
+- Always: PID updated always regardless of arm state.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.
+        
+    
+    
+        
+        Throttle Range
+        
+    
+    
+        
+        Throttle channel lower bound mapped to PID Min value
+        
+    
+    
+        
+        Throttle channel upper bound mapped to PID Max value
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DACiAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        Применить
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        Сохранить
+    
+
+
+    VernierWidget
+    
+        
+        Form
+        Форма
+    
+
+
+    importSettings
+    
+        
+        OpenPilotGCS
+        
+    
+    
+        
+        No configuration file could be found.
+Please choose from one of the default configurations
+        
+    
+    
+        
+        TextLabel
+        Метка
+    
+    
+        
+        Load
+        Загрузить
+    
+
+
+    Form
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Save to file
+        
+    
+
+
+    GCSControlGadgetOptionsPage
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Control Mode:
+        
+    
+    
+        
+        Mode 1
+        
+    
+    
+        
+        Mode 2
+        
+    
+    
+        
+        Mode 3
+        
+    
+    
+        
+        Mode 4
+        
+    
+    
+        
+        External input Device:
+        
+    
+    
+        
+        Only joystick is implemented at this stage, so this control is disabled.
+        
+    
+    
+        
+        Joystick
+        
+    
+    
+        
+        Audio
+        
+    
+    
+        
+        Available controllers
+        
+    
+    
+        
+        Default
+        
+    
+    
+        
+        Joystick Axes
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Move your joystick controls to identify channels
+        
+    
+    
+        
+        Joystick Buttons
+        
+    
+    
+        
+        Press buttons on controller to identify mappings
+        
+    
+    
+        
+        button 1
+        
+    
+    
+        
+        button 2
+        
+    
+    
+        
+        button 8
+        
+    
+    
+        
+        button 7
+        
+    
+    
+        
+        button 6
+        
+    
+    
+        
+        button 5
+        
+    
+    
+        
+        button 4
+        
+    
+    
+        
+        button 3
+        
+    
+    
+        
+        by
+        
+    
+    
+        
+        Audio: soundcard-based PPM decoding for trainer port. Not implemented yet.
+        
+    
+    
+        
+        UDP Setup
+        
+    
+    
+        
+        UDP Port Configuration
+        
+    
+    
+        
+        Host:
+        
+    
+    
+        
+        127.0.0.1
+        127.0.0.1
+    
+    
+        
+        Port:
+        Порт:
+    
+    
+        
+        2323
+        2323
+    
+
+
+    Widget
+    
+        
+        send data
+        
+    
+    
+        
+        Flight mode
+        
+    
+    
+        
+        Armed state
+        
+    
+    
+        
+        Disarmed
+        
+    
+    
+        
+        Arming
+        
+    
+    
+        
+        Armed
+        
+    
+    
+        
+        Channels
+        
+    
+
+
+    homeEditor
+    
+        
+        Dialog
+        Диалог
+    
+    
+        
+        Latitude:
+        
+    
+    
+        
+        Longitude:
+        
+    
+    
+        
+        Altitude:
+        Высота:
+    
+
+
+    pathPlannerUI
+    
+        
+        PathPlanner
+        
+    
+    
+        
+        Add Leg
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Delete Leg
+        
+    
+    
+        
+        Insert Leg
+        
+    
+    
+        
+        Read from file
+        
+    
+    
+        
+        Save to file
+        
+    
+    
+        
+        Send to UAV
+        
+    
+    
+        
+        Fetch from UAV
+        
+    
+    
+        
+        Open Details
+        
+    
+
+
+    PfdQmlGadgetOptionsPage
+    
+        
+        Form
+        Форма
+    
+    
+        
+        QML file: 
+        
+    
+    
+        
+        Use OpenGL
+        Использовать OpenGL
+    
+    
+        
+        Show Terrain:
+        
+    
+    
+        
+        OsgEarth file:
+        
+    
+    
+        
+        Use actual location
+        
+    
+    
+        
+        Use pre-defined location:
+        
+    
+    
+        
+        Latitude:
+        
+    
+    
+        
+        Longitude:
+        
+    
+    
+        
+        Altitude:
+        Высота:
+    
+    
+        
+        Use only cache data
+        
+    
+    
+        
+        Pre seed terrain cache
+        
+    
+    
+        
+        QML file (*.qml)
+        
+    
+    
+        
+        Choose QML file
+        
+    
+    
+        
+        OsgEarth (*.earth)
+        
+    
+    
+        
+        Choose OsgEarth terrain file
+        
+    
+
+
+    QmlViewGadgetOptionsPage
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Use OpenGL for rendering
+        Использовать OpenGL для рендеринга
+    
+    
+        
+        QML file: 
+        
+    
+    
+        
+        QML file (*.qml)
+        
+    
+    
+        
+        Choose QML file
+        
+    
+
+
+    SerialPluginOptionsPage
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Serial Connection
+        Последовательный порт
+    
+    
+        
+        Serial telemetry speed:
+        
+    
+    
+        
+        settings
+        Настройки
+    
+
+
+    ConnectionDiagram
+    
+        
+        Dialog
+        Диалог
+    
+    
+        
+        Save
+        Сохранить
+    
+    
+        
+        Close
+        Закрыть
+    
+    
+        
+        Connection Diagram
+        
+    
+    
+        
+        Save File
+        
+    
+    
+        
+        Images (*.png *.xpm *.jpg)
+        
+    
+
+
+    AutoUpdatePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Firmware Update Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It is necessary that your firmware and ground control software are the same version.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To update your firmware to the correct version now:</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Unplug all batteries and USB from OpenPilot</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Ensure your board is powered down &amp; no LED's are active.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When you are ready you can start the upgrade below by pushing the button and follow the onscreen prompts, it is critical that nothing disturbs the board while the firmware is being written.</p></body></html>
+        
+    
+    
+        
+        Upgrade now
+        
+    
+    
+        
+        Upgrade
+        
+    
+    
+        
+        Ready...
+        
+    
+
+
+    ControllerPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot board identification</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to determine the configuration required for the type of OpenPilot controller you have. When connected, the wizard will attempt to automatically detect the type of board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If the board is already connected and successfully detected, the board type will already be displayed. You can </span><span style=" font-size:10pt; font-weight:600;">Disconnect</span><span style=" font-size:10pt;"> and select another device if you need to detect another board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If your board is not connected, please connect the board to a USB port on your computer and select the device from the list below.  Then press </span><span style=" font-size:10pt; font-weight:600;">Connect</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Connection device:
+        
+    
+    
+        
+        Detected board type:
+        
+    
+    
+        
+        
+        Connect
+        Соединить
+    
+    
+        
+        <Unknown>
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        Disconnect
+        Отсоединить
+    
+
+
+    EndPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Congratulations!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Setup wizard is completed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the setup procedure is now complete and you are one step away from completing the setup of your OpenPilot controller.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To complete the setup please click the Radio Setup Wizard button below to close this wizard and go directly to the Radio Setup Wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p></body></html>
+        
+    
+    
+        
+        Go to Input Wizard...
+        
+    
+    
+        
+        Unable to open Input Wizard since the Config Plugin is not
+loaded in the current workspace.
+        
+    
+
+
+    FixedWingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Fixed Wing section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    HeliPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Helicopter section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    InputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot basic input signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The OpenPilot controller supports many different types of input signals. Please select the type of input that matches your receiver configuration. If you are unsure, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, you will be instructed to do so on the next page of this wizard.</span></p></body></html>
+        
+    
+    
+        
+        PWM - One cable per channel
+        
+    
+    
+        
+        PWM
+        
+    
+    
+        
+        PPM - One cable for all channels
+        
+    
+    
+        
+        PPM
+        
+    
+    
+        
+        Futaba S-BUS
+        
+    
+    
+        
+        Futaba
+        
+    
+    
+        
+        Spektrum Satellite
+        
+    
+    
+        
+        Spektrum
+        
+    
+
+
+    LevellingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot controller leveling calibration procedure</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To perform the leveling, please push the Calculate button and wait for the process to finish. </span></p></body></html>
+        
+    
+    
+        
+        Calculate gyro and accelerometer bias
+        
+    
+    
+        
+        Calculate
+        
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to perform bias calculations.
+Please connect your OpenPilot controller to your computer and try again.
+        
+    
+    
+        
+        Retrieving data...
+        
+    
+    
+        
+        <font color='green'>Done!</font>
+        
+    
+
+
+    MultiPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot multirotor configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the wizard will set up the OpenPilot controller for use with a flying platform utilizing multiple rotors. The wizard supports the most common types of multirotors. Other variants of multirotors can be configured by using custom configuration options in the Configuration plugin in the GCS.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Please select the type of multirotor you want to create a configuration for below:</span></p></body></html>
+        
+    
+    
+        
+        Multirotor type:
+        
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        The Tricopter uses three motors and one servo. The servo is used to give yaw authority to the rear motor. The front motors are rotating in opposite directions. The Tricopter is known for its sweeping yaw movement and it is very well suited for FPV since the front rotors are spread wide apart.
+        
+    
+    
+        
+        Quadcopter X
+        
+    
+    
+        
+        The X Quadcopter uses four motors and is the most common multi rotor configuration. Two of the motors rotate clockwise and two counter clockwise. The motors positioned diagonal to each other rotate in the same direction. This setup is perfect for sport flying and is also commonly used for FPV platforms.
+        
+    
+    
+        
+        Quadcopter +
+        
+    
+    
+        
+        The Plus(+) Quadcopter uses four motors and is similar to the X Quadcopter but the forward direction is offset by 45 degrees. The motors front and rear rotate in clockwise and the motors right and left rotate counter-clockwise. This setup was one of the first to be used and is still used for sport flying. This configuration is not that well suited for FPV since the fore rotor tend to be in the way of the camera.
+        
+    
+    
+        
+        
+        Hexacopter
+        
+    
+    
+        
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Hexacopter H
+        
+    
+
+
+    NotYetImplementedPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">This section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    OutputCalibrationPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        Output calibration
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">It is now time to calibrate the output levels for the signals controlling your vehicle. </span></p>
+<p align="center" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">VERY IMPORTANT!</span><span style=" font-family:'Lucida Grande'; font-size:10pt;"><br /></span><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">REMOVE ALL PROPELLERS FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Connect all components according to the illustration on the summary page, and provide power using an external power supply such as a battery before continuing.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Depending on what vehicle you have selected, both the motors controlled by ESCs and/or servos controlled directly by the OpenPilot controller may have to be calibrated. The following steps will guide you safely through this process. </span></p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>In this step we will set the neutral rate for the motor highlighted in the illustration to the right. <br/>Plase pay attention to the details and in particular the motors position and its rotation direction.</p><p>To find the neutral rate for this engine, press the Start button below and slide the slider to the right until the engine just starts to spin stably. <br/><br/>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        
+        Start
+        Пуск
+    
+    
+        
+        <html><head/><body><p>This step calibrates the center position of the servo. To set the center position for this servo, press the Start button below and slide the slider to center the servo. </p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To save the servo and other hardware from damage we have to set the max and min angles for the servo. </p><p>To set the minimum angle for the servo, press the Start button below and select the top slider and slide it to the left until min angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To set the maximum angle for the servo, press the Start button below and select the top slider and slide it to the right until max angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        Stop
+        Стоп
+    
+    
+        
+        The actuator module is in an error state.
+
+Please make sure the correct firmware version is used then restart the wizard and try again. If the problem persists please consult the openpilot.org support forum.
+        
+    
+
+
+    OutputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot basic output signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To set an optimal configuration of the output signals powering your motors, the wizard needs to know what type of Electronic Speed Controllers (ESCs) you will use and what their capabilities are.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Please select one of the options below. If you are unsure about the capabilities of your ESCs, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To read more regarding ESC refresh rates, please see </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">this article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> in the OpenPilot Wiki</span></p></body></html>
+        
+    
+    
+        
+        Standard ESC 50Hz
+        
+    
+    
+        
+        Standard ESC
+        
+    
+    
+        
+        Turbo PWM ESC 400Hz
+        
+    
+    
+        
+        Turbo PWM
+        
+    
+
+
+    RebootPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ff0000;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ffd500;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">The configuration created by the wizard contains settings that require a reboot of your controller. Please power cycle the controller before continuing. To power cycle the controller remove all batteries and the USB cable for at least 30 seconds.</span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">After 30 seconds, plug in the board again and wait for it to connect, this can take a few seconds. Then press next.</span></p></body></html>
+        
+    
+
+
+    SavePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration ready to save</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The wizard is now ready to save the configuration directly to your OpenPilot controller. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If any of the selections made in this wizard require a reboot of the controller, then power cycling the OpenPilot controller board will have to be performed after you save in this step.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Press the Save button to save the configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;"><br /></span></p></body></html>
+        
+    
+    
+        
+        Write configuration to controller
+        
+    
+    
+        
+        Save
+        Сохранить
+    
+    
+        
+        Ready...
+        
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to save the configuration.
+Please connect your OpenPilot controller to your computer and try again.
+        
+    
+
+
+    StartPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Welcome to the OpenPilot Setup Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard will guide you through the basic steps required to setup your OpenPilot controller for the first time.  You will be asked questions about your platform (multirotor/heli/fixed-wing) which this wizard will use to configure your aircraft for your maiden flight. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard does not configure all of the advanced settings available in the GCS Configuration. All basic and advanced configuration parameters can be modified later by using the GCS Configuration plugin.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">WARNING: YOU MUST REMOVE ALL PROPELLERS </span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Disregarding this warning puts you at</span><span style=" font-size:10pt; font-weight:600; color:#000000;"> risk of very serious injury</span><span style=" font-size:10pt;">!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Now that your props are removed we can get started. Ready?</span></p></body></html>
+        
+    
+
+
+    SummaryPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration summary</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The first part of this wizard is now complete. All information required to create a basic OpenPilot controller configuration for a specific vehicle has been collected.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Below is a summary of the configuration and a button that links to a diagram illustrating how to connect required hardware and the OpenPilot Controller with the current configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue the wizard and go through some basic configuration steps, please continue to the next step of this wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The following steps require that your OpenPilot controller is set up according to the diagram, it is </span><span style=" font-size:10pt; font-weight:600;">connected to the computer</span><span style=" font-size:10pt;"> by USB, and that the vehicle is</span><span style=" font-size:10pt; font-weight:600;"> powered by a battery</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Show connection diagram for configuration
+        
+    
+
+
+    SurfacePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Surface Vehicle section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    VehiclePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Vehicle type selection</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to know what type of vehicle the OpenPilot controller board is going to be used with. This step is crucial since much of the following configuration is unique per vehicle type.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Go ahead and select the type of vehicle for which you want to create a configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(The current version only provides functionality for multirotors.)</span></p></body></html>
+        
+    
+    
+        
+        Tricopter, Quadcopter, Hexacopter
+        
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        CCPM Helicopters
+        
+    
+    
+        
+        Helicopter
+        
+    
+    
+        
+        Airplane, Sloper, Jet
+        
+    
+    
+        
+        Fixed wing
+        
+    
+    
+        
+        Car, Boat, U-Boat
+        
+    
+    
+        
+        Surface
+        
+    
+
+
+    viewoptions
+    
+        
+        View Options
+        
+    
+    
+        
+        Show MetaData
+        
+    
+    
+        
+        Show Categorized
+        
+    
+    
+        
+        Show Scientific
+        
+    
+
+
+    ImportSummaryDialog
+    
+        
+        Dialog
+        Диалог
+    
+    
+        
+        UAV Settings import summary
+        
+    
+    
+        
+        Save all settings checked above to persistent board storage,
+then close the dialog.
+        
+    
+    
+        
+        Save to Board Flash
+        
+    
+    
+        
+        Close this dialog without saving to persistent storage
+        
+    
+    
+        
+        Close
+        Закрыть
+    
+    
+        
+        Import Summary
+        
+    
+
+
+    deviceWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        lblDevName
+        
+    
+    
+        
+        DeviceID
+        
+    
+    
+        
+        lblHWRev
+        
+    
+    
+        
+        RW
+        
+    
+    
+        
+        BL Version
+        
+    
+    
+        
+        MaxCodeSize
+        
+    
+    
+        
+        Open a file with new firmware image to be flashed
+        
+    
+    
+        
+        Open...
+        
+    
+    
+        
+        I know what I'm doing
+        
+    
+    
+        
+        Write loaded firmware image to the board
+        
+    
+    
+        
+        Flash
+        
+    
+    
+        
+        Read and save current board firmware to a file
+        
+    
+    
+        
+        Retrieve...
+        
+    
+    
+        
+        ic
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Firmware:
+        
+    
+    
+        
+        Board name:
+        
+    
+    
+        
+        Firmware tag:
+        
+    
+    
+        
+        Firmware date:
+        
+    
+    
+        
+        Git commit hash:
+        
+    
+    
+        
+        CRC:
+        
+    
+    
+        
+        On Device
+        
+    
+    
+        
+        lblBrdName
+        
+    
+    
+        
+        lblDescription
+        
+    
+    
+        
+        lblBuildDate
+        
+    
+    
+        
+        lblGitTag
+        
+    
+    
+        
+        lblCRC
+        
+    
+    
+        
+        lblCertified
+        
+    
+    
+        
+        Loaded
+        Загружено
+    
+    
+        
+        lblDescritpionL
+        
+    
+    
+        
+        lblCertifiedL
+        
+    
+    
+        
+        Custom description:
+        
+    
+    
+        
+        HW Revision: 
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+    
+        
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Can't calculate, file too big for device
+        
+    
+    
+        
+        The board has the same firmware as loaded. No need to update
+        
+    
+    
+        
+        WARNING: the loaded firmware is for different hardware. Do not update!
+        
+    
+    
+        
+        The board has newer firmware than loaded. Are you sure you want to update?
+        
+    
+    
+        
+        The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)
+        
+    
+    
+        
+        This is the tagged officially released OpenPilot firmware
+        
+    
+    
+        
+        WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing
+        
+    
+    
+        
+        
+        Select firmware file
+        
+    
+    
+        
+        Firmware Files (*.opfw *.bin)
+        
+    
+    
+        
+        Firmware Files (*.bin)
+        
+    
+
+
+    runningDeviceWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        TextLabel
+        Метка
+    
+    
+        
+        CPU Serial:
+        
+    
+    
+        
+        Firmware Information
+        
+    
+    
+        
+        HW Revision: 
+        
+    
+    
+        
+        Firmware CRC: 
+        
+    
+    
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+
+
+    UploaderWidget
+    
+        
+        Form
+        Форма
+    
+    
+        
+        Tells the mainboard to go down
+to bootloader mode.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Halt
+        
+    
+    
+        
+        Boots the system.
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, green LED on)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Boot
+        
+    
+    
+        
+        Boots the system into safe mode (ie. default HwSettings).
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, orange LED off)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Safe Boot
+        
+    
+    
+        
+        Reset the system.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Reset
+        Сброс
+    
+    
+        
+        Start a guided procedure to manually
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.
+        
+    
+    
+        
+        Rescue
+        
+    
+    
+        
+        When telemetry is not connected, select the communication
+method using this combo box.
+
+You can use this to force a communication channel when doing
+a "Boot" (button on the left). It is updated automatically when
+halting a running board.
+        
+    
+    
+        
+        Refresh the list of serial ports
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Running
+        Запуск
+    
+    
+        
+        Mainboard
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To upgrade the firmware in your boards, proceed as follows:</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Connect telemetry</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Once telemetry is running, press &quot;Halt&quot; above</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You will get a list of devices.</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can then upload/download to/from each board as you wish</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can resume operations by pressing &quot;Boot&quot;</p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    NewsPanel
+    
+        
+        Project News
+        
+    
+
+
+    SitesPanel
+    
+        
+        OpenPilot Websites
+        Страницы проекта
+    
+
+
+    XmlConfig
+    
+        
+        GCS config
+        
+    
+    
+        
+        Parse error at line %1, column %2:
+%3
+        
+    
+
+
+    AntennaTrackGadgetFactory
+    
+        
+        Antenna Track Gadget
+        
+    
+
+
+    ConfigMultiRotorWidget
+    
+        
+        
+        Configuration OK
+        
+    
+
+
+    ConfigCCHWWidget
+    
+        
+        Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported
+        
+    
+    
+        
+        Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported
+        
+    
+    
+        
+        Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported
+        
+    
+
+
+    ConfigCCAttitudeWidget
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    ConfigGadgetWidget
+    
+        
+        Unsaved changes
+        
+    
+    
+        
+        The tab you are leaving has unsaved changes,if you proceed they will be lost.Do you still want to proceed?
+        
+    
+
+
+    ConfigInputWidget
+    
+        
+        
+        Arming Settings are now set to 'Always Disarmed' for your safety.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished. After the last step of the wizard you will be taken to the Arming Settings screen.
+        
+    
+    
+        
+        Welcome to the inputs configuration wizard.
+
+Please follow the instructions on the screen and only move your controls when asked to.
+Make sure you already configured your hardware settings on the proper tab and restarted your board.
+
+You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.
+
+        
+    
+    
+        
+        Please choose your transmitter type:
+        
+    
+    
+        
+        Acro: normal transmitter for fixed-wing or quad
+        
+    
+    
+        
+        Helicopter: has collective pitch and throttle input
+        
+    
+    
+        
+        If selecting the Helicopter option, please engage throttle hold now.
+        
+    
+    
+        
+        Please choose your transmitter mode:
+        
+    
+    
+        
+        Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right
+        
+    
+    
+        
+        Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right
+        
+    
+    
+        
+        Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right
+        
+    
+    
+        
+        Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right
+        
+    
+    
+        
+        Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right
+        
+    
+    
+        
+        Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right
+        
+    
+    
+        
+        Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right
+        
+    
+    
+        
+        Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right
+        
+    
+    
+        
+        For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw.
+        
+    
+    
+        
+        Please center all controls and trims and press Next when ready.
+
+If your FlightMode switch has only two positions, leave it in either position.
+        
+    
+    
+        
+        Please move all controls to their maximum extents on both directions.
+
+Press Next when ready.
+        
+    
+    
+        
+        Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.
+        
+    
+    
+        
+        You have completed this wizard, please check below if the picture mimics your sticks movement.
+
+IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings tab where you can set your desired arming sequence and save the configuration.
+        
+    
+    
+        
+        Please enable throttle hold mode.
+
+Move the Collective Pitch stick.
+        
+    
+    
+        
+        Please toggle the Flight Mode switch.
+
+For switches you may have to repeat this rapidly.
+        
+    
+    
+        
+        Please disable throttle hold mode.
+
+Move the Throttle stick.
+        
+    
+    
+        
+        Please move each control one at a time according to the instructions and picture below.
+
+Move the %1 stick.
+        
+    
+    
+        
+         Alternatively, click Next to skip this channel.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished.
+        
+    
+
+
+    ConfigOutputWidget
+    
+        
+        The actuator module is in an error state.  This can also occur because there are no inputs.  Please fix these before testing outputs.
+        
+    
+    
+        
+        This option will start your motors by the amount selected on the sliders regardless of transmitter.  It is recommended to remove any blades from motors.  Are you sure you want to do this?
+        
+    
+
+
+    ConfigPlugin
+    
+        
+        Erase all settings from board...
+        
+    
+    
+        
+        Are you sure you want to erase all board settings?.
+        
+    
+    
+        
+        All settings stored in your board flash will be deleted.
+        
+    
+    
+        
+        
+        Error trying to erase settings.
+        
+    
+    
+        
+        
+        Power-cycle your board after removing all blades. Settings might be inconsistent.
+        
+    
+    
+        
+        Settings are now erased.
+        
+    
+    
+        
+        Please wait for the status LED to begin flashing regularly (up to a minute) then power-cycle your board to complete reset.
+        
+    
+
+
+    Core::Internal::AuthorsDialog
+    
+        
+        About OpenPilot Authors
+        
+    
+    
+        
+        From revision %1<br/>
+        This gets conditionally inserted as argument %8 into the description string.
+        Ревизия %1<br/>
+    
+    
+        
+        <h3>The OpenPilot Project</h3>Proudly brought to you by this fine team:<br/>
+        
+    
+
+
+    Core::ConnectionManager
+    
+        
+        Connections:
+        
+    
+    
+        
+        Connect
+        Соединить
+    
+
+
+    DebugGadgetFactory
+    
+        
+        DebugGadget
+        
+    
+
+
+    DebugGadgetWidget
+    
+        
+        Save log File As
+        
+    
+    
+        
+        Log Save
+        
+    
+    
+        
+        Unable to save log: 
+        
+    
+
+
+    DialGadgetFactory
+    
+        
+        Analog Dial
+        
+    
+
+
+    GpsDisplayGadgetFactory
+    
+        
+        GPS Display
+        
+    
+
+
+    ImportExportPlugin
+    
+        
+        GCS Settings Import/Export...
+        
+    
+
+
+    LineardialGadgetFactory
+    
+        
+        Bargraph Dial
+        
+    
+
+
+    LoggingConnection
+    
+        
+        Open file
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        
+    
+
+
+    LoggingThread
+    
+        
+        Logging: retrieve settings objects from the autopilot (%1 objects)
+        
+    
+
+
+    LoggingPlugin
+    
+        
+        Start Log
+        
+    
+    
+        
+        OP-%0.opl
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        
+    
+    
+        
+        Stop logging
+        
+    
+    
+        
+        Start logging...
+        
+    
+
+
+    ModelViewGadgetFactory
+    
+        
+        ModelView
+        
+    
+
+
+    NotificationItem
+    
+        
+        Never
+        Никогда
+    
+    
+        
+        Before first
+        Перед первым
+    
+    
+        
+        Before second
+        
+    
+    
+        
+        After second
+        После второго
+    
+    
+        
+        Repeat Once
+        
+    
+    
+        
+        Repeat Once per update
+        
+    
+    
+        
+        Repeat Instantly
+        
+    
+    
+        
+        Repeat 10 seconds
+        
+    
+    
+        
+        Repeat 30 seconds
+        
+    
+    
+        
+        Repeat 1 minute
+        
+    
+
+
+    flightDataModel
+    
+        
+        Unable to open file
+        
+    
+    
+        
+        File Parsing Failed.
+        
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        
+    
+    
+        
+        This file does not contain correct UAVSettings
+        
+    
+
+
+    OPMapGadgetFactory
+    
+        
+        OPMap
+        
+    
+
+
+    pathPlanner
+    
+        
+        Open File
+        
+    
+    
+        
+        Save File
+        
+    
+
+
+    PFDGadgetFactory
+    
+        
+        Primary Flight Display
+        
+    
+
+
+    PfdQmlGadgetFactory
+    
+        
+        PFD (qml)
+        
+    
+
+
+    PowerlogPlugin
+    
+        
+        Log filename
+        
+    
+    
+        
+        PowerLog-%0.csv
+        
+    
+    
+        
+        Comma Separated Values (*.csv)
+        
+    
+
+
+    QmlViewGadgetFactory
+    
+        
+        QML Viewer, QML
+        
+    
+
+
+    ScopeGadgetFactory
+    
+        
+        Scope
+        
+    
+
+
+    ScopeGadgetWidget
+    
+        
+        Click legend to show/hide scope trace
+        
+    
+
+
+    LevellingUtil
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    SetupWizard
+    
+        
+        OpenPilot Setup Wizard
+        
+    
+    
+        
+        Controller type: 
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        
+        
+        
+        
+        Unknown
+        не известно
+    
+    
+        
+        Vehicle type: 
+        
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        Vehicle sub type: 
+        
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        Quadcopter X
+        
+    
+    
+        
+        Quadcopter +
+        
+    
+    
+        
+        Hexacopter
+        
+    
+    
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Octocopter
+        
+    
+    
+        
+        Octocopter Coax X
+        
+    
+    
+        
+        Octocopter Coax +
+        
+    
+    
+        
+        Octocopter V
+        
+    
+    
+        
+        Fixed wing
+        
+    
+    
+        
+        Helicopter
+        
+    
+    
+        
+        Surface vehicle
+        
+    
+    
+        
+        Input type: 
+        
+    
+    
+        
+        PWM (One cable per channel)
+        
+    
+    
+        
+        PPM (One cable for all channels)
+        
+    
+    
+        
+        Futaba S.Bus
+        
+    
+    
+        
+        Spektrum satellite (DSM2)
+        
+    
+    
+        
+        Spektrum satellite (DSMX10BIT)
+        
+    
+    
+        
+        Spektrum satellite (DSMX11BIT)
+        
+    
+    
+        
+        ESC type: 
+        
+    
+    
+        
+        Legacy ESC (50 Hz)
+        
+    
+    
+        
+        Rapid ESC (400 Hz)
+        
+    
+
+
+    SetupWizardPlugin
+    
+        
+        Vehicle Setup Wizard
+        
+    
+
+
+    VehicleConfigurationHelper
+    
+        
+        
+        Done!
+        
+    
+    
+        
+        
+        Failed!
+        
+    
+    
+        
+        Writing hardware settings
+        
+    
+    
+        
+        Writing actuator settings
+        
+    
+    
+        
+        Writing flight mode settings
+        
+    
+    
+        
+        Writing gyro and accelerometer bias settings
+        
+    
+    
+        
+        Writing stabilization settings
+        
+    
+    
+        
+        Writing mixer settings
+        
+    
+    
+        
+        Writing vehicle settings
+        
+    
+    
+        
+        Writing manual control defaults
+        
+    
+    
+        
+        Preparing mixer settings
+        
+    
+    
+        
+        Preparing vehicle settings
+        
+    
+
+
+    SystemHealthGadgetFactory
+    
+        
+        System Health
+        
+    
+
+
+    SystemHealthGadgetWidget
+    
+        
+        Displays flight system errors. Click on an alarm for more information.
+        
+    
+
+
+    UAVObjectField
+    
+        
+        0
+        0
+    
+    
+        
+        1
+        1
+    
+
+
+    PopupWidget
+    
+        
+        Close
+        Закрыть
+    
+
+
+    UAVSettingsImportExportFactory
+    
+        
+        Export UAV Settings...
+        
+    
+    
+        
+        Import UAV Settings...
+        
+    
+    
+        
+        Export UAV Data...
+        
+    
+    
+        
+        UAVObjects XML files (*.uav);; XML files (*.xml)
+        
+    
+    
+        
+        Import UAV Settings
+        
+    
+    
+        
+        File Parsing Failed.
+        
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        
+    
+    
+        
+        This file does not contain correct UAVSettings
+        
+    
+    
+        
+        
+        UAVObjects XML files (*.uav)
+        
+    
+    
+        
+        Save UAVSettings File As
+        
+    
+    
+        
+        UAV Settings Export
+        
+    
+    
+        
+        Unable to save settings: 
+        
+    
+    
+        
+        Settings saved.
+        
+    
+    
+        
+        Are you sure?
+        
+    
+    
+        
+        This option is only useful for passing your current system data to the technical support staff. Do you really want to export?
+        
+    
+    
+        
+        Save UAVData File As
+        
+    
+    
+        
+        UAV Data Export
+        
+    
+    
+        
+        Unable to save data: 
+        
+    
+    
+        
+        Data saved.
+        
+    
+
+
+    UploaderGadgetFactory
+    
+        
+        Uploader
+        
+    
+
+
+    UploaderGadgetWidget
+    
+        
+        The controller board is armed and can not be halted.
+
+Please make sure the board is not armed and then press halt again to proceed
+or use the rescue option to force a firmware upgrade.
+        
+    
+    
+        
+        The controller board is armed and can not be reset.
+
+Please make sure the board is not armed and then press reset again to proceed
+or power cycle to force a board reset.
+        
+    
+    
+        
+        
+        OpenPilot Uploader
+        
+    
+    
+        
+        
+        Please disconnect all openpilot boards
+        
+    
+    
+        
+        Please connect the board (USB only!)
+        
+    
+    
+        
+        Cancel
+        Отмена
+    
+    
+        
+        Openpilot Uploader
+        
+    
+    
+        
+        No board connection was detected!
+        
+    
+    
+        
+        GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. GCS version: %1 Firmware version: %2.
+        
+    
+
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_zh_CN.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_zh_CN.ts
index fef093204..a27bc2920 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_zh_CN.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_zh_CN.ts
@@ -4,7 +4,7 @@
 
     Application
     
-        
+        
         Failed to load core: %1
         核心载入失败: %1
     
@@ -14,12 +14,12 @@
         无法将命令行参数发送到执行中的进程，看起来进程未响应.
     
     
-        
+        
         Could not find 'Core.pluginspec' in %1
         在%1 找不到 'Core.pluginspec' 
     
     
-        
+        
         OpenPilot GCS - Plugin loader messages
         
     
@@ -35,7 +35,7 @@
 
     Core::Internal::GeneralSettings
     
-        
+        
         General
         概要
     
@@ -45,10 +45,25 @@
         环境
     
     
-        
+        
+        <System Language>
+        
+    
+    
+        
         Variables
         变量
     
+    
+        
+        Restart required
+        
+    
+    
+        
+        The language change will take effect after a restart of the OpenPilot GCS.
+        
+    
     
         
         General settings
@@ -64,56 +79,51 @@
         R
         R
     
-    
-        
-        Terminal:
-        终端:
-    
-    
-        
-        External editor:
-        外部编辑器:
-    
-    
-        
-        ?
-        ?
-    
-    
-        
-        When files are externally modified:
-        当文件被外部修改时:
-    
-    
-        
-        Always ask
-        总是询问
-    
-    
-        
-        Reload all modified files
-        载入所有被修改的文件
-    
-    
-        
-        Ignore modifications
-        忽略修改
-    
     
         
         User interface color:
         
     
+    
+        
+        Save configuration settings on exit:
+        
+    
+    
+        
+        Automatically connect an OpenPilot USB device:
+        
+    
+    
+        
+        Automatically select an OpenPilot USB device:
+        
+    
+    
+        
+        Use UDP Mirror
+        
+    
+    
+        
+        Expert Mode
+        
+    
+    
+        
+        Language:
+        
+    
 
 
     Core::Internal::MainWindow
     
-        
+        
         OpenPilot GCS
         
     
     
-        
+        
         &File
         文件(&F)
     
@@ -138,32 +148,12 @@
         帮助(&H)
     
     
-        
-        &New File or Project...
-        新建文件或工程(&N)...
-    
-    
-        
-        &Open File or Project...
-        打开文件或工程(&O)...
-    
-    
-        
-        &Open File With...
-        打开为(&O)...
-    
-    
-        
-        Recent Files
-        最近使用的文件
-    
-    
-        
+        
         &Help...
         
     
     
-        
+        
         About &OpenPilot GCS
         
     
@@ -173,27 +163,14 @@
         
     
     
-        
-        
-        &Save
-        保存(&S)
-    
-    
-        
-        
-        Save &As...
-        另存为(&A)...
-    
-    
-        
-        
+        
         Ctrl+Shift+S
         Ctrl+Shift+S
     
     
         
-        Save A&ll
-        保存所有文件(&l)
+        Save &GCS Default Settings
+        
     
     
         
@@ -258,12 +235,87 @@
         全屏
     
     
-        
+        
+        Edit Gadgets Mode
+        
+    
+    
+        
+        Ctrl+Shift+F10
+        Ctrl+Shift+F10
+    
+    
+        
+        Meta+Shift
+        
+    
+    
+        
+        Ctrl+Shift
+        
+    
+    
+        
+        Split
+        分栏
+    
+    
+        
+        %1+Down
+        
+    
+    
+        
+        Split Side by Side
+        左右分栏
+    
+    
+        
+        %1+Right
+        
+    
+    
+        
+        Close Current View
+        
+    
+    
+        
+        %1+C
+        
+    
+    
+        
+        Close All Other Views
+        
+    
+    
+        
+        %1+A
+        
+    
+    
+        
+        Goto Next View
+        
+    
+    
+        
+        %1+N
+        
+    
+    
+        
         About &Plugins...
         关于插件(&P)...
     
     
-        
+        
+        About &Authors...
+        
+    
+    
+        
         Settings...
         设定...
     
@@ -359,21 +411,15 @@
         
     
     
-        
-        From revision %1<br/>
-        This gets conditionally inserted as argument %8 into the description string.
-        来自版本 %1<br/>
-    
-    
-        
-        <h3>OpenPilot GCS %1</h3>Based on Qt %2 (%3 bit)<br/><br/>Built on %4 at %5<br /><br/>%8<br/>Copyright 2008-%6 %7. All rights reserved.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.<br/>
+        
+        <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
         
     
 
 
     Core::ModeManager
     
-        
+        
         Switch to %1 mode
         切换至%1模式 
     
@@ -953,7 +999,7 @@
 
     ExtensionSystem::PluginManager
     
-        
+        
         Circular dependency detected:
 
         检测到循环依赖:
@@ -1242,88 +1288,13 @@ Reason: %3
         复选框
     
 
-
-    Welcome::Internal::CommunityWelcomePageWidget
-    
-        
-        Form
-        界面
-    
-    
-        
-        News From the OpenPilot Project
-        
-    
-    
-        
-        OpenPilot Websites
-        
-    
-    
-        
-        http://forums.openpilot.org/blog/rss/4-openpilot-development-blog
-        Add localized feed here only if one exists
-        
-    
-    
-        
-        OpenPilot Home
-        
-    
-    
-        
-        OpenPilot Wiki
-        
-    
-    
-        
-        OpenPilot Store
-        
-    
-    
-        
-        OpenPilot Forums
-        
-    
-    
-        
-        OpenPilot Bug Tracker
-        
-    
-
 
     Welcome::WelcomeMode
     
-        
-        #headerFrame {
-    border-image: url(:/welcome/images/center_frame_header.png) 0;
-    border-width: 0;
-}
-
-        
-    
-    
-        
-        Feedback
-        反馈
-    
-    
-        
+        
         Welcome
         欢迎
     
-    
-        
-        #gradientWidget {
-  background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(247, 247, 247, 255), stop:1 rgba(215, 215, 215, 255));
-}
-        
-    
-    
-        
-        Help us make OpenPilot even better
-        
-    
 
 
     Utils::DetailsButton
@@ -1336,7 +1307,7 @@ Reason: %3
 
     OpenWith::Editors
     
-        
+        
         Plain Text Editor
         普通文本编辑器
     
@@ -1349,7 +1320,7 @@ Reason: %3
 
     Core::Internal::SettingsDialog
     
-        
+        
         Preferences
         首选项
     
@@ -1359,14 +1330,6 @@ Reason: %3
         选项
     
 
-
-    Welcome::Internal::CommunityWelcomePage
-    
-        
-        Community
-        社区
-    
-
 
     StandardTextGroupBox
     
@@ -1377,12 +1340,14 @@ Reason: %3
 
     MainWindow
     
+        
         
+        
         MainWindow
         
     
     
-        
+        
         Go
         
     
@@ -1441,6 +1406,120 @@ Reason: %3
         namespace
         
     
+    
+        
+        
+        MapType
+        
+    
+    
+        
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        
+        PushButton
+        
+    
+    
+        
+        
+        Goto Place
+        
+    
+    
+        
+        
+        GO
+        
+    
+    
+        
+        
+        GeoCoderStatusCode
+        
+    
+    
+        
+        
+        Rotate
+        
+    
+    
+        
+        
+        Left
+        
+    
+    
+        
+        
+        Center
+        
+    
+    
+        
+        
+        Right
+        
+    
+    
+        
+        
+        Zoom
+        缩放
+    
+    
+        
+        
+        +
+        
+    
+    
+        
+        
+        -
+        
+    
+    
+        
+        
+        ZoomIncrement
+        
+    
+    
+        
+        
+        CurrentZoom=
+        
+    
+    
+        
+        
+        Misc
+        
+    
+    
+        
+        
+        ShowGridLines
+        
+    
+    
+        
+        
+        UseOpenGL
+        
+    
+    
+        
+        
+        ReloadMap
+        
+    
 
 
     MapRipForm
@@ -1465,165 +1544,6 @@ Reason: %3
         取消
     
 
-
-    AHRSWidget
-    
-        
-        Form
-        界面
-    
-    
-        
-        These are the sensor variance values computed by the AHRS.
-
-Tip: lower is better!
-        
-    
-    
-        
-        Telemetry link not established.
-        
-    
-    
-        
-        Press to start a calibration procedure, about 15 seconds.
-
-Hint: run this with engines at cruising speed.
-        
-    
-    
-        
-        Start
-        
-    
-    
-        
-        AHRS Algorithm:
-        
-    
-    
-        
-        Select the sensor integration algorithm here.
-"Simple" only uses accelerometer values
-"INSGPS" the full featured algorithm integrating all sensors
-        
-    
-    
-        
-        Nice paper plane, eh?
-        
-    
-    
-        
-        Six Point Calibration
-        
-    
-    
-        
-        Launch a sensor range and bias calibration.
-        
-    
-    
-        
-        Six Point Calibration instructions
-        
-    
-    
-        
-        Saves the Home Location. This is only enabled
-if the Home Location is set, i.e. if the GPS fix is
-successful.
-
-Disabled if there is no GPS fix.
-        
-    
-    
-        
-        Set
-        
-    
-    
-        
-        buttonGroup
-        
-    
-    
-        
-        Refresh this screen with current values from the board.
-        
-    
-    
-        
-        Request
-        
-    
-    
-        
-        Sensor noise calibration
-        
-    
-    
-        
-        Save settings (only enabled when calibration is running)
-        
-    
-    
-        
-        Save Position
-        
-    
-    
-        
-        Check this box if you are flying indoors and have no GPS fix.
-Only makes sense with the "INSGPS" algorithm.
-        
-    
-    
-        
-        Indoor flight mode
-        
-    
-    
-        
-        Save settings to the OP board (RAM only).
-
-This does not save the calibration settings, this is done using the
-specific calibration button on top of the screen.
-        
-    
-    
-        
-        Save to RAM
-        
-    
-    
-        
-        Send settings to OP board, and save to the microSD card.
-        
-    
-    
-        
-        Save to SD
-        
-    
-    
-        
-        Clears the HomeLocation: only makes sense if you save
-to SD. This will force the AHRS to use the next GPS fix as the
-new home location unless it is in indoor mode.
-        
-    
-    
-        
-        Clear
-        清除
-    
-    
-        
-        Home Location:
-        
-    
-
 
     AircraftWidget
     
@@ -1631,11 +1551,6 @@ new home location unless it is in indoor mode.
         Form
         界面
     
-    
-        
-        Aircraft type:
-        
-    
     
         
         Select aircraft type here
@@ -1676,11 +1591,6 @@ new home location unless it is in indoor mode.
         Elevator 1
         
     
-    
-        
-        Rudder
-        
-    
     
         
         Elevator 2
@@ -1691,26 +1601,6 @@ new home location unless it is in indoor mode.
         Throttle Curve
         
     
-    
-        
-        Frame type:
-        
-    
-    
-        
-        Idle Throttle
-        
-    
-    
-        
-        Cyclic Rate
-        
-    
-    
-        
-        Tricopter Yaw Ch
-        
-    
     
         
         Feed Forward
@@ -1726,11 +1616,6 @@ new home location unless it is in indoor mode.
         Decel Time Constant
         
     
-    
-        
-        Motor 1
-        
-    
     
         
         Motor 2
@@ -1738,113 +1623,357 @@ new home location unless it is in indoor mode.
     
     
         
-        Motor 3
+        Mixer Settings
         
     
     
         
-        Motor 4
+        Vehicle type:
         
     
     
         
-        Motor 5
+        Output Channel Assignments
         
     
     
         
-        Motor 6
+        Select output channel for the engine
         
     
     
         
-        Motor 7
+        Select output channel for the first aileron (or elevon)
         
     
     
         
-        Motor 8
+        Select output channel for the second aileron (or elevon)
         
     
     
         
-        CCPM Heli
+        Select output channel for the first elevator
         
     
     
         
-        This is not implemented yet, sorry
+        Select output channel for a secondary elevator
         
     
     
         
-        Custom / Advanced setup UI
+        Rudder 1
         
     
     
         
-        Retrieve settings from OpenPilot
+        Select output channel for the first rudder
         
     
     
         
-        Get Current
+        Rudder 2
         
     
     
         
-        Send to OpenPilot but don't write in SD.
+        Select output channel for a secondary rudder
         
     
     
         
-        Save to RAM
+        Elevon Mix
         
     
     
         
-        Applies and Saves all settings to SD
+        Rudder %
         
     
     
         
-        Save to SD
-        
-    
-
-
-    SettingsWidget
-    
-        
-        Form
-        界面
+        50
+        50
     
     
         
-        RC Input
+        Pitch %
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum channel value</p></body></html>
+        Frame Type
         
     
     
         
-        2000
-        2000
+        Select the Multirotor frame type here.
+        
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:9pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current channel value.</p></body></html>
+        Mix Level
+        
+    
+    
+        
+        100
+        100
+    
+    
+        
+        Weight of Roll mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Weight of Pitch mixing in percent.
+Typical values are 100% for + configuration and 50% for X configuration on quads.
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Weight of Yaw mixing in percent.
+Typical value is 50% for + or X configuration on quads.
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Motor output channels
+        
+    
+    
+        
+        1
+        1
+    
+    
+        
+        Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.
+        
+    
+    
+        
+        2
+        2
+    
+    
+        
+        3
+        3
+    
+    
+        
+        4
+        4
+    
+    
+        
+        5
+        5
+    
+    
+        
+        6
+        6
+    
+    
+        
+        7
+        7
+    
+    
+        
+        8
+        8
+    
+    
+        
+        Multirotor Motor Direction
+        
+    
+    
+        
+        Tricopter Yaw Servo channel
+        
+    
+    
+        
+        Reverse all motors
+        
+    
+    
+        
+        Output channel asignmets
+        
+    
+    
+        
+        Motor
+        
+    
+    
+        
+        Select output channel for the first motor
+        
+    
+    
+        
+        Select output channel for a second motor
+        
+    
+    
+        
+        Front Steering
+        
+    
+    
+        
+        Select output channel for the first steering actuator
+        
+    
+    
+        
+        Rear Steering
+        
+    
+    
+        
+        Select output channel for a second steering actuator
+        
+    
+    
+        
+        Differential Steering Mix
+        
+    
+    
+        
+        Left %
+        
+    
+    
+        
+        Right %
+        
+    
+    
+        
+        Front throttle curve
+        
+    
+    
+        
+        Rear throttle curve
+        
+    
+    
+        
+        Curve 1
+        
+    
+    
+        
+        Curve 2
+        
+    
+    
+        
+        Type
+        
+    
+    
+        
+        Ch 1
+        
+    
+    
+        
+        Ch 2
+        
+    
+    
+        
+        Ch 3
+        
+    
+    
+        
+        Ch 4
+        
+    
+    
+        
+        Ch 5
+        
+    
+    
+        
+        Ch 6
+        
+    
+    
+        
+        Ch 7
+        
+    
+    
+        
+        Ch 8
+        
+    
+    
+        
+        Ch 9
+        
+    
+    
+        
+        Ch 10
+        
+    
+    
+        
+        -
+        
+    
+    
+        
+        Feed Forward Configuration
+        
+    
+    
+        
+        When tuning: Slowly raise decel time from zero to just
+under the level where the motor starts to undershoot
+its target speed when decelerating.
+
+Do it after accel time is setup.
+        
+    
+    
+        
+        In miliseconds.
+When tuning: Slowly raise accel time from zero to just
+under the level where the motor starts to overshoot
+its target speed.
         
     
     
@@ -1854,34 +1983,28 @@ p, li { white-space: pre-wrap; }
     
     
         
-        Retrieve settings from OpenPilot
+        Overall level of feed forward (in percentage).
         
     
     
         
-        Get Current
+        Limits how much the engines can accelerate or decelerate.
+In 'units per second', a sound default is 1000.
         
     
     
         
-        Be sure to set the Neutral position on all sliders before sending!
-Applies and Saves all settings to SD
+        MaxAccel
         
     
     
         
-        Save to SD
-        
+        000
+        000
     
     
         
-        Send to OpenPilot but don't write in SD.
-Be sure to set the Neutral position on all sliders before sending!
-        
-    
-    
-        
-        Save to RAM
+        FeedForward 
         
     
     
@@ -1889,82 +2012,14 @@ Be sure to set the Neutral position on all sliders before sending!
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum channel value.</p></body></html>
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware! Check </span><span style=" font-family:'Sans'; font-size:10pt; font-weight:600;">all three</span><span style=" font-family:'Sans'; font-size:10pt;"> checkboxes to test Feed Forward.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">It will run only if your airframe armed.</span></p></body></html>
         
     
     
         
-        Start calibrating the RC Inputs.
-Uncheck/Check to restart calibration.
-        
-    
-    
-        
-        Run Calibration
-        
-    
-    
-        
-        Indicates whether OpenPilot is getting a signal from the RC receiver.
-        
-    
-    
-        
-        RC Receiver Not Connected
-        
-    
-    
-        
-        Select the receiver type here:
-- PWM is the most usual type
-- PPM is connected to input XXX 
-- Spektrum is used with Spektrum 'satellite' receivers
-        
-    
-    
-        
-        RC Receiver Type:
-        
-    
-    
-        
-        Servo Output
-        
-    
-    
-        
-        Aircraft type: undefined
-        
-    
-    
-        
-        Channel 0
-        
-    
-    
-        
-        Channel 1
-        
-    
-    
-        
-        Channel 2
-        
-    
-    
-        
-        Channel 3
-        
-    
-    
-        
-        Channel 4
-        
-    
-    
-        
-        Channel 5
+        Enable FF tuning
         
     
     
@@ -1972,149 +2027,41 @@ Uncheck/Check to restart calibration.
         <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Select the kind of actuator (servo) connected to this output channel.</p></body></html>
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD REQUIRES CAUTION</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</p>
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.</p></td></tr></table></body></html>
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum PWM value, beware of not overdriving your servo.</p></body></html>
+        Takes you to the wiki page
         
     
     
         
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum PWM value, beware of not overdriving your servo.</p></body></html>
+        Send to board, but don't save permanently (flash or SD).
         
     
     
         
-        Move the servos using the sliders. Two important things:
-- Take extra care if the output is connected to an motor controller!
-- Will only work if the RC receiver is working (failsafe)
+        Apply
         
     
     
         
-        Test outputs
+        Applies and Saves all settings to flash or SD depending on board.
         
     
     
         
-        Channel 6
-        
-    
-    
-        
-        Channel 7
-        
-    
-    
-        
-        Update rate:
-        
-    
-    
-        
-        Channel 0-3
-        
-    
-    
-        
-        Channel 4-7
-        
-    
-    
-        
-        Current value of slider.
-        
-    
-    
-        
-        0000
-        0000
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Check to invert the channel.</p></body></html>
-        
-    
-    
-        
-        Rev.
-        
-    
-
-
-    TelemetryWidget
-    
-        
-        Form
-        界面
-    
-    
-        
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
-<html><head><meta name="qrichtext" content="1" /><style type="text/css">
-p, li { white-space: pre-wrap; }
-</style></head><body style=" font-family:'Sans'; font-size:10pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the serial speed of your telemetry modem here. It is the speed between the OpenPilot board and the modem, and could be different from the radio link speed.</p>
-<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</p></body></html>
-        
-    
-    
-        
-        Telemetry speed:
-        
-    
-    
-        
-        Select the speed here.
-        
-    
-    
-        
-        Send to OpenPilot but don't write in SD.
-Beware of not locking yourself out!
-        
-    
-    
-        
-        Save to RAM
-        
-    
-    
-        
-        Retrieve settings from OpenPilot
-        
-    
-    
-        
-        Get Current
-        
-    
-    
-        
-        Applies and Saves all settings to SD.
-Beware of not locking yourself out!
-        
-    
-    
-        
-        Save to SD
-        
+        Save
+        保存
     
 
 
@@ -2207,6 +2154,31 @@ p, li { white-space: pre-wrap; }
         Choose icon
         
     
+    
+        
+        Workspace panel
+        
+    
+    
+        
+        Placement:
+        
+    
+    
+        
+        Top
+        
+    
+    
+        
+        Bottom
+        
+    
+    
+        
+        Allow reordering:
+        
+    
 
 
     DialGadgetOptionsPage
@@ -2291,7 +2263,7 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -2300,6 +2272,41 @@ p, li { white-space: pre-wrap; }
         Choose SVG image
         
     
+    
+        
+        XML ID of the SVG source file used to display the dial background.
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the dial foreground (above everything else, needles included).
+        
+    
+    
+        
+        Use OpenGL for rendering. Will lower CPU usage, depending on the capabilities of your graphics card, but might slightly alter the look & feel of the dial.
+        
+    
+    
+        
+        Use OpenGL
+        
+    
+    
+        
+        When checked, the Dial plugin will make needle moves smoother by simulating inertia.
+        
+    
+    
+        
+        Smooth updates
+        
+    
+    
+        
+        XML ID of the SVG source file used to display the first needle/indicator.
+        
+    
 
 
     GCSControl
@@ -2323,6 +2330,11 @@ p, li { white-space: pre-wrap; }
         Flight Mode:
         
     
+    
+        
+        UDP Control
+        
+    
 
 
     GpsDisplayGadgetOptionsPage
@@ -2454,32 +2466,11 @@ p, li { white-space: pre-wrap; }
         GPS Data Stream
         
     
-
-
-    FGOptionsPage
-    
-        
-        
-        Form
-        界面
-    
     
         
-        
-        FlightGear executable:
-        
-    
-    
-        
-        
-        FlightGear data directory:
-        
-    
-    
-        
-        
-        
-        Manual aircraft control (can be used when hardware is not available)
+        Displays the SNR for each detected sat.
+Satellite number (PRN) is displayed inside the green bar.
+Sat SNR is displayed above (in dBHz)
         
     
 
@@ -2487,126 +2478,272 @@ p, li { white-space: pre-wrap; }
     HITLOptionsPage
     
         
-        
+        
         Form
         界面
     
     
         
-        
+        
         Choose flight simulator:
         
     
     
         
-        
         Latitude in degrees:
         
     
     
         
-        
         Longitude in degrees:
         
     
     
         
-        
+        
         Path executable:
         
     
     
         
-        
+        
         Data directory:
         
     
     
         
-        
-        
         Manual aircraft control (can be used when hardware is not available)
         
     
     
         
-        
-        Host Address:
-        
-    
-    
-        
-        
+        
         Output Port:
         
     
     
         
-        
+        
         Input Port:
         
     
     
         
+        
         Choose flight simulator executable
         
     
     
         
+        
         Choose flight simulator data directory
         
     
+    
+        
+        
+        For receiving data from sim
+        
+    
+    
+        
+        Check this box to start the simulator on the local computer
+        
+    
+    
+        
+        Start simulator on local machine
+        
+    
+    
+        
+        
+        Local interface (IP):
+        
+    
+    
+        
+        
+        For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.
+        
+    
+    
+        
+        
+        Remote interface (IP):
+        
+    
+    
+        
+        
+        Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.
+        
+    
+    
+        
+        
+        For sending data to sim
+        
+    
+    
+        
+        Attitude data
+        
+    
+    
+        
+        AttitudeRaw (gyro, accels)
+        
+    
+    
+        
+        Refresh rate
+        
+    
+    
+        
+        ms
+        
+    
+    
+        
+        AttitudeActual
+        
+    
+    
+        
+        send raw data to board
+        
+    
+    
+        
+        use values from simulator
+        
+    
+    
+        
+        calculate from AttitudeRaw
+        
+    
+    
+        
+        Other data
+        
+    
+    
+        
+        HomeLocation
+        
+    
+    
+        
+        0 - update once, or every N seconds
+        
+    
+    
+        
+        sec
+        
+    
+    
+        
+        GPSPosition
+        
+    
+    
+        
+        SonarAltitude
+        
+    
+    
+        
+        Range detection
+        
+    
+    
+        
+        m
+        
+    
+    
+        
+        Map command from simulator
+        
+    
+    
+        
+        to GCSReciver
+        
+    
+    
+        
+        to ManualCtrll (not implemented)
+        
+    
+    
+        
+        Maximum output rate
+        
+    
 
 
     HITLWidget
     
         
-        
+        
         Form
         界面
     
     
         
-        
+        
         Request update
         
     
     
         
-        
+        
         Start
         
     
     
         
-        
+        
         Send update
         
     
     
         
-        
+        
         Stop
         停止
     
     
         
-        
         AutoPilot disconnected
         
     
     
         
-        
          Simulator disconnected 
         
     
     
         
-        
+        
         Clear Log
         
     
+    
+        
+        AP OFF
+        
+    
+    
+        
+        Sim OFF
+        
+    
 
 
     ImportExportDialog
@@ -2616,34 +2753,11 @@ p, li { white-space: pre-wrap; }
         对话框
     
     
-        
+        
         Import Export Settings
         
     
 
-
-    ImportExportGadgetOptionsPage
-    
-        
-        Form
-        界面
-    
-    
-        
-        Default Config File 
-        
-    
-    
-        
-        INI file (*.ini)
-        
-    
-    
-        
-        Choose configuration file
-        
-    
-
 
     ImportExportGadgetWidget
     
@@ -2651,21 +2765,6 @@ p, li { white-space: pre-wrap; }
         Form
         界面
     
-    
-        
-        This is experimental. Use at own risk.
-        
-    
-    
-        
-        Please report bugs!
-        
-    
-    
-        
-        Config File
-        
-    
     
         
         Items
@@ -2682,22 +2781,18 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
-        Export
+        
+        
+        GCS Settings file (*.xml)
         
     
     
-        
-        Import
-        导入
+        
+        Save GCS Settings too file ..
+        
     
     
-        
-        Help
-        帮助
-    
-    
-        
+        
         Can't write file 
         
     
@@ -2707,7 +2802,12 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
+        Load GCS Settings from file ..
+        
+    
+    
+        
         Can't read file 
         
     
@@ -2721,6 +2821,51 @@ p, li { white-space: pre-wrap; }
         . Restart the application.
         
     
+    
+        
+        All your settings will be deleted!
+        
+    
+    
+        
+        You must restart the GCS in order to activate the changes.
+        
+    
+    
+        
+        Plugins
+        
+    
+    
+        
+        Export the GCS settings selected in the checkboxes above.
+        
+    
+    
+        
+        Export...
+        输出...
+    
+    
+        
+        Import settings from the config file, only for the items checked above.
+        
+    
+    
+        
+        Import...
+        导入...
+    
+    
+        
+        Resets your GCS configuration to its default configuration.
+        
+    
+    
+        
+        Reset Config
+        
+    
 
 
     IPconnectionOptionsPage
@@ -2754,6 +2899,11 @@ p, li { white-space: pre-wrap; }
         settings
         
     
+    
+        
+        IP Network Telemetry
+        
+    
 
 
     LineardialGadgetOptionsPage
@@ -2833,7 +2983,7 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -2842,6 +2992,11 @@ p, li { white-space: pre-wrap; }
         Choose SVG image
         
     
+    
+        
+        Use OpenGL
+        
+    
 
 
     Logging
@@ -2870,6 +3025,11 @@ p, li { white-space: pre-wrap; }
         Idle
         
     
+    
+        
+        Playback speed:
+        
+    
 
 
     ModelViewOptionsPage
@@ -2898,6 +3058,23 @@ p, li { white-space: pre-wrap; }
         Enable VBOs:
         
     
+    
+        
+        Select the image that is shown in the background.
+        
+    
+    
+        
+        Select the 3D model file here.
+        
+    
+    
+        
+        Click to enable the use of Vertical Blanking.
+It is not enabled by default because some graphic cards do not
+support it, and crash the GCS. Enabling improves performance, though, so you can experiment at your own risk.
+        
+    
 
 
     NotifyPluginOptionsPage
@@ -2981,67 +3158,32 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
-        Value is
-        
-    
-    
-        
+        
         Equal to
         
     
     
-        
-        Greater than
+        
+        Large than
         
     
     
-        
-        Less than
+        
+        Lower than
         
     
     
-        
-        Say Order
+        
+        In range
         
     
     
-        
-        Select if the value of the object should be spoken and if so, either before the configured sound or after it.
-        
-    
-    
-        
-        Never
-        从不
-    
-    
-        
-        Before first
-        
-    
-    
-        
-        After first
-        
-    
-    
-        
-        After second
-        
-    
-    
-        
-        After third
-        
-    
-    
-        
+        
         Choose sound collection directory
         
     
     
-        
+        
         settings
         
     
@@ -3110,13 +3252,108 @@ p, li { white-space: pre-wrap; }
     
     
         
-        Revert
+        Cancel
+        取消
+    
+    
+        
+        Position
         
     
     
         
-        Cancel
-        取消
+        Relative to Home 
+        
+    
+    
+        
+        Bearing 
+        
+    
+    
+        
+        Distance 
+        
+    
+    
+        
+        0
+        0
+    
+    
+        
+        Velocity 
+        
+    
+    
+        
+        Relative altitude 
+        
+    
+    
+        
+        m/s
+        
+    
+    
+        
+        Mode
+        
+    
+    
+        
+        param1
+        
+    
+    
+        
+        param2
+        
+    
+    
+        
+        param3
+        
+    
+    
+        
+        param4
+        
+    
+    
+        
+        End condition
+        
+    
+    
+        
+        Condition
+        
+    
+    
+        
+        Command
+        命令
+    
+    
+        
+        Jump Destination
+        
+    
+    
+        
+        Error Destination
+        
+    
+    
+        
+        Previous
+        
+    
+    
+        
+        Next
+        
     
 
 
@@ -3155,83 +3392,16 @@ p, li { white-space: pre-wrap; }
         
     
 
-
-    opmap_waypointeditor_dialog
-    
-        
-        OpenPilot GCS Waypoint Editor
-        
-    
-    
-        
-        Waypoints
-        
-    
-    
-        
-        Num
-        
-    
-    
-        
-        Locked
-        锁定
-    
-    
-        
-        Latitude
-        
-    
-    
-        
-        Longitude
-        
-    
-    
-        
-        Altitude
-        
-    
-    
-        
-        Time
-        
-    
-    
-        
-        Hold Time
-        
-    
-    
-        
-        Height and Timeline
-        
-    
-    
-        
-        Waypoint 1
-        
-    
-    
-        
-        Waypoint 2
-        
-    
-    
-        
-        Waypoint 3
-        
-    
-
 
     OPMap_Widget
     
         
+        
         Form
         界面
     
     
-        
+        
         Enter place to find
         
     
@@ -3311,47 +3481,43 @@ p, li { white-space: pre-wrap; }
         添加
     
     
-        
+        
+        
         Zoom in
         
     
     
         
+        
         Zoom level
         
     
     
         
+        
         Zoom out
         
     
     
         
+        
         Center map over home position
         
     
     
         
+        
         Center map over UAV position
         
     
     
         
+        
         Map rotation follows UAV heading
         
     
     
-        
-        Show/Hide the UAV trail
-        
-    
-    
-        
-        Clear the UAV trail
-        
-    
-    
-        
+        
         UAV hold position
         
     
@@ -3366,12 +3532,13 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
+        
         Home
         主页
     
     
-        
+        
         Move UAV to previous waypoint
         
     
@@ -3401,45 +3568,123 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
+        
         UAV position
         
     
     
         
+        
         labelUAVPos
         
     
     
         
+        
         Map position
         
     
     
         
+        
         labelMapPos
         
     
     
         
+        
         Mouse position
         
     
     
         
+        
         labelMousePos
         
     
     
         
+        
         labelMapZoom
         
     
     
         
+        
         %v
         
     
+    
+        
+        
+        Normal Map Mode
+        
+    
+    
+        
+        
+           Normal   
+        
+    
+    
+        
+        
+        Magic Waypoint Map Mode
+        
+    
+    
+        
+        
+           Magic Waypoint   
+        
+    
+    
+        
+        Go To Place:
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        
+        Click to move the UAV to the magic waypoint position
+        
+    
+    
+        
+        
+        Move to WP
+        
+    
+    
+        
+        
+        Move the magic waypoint to the home position
+        
+    
+    
+        
+        
+        Home WP
+        
+    
+    
+        
+        
+        UAV
+        
+    
+    
+        
+        
+        Heading
+        
+    
 
 
     opmap_zoom_slider_widget
@@ -3517,10 +3762,20 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         Choose Cache Directory
         
     
+    
+        
+        UAV Symbol
+        
+    
+    
+        
+        Default Max Update Rate 
+        
+    
 
 
     PFDGadgetOptionsPage
@@ -3545,7 +3800,7 @@ p, li { white-space: pre-wrap; }
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -3554,6 +3809,11 @@ p, li { white-space: pre-wrap; }
         Choose SVG image
         
     
+    
+        
+        Smooth updates
+        
+    
 
 
     ScopeGadgetOptionsPage
@@ -3592,11 +3852,6 @@ p, li { white-space: pre-wrap; }
         ms
         
     
-    
-        
-        Plot curves
-        
-    
     
         
         UAVObject:
@@ -3617,11 +3872,6 @@ p, li { white-space: pre-wrap; }
         Choose
         
     
-    
-        
-        Scale:
-        
-    
     
         
         Add a new curve to the scope, or update it if the UAVObject and UAVField is the same.
@@ -3644,6 +3894,51 @@ Update
 
         
     
+    
+        
+        Y-axis
+        
+    
+    
+        
+        Y-axis scale factor:
+        
+    
+    
+        
+        Math window size
+        
+    
+    
+        
+         samples
+        
+    
+    
+        
+        Math function:
+        
+    
+    
+        
+        Log data to csv file (not interpolated)
+        
+    
+    
+        
+        New file on connect
+        
+    
+    
+        
+        Logging path
+        
+    
+    
+        
+        Choose Logging Directory
+        
+    
 
 
     SystemHealthGadgetOptionsPage
@@ -3658,7 +3953,7 @@ Update
         
     
     
-        
+        
         SVG image (*.svg)
         
     
@@ -3675,51 +3970,26 @@ Update
         Form
         界面
     
-    
-        
-        Request update
-        
-    
     
         
         Request
         
     
-    
-        
-        Send update
-        
-    
     
         
         Send
         
     
-    
-        
-        Save to SD Card
-        
-    
     
         
         Save
         保存
     
-    
-        
-        Load from SD Card
-        
-    
     
         
         Load
         载入
     
-    
-        
-        Erase from SD card
-        
-    
     
         
         Erase
@@ -3727,7 +3997,12 @@ Update
     
     
         
-        Show Meta Data
+        ...
+        
+    
+    
+        
+        View Options
         
     
 
@@ -3753,6 +4028,11 @@ Update
         Recently updated timeout (ms):
         
     
+    
+        
+        Only highlight nodes when value actually changes
+        
+    
 
 
     QuaZipFile
@@ -6983,10 +7263,15 @@ Update
 
     ConfigGadgetFactory
     
-        
+        
         Config Gadget
         
     
+    
+        
+        Radio Setup Wizard
+        
+    
 
 
     ConsoleGadgetFactory
@@ -7008,7 +7293,7 @@ Update
 
     Core::UAVConfigInfo
     
-        
+        
         Do you want to continue the import?
         
     
@@ -7028,7 +7313,7 @@ Update
         
     
     
-        
+        
         Unknown compatibility level: 
         
     
@@ -7036,85 +7321,24 @@ Update
 
     Core::UAVGadgetInstanceManager
     
-        
+        
+        Migrating UAVGadgetConfigurations from version 1.1.0 to 
+        
+    
+    
+        
+        You might want to save your old config NOW since it might be replaced by broken one when you exit the GCS!
+        
+    
+    
+        
+        
+        
         
         default
         
     
 
-
-    Core::UAVGadgetManager
-    
-        
-        Edit Gadgets Mode
-        
-    
-    
-        
-        Ctrl+Shift+F10
-        Ctrl+Shift+F10
-    
-    
-        
-        Meta+Shift
-        
-    
-    
-        
-        Ctrl+Shift
-        
-    
-    
-        
-        Split
-        分栏
-    
-    
-        
-        %1+Down
-        
-    
-    
-        
-        Split Side by Side
-        左右分栏
-    
-    
-        
-        %1+Right
-        
-    
-    
-        
-        Close Current View
-        
-    
-    
-        
-        %1+C
-        
-    
-    
-        
-        Close All Other Views
-        
-    
-    
-        
-        %1+A
-        
-    
-    
-        
-        Goto Next View
-        
-    
-    
-        
-        %1+N
-        
-    
-
 
     Core::Internal::UAVGadgetView
     
@@ -7123,14 +7347,6 @@ Update
         
     
 
-
-    DialGadgetFactory
-    
-        
-        Analog Dial Gadget
-        
-    
-
 
     EmptyGadgetFactory
     
@@ -7160,22 +7376,6 @@ Update
         
     
 
-
-    GCSControlGadgetFactory
-    
-        
-        UAV Control
-        
-    
-
-
-    GpsDisplayGadgetFactory
-    
-        
-        GPS Display Gadget
-        
-    
-
 
     HITLFactory
     
@@ -7183,20 +7383,9 @@ Update
         HITL Simulation
         
     
-
-
-    ImportExportGadgetFactory
     
-        
-        Import/Export GCS Config
-        
-    
-
-
-    LineardialGadgetFactory
-    
-        
-        Bargraph Dial Gadget
+        
+        HITL Simulation (v2)
         
     
 
@@ -7208,14 +7397,6 @@ Update
         
     
 
-
-    ModelViewGadgetFactory
-    
-        
-        ModelView Gadget
-        
-    
-
 
     ModelViewGadgetOptionsPage
     
@@ -7247,28 +7428,15 @@ Update
         
     
 
-
-    OPMapGadgetFactory
-    
-        
-        OPMap Gadget
-        
-    
-
 
     OPMapGadgetWidget
     
-        
-        Flight path 62
-        
-    
-    
-        
+        
         Copy
         复制
     
     
-        
+        
         Zoom
         缩放
     
@@ -7283,27 +7451,20 @@ Update
         
     
     
-        
+        
+        
         UAV
         
     
     
-        
+        
+        
         Waypoints
         
     
     
-        
-        OpenPilot GCS
-        
-    
-    
-        
-        &Close menu
-        
-    
-    
-        
+        
+        
         Close the context menu
         
     
@@ -7323,7 +7484,7 @@ Update
         
     
     
-        
+        
         Mouse latitude and longitude
         
     
@@ -7353,24 +7514,13 @@ Update
         
     
     
-        
-        &Find place
-        
-    
-    
-        
-        
+        
         
         Ctrl+F
         
     
     
-        
-        Find a location
-        
-    
-    
-        
+        
         Show compass
         
     
@@ -7380,7 +7530,7 @@ Update
         
     
     
-        
+        
         Show Home
         
     
@@ -7400,7 +7550,7 @@ Update
         
     
     
-        
+        
         Zoom &In
         
     
@@ -7410,7 +7560,7 @@ Update
         
     
     
-        
+        
         Zoom &Out
         
     
@@ -7420,7 +7570,7 @@ Update
         
     
     
-        
+        
         Go to where you right clicked the mouse
         
     
@@ -7430,7 +7580,7 @@ Update
         
     
     
-        
+        
         Go to &Home location
         
     
@@ -7459,16 +7609,6 @@ Update
         Center the map onto the UAV location
         
     
-    
-        
-        Set Home location
-        
-    
-    
-        
-        Set the current UAV location as the HOME location
-        
-    
     
         
         Follow UAV position
@@ -7490,17 +7630,7 @@ Update
         
     
     
-        
-        Show UAV trail
-        
-    
-    
-        
-        Show/Hide the UAV trail
-        
-    
-    
-        
+        
         Clear UAV trail
         
     
@@ -7510,12 +7640,123 @@ Update
         
     
     
-        
+        
         &Waypoint editor
         
     
+    
+        
+        &Max Update Rate 
+        
+    
+    
+        
+         (Normal)
+        
+    
     
         
+         (Magic Waypoint)
+        
+    
+    
+        
+         (Unknown)
+        
+    
+    
+        
+        Map mode
+        
+    
+    
+        
+        Safe Area Radius
+        
+    
+    
+        
+        UAV Trail
+        
+    
+    
+        
+        UAV trail type
+        
+    
+    
+        
+        UAV trail time
+        
+    
+    
+        
+        UAV trail distance
+        
+    
+    
+        
+        &Overlay Opacity 
+        
+    
+    
+        
+        
+        Close menu
+        
+    
+    
+        
+        &Rip map
+        
+    
+    
+        
+        Rip the map tiles
+        
+    
+    
+        
+        Show Diagnostics
+        
+    
+    
+        
+        Show/Hide the diagnostics
+        
+    
+    
+        
+        Show UAV Info
+        
+    
+    
+        
+        Show/Hide the UAV info
+        
+    
+    
+        
+        Set default zoom and location
+        
+    
+    
+        
+        Changes the map default zoom and location to the current values
+        
+    
+    
+        
+        Set the home location
+        
+    
+    
+        
+        Set the home location to where you clicked
+        
+    
+    
+        
         Ctrl+W
         Ctrl+W
     
@@ -7525,22 +7766,25 @@ Update
         
     
     
-        
+        
+        
         &Add waypoint
         
     
     
-        
+        
+        
         Ctrl+A
         
     
     
-        
+        
+        
         Add waypoint
         
     
     
-        
+        
         &Edit waypoint
         
     
@@ -7594,28 +7838,74 @@ Update
         Clear waypoints
         
     
-
-
-    PFDGadgetFactory
     
-        
-        Primary Flight Display Gadget
+        
+        Home magic waypoint
         
     
-
-
-    ScopeGadgetFactory
     
-        
-        Scope Gadget
+        
+        Move the magic waypoint to the home position
         
     
-
-
-    SystemHealthGadgetFactory
     
-        
-        System Health Gadget
+        
+        Normal
+        
+    
+    
+        
+        Magic Waypoint
+        
+    
+    
+        
+        Show Safe Area
+        
+    
+    
+        
+        Show/Hide the Safe Area around the home location
+        
+    
+    
+        
+        Show Trail dots
+        
+    
+    
+        
+        Show/Hide the Trail dots
+        
+    
+    
+        
+        Show Trail lines
+        
+    
+    
+        
+        Show/Hide the Trail lines
+        
+    
+    
+        
+        Set home altitude
+        
+    
+    
+        
+        In [m], referenced to WGS84:
+        
+    
+    
+        
+        Are you sure you want to clear waypoints?
+        
+    
+    
+        
+        All associated data will be lost.
         
     
 
@@ -7630,7 +7920,7 @@ Update
 
     UAVObjectTreeModel
     
-        
+        
         Property
         属性
     
@@ -7650,17 +7940,17 @@ Update
         设置
     
     
-        
+        
         Data Objects
         
     
     
-        
+        
         Meta Data
         
     
     
-        
+        
         Instance
         
     
@@ -7668,63 +7958,53 @@ Update
 
     UAVMetaObject
     
-        
-        False
+        
+        FlightReadOnly
         
     
     
         
-        True
+        GCSReadOnly
+        
+    
+    
+        
+        FlightTelemetryAcked
+        
+    
+    
+        
+        GCSTelemetryAcked
+        
+    
+    
+        
+        FlightUpdatePeriodic
+        
+    
+    
+        
+        FlightUpdateOnChange
+        
+    
+    
+        
+        GCSUpdatePeriodic
+        
+    
+    
+        
+        GCSUpdateOnChange
         
     
     
         
-        Periodic
+        Modes
         
     
     
         
-        On Change
-        
-    
-    
-        
-        Manual
-        手动设置
-    
-    
-        
-        Never
-        从不
-    
-    
-        
-        Read/Write
-        
-    
-    
-        
-        Read Only
-        只读
-    
-    
-        
-        Flight Access Mode
-        
-    
-    
-        
-        GCS Access Mode
-        
-    
-    
-        
-        Flight Telemetry Acked
-        
-    
-    
-        
-        Flight Telemetry Update Mode
+        boolean
         
     
     
@@ -7733,25 +8013,17 @@ Update
         
     
     
+        
         
-        GCS Telemetry Acked
+        
+        ms
         
     
     
-        
-        GCS Telemetry Update Mode
-        
-    
-    
-        
+        
         GCS Telemetry Update Period
         
     
-    
-        
-        Logging Update Mode
-        
-    
     
         
         Logging Update Period
@@ -7761,7 +8033,7 @@ Update
 
     Telemetry
     
-        
+        
         Telemetry: priority event queue is full, event lost (%1)
         
     
@@ -7769,29 +8041,6027 @@ Update
 
     TelemetryMonitor
     
-        
+        
         Starting to retrieve meta and settings objects from the autopilot (%1 objects)
         
     
 
+
+    AntennaTrackGadgetOptionsPage
+    
+        
+        Form
+        界面
+    
+    
+        
+        Mode:
+        
+    
+    
+        
+        Serial Connection
+        
+    
+    
+        
+        Data Bits:
+        
+    
+    
+        
+        Stop Bits:
+        
+    
+    
+        
+        Parity:
+        
+    
+    
+        
+        Timeout(ms):
+        
+    
+    
+        
+        Port:
+        端口:
+    
+    
+        
+        Port Speed:
+        
+    
+    
+        
+        Flow Control:
+        
+    
+
+
+    AntennaTrackWidget
+    
+        
+        Coord:
+        
+    
+    
+        
+        Unknown
+        
+    
+    
+        
+        HomeCoord:
+        
+    
+    
+        
+        Azimuth
+        
+    
+    
+        
+        Elevation
+        
+    
+    
+        
+        Connect
+        
+    
+    
+        
+        Disconnect
+        
+    
+    
+        
+        Output
+        输出
+    
+
+
+    AutotuneWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        Pre-Autotune
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;">WARNING:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;"><br /></span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be </span><span style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:600;">very very wary</span><span style=" font-family:'Lucida Grande'; font-size:13pt;"> for it creating bad tuning values.  Basically there is no reason to think this will work at all.<br /><br />To use autotuning, here are the steps:<br /></span></p>
+<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">On the <span style=" font-style:italic;">Input configuration</span> tab, <span style=" font-style:italic;">Flight Mode Switch Settings</span>, set one of your flight modes to &quot;Autotune&quot;.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Take off, change flight mode to autotune, keep it in the air while it's shaking.<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Land and disarm.  (note - you <span style=" font-weight:600;">MUST</span> stay in autotune mode through this point, leaving autotune before disarming aborts the process)<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).<br /></li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Test fly the new settings.</li>
+<li style=" font-family:'Lucida Grande'; font-size:13pt;" style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If you're ready to proceed, click the <span style=" font-style:italic;">Enable Autotune Module</span> checkbox above this text, click <span style=" font-style:italic;">save</span> and go to the next tab.</li></ul></body></html>
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable Autotune Module
+        
+    
+    
+        
+        Autotune Setup
+        
+    
+    
+        
+        Tuning Aggressiveness
+        
+    
+    
+        
+        Rate Tuning:
+        
+    
+    
+        
+        Attitude Tuning:
+        
+    
+    
+        
+        objname:RelayTuningSettings
+        
+    
+    
+        
+        fieldname:RateGain
+        
+    
+    
+        
+        scale:0.01
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        fieldname:AttitudeGain
+        
+    
+    
+        
+        Measured Properties
+        
+    
+    
+        
+        Roll:
+        
+    
+    
+        
+        0
+        0
+    
+    
+        
+        objname:RelayTuning
+        
+    
+    
+        
+        fieldname:Period
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:Gain
+        
+    
+    
+        
+        Period (ms)
+        
+    
+    
+        
+        Gain (deg/s) / output
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Computed Values
+        
+    
+    
+        
+        RateKi
+        
+    
+    
+        
+        AttitudeKp
+        
+    
+    
+        
+        RateKp
+        
+    
+    
+        
+        AttitudeKi
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Apply Computed Values
+        
+    
+    
+        
+        Step Size
+        
+    
+    
+        
+        fieldname:Amplitude
+        
+    
+    
+        
+        The Apply and Save buttons below save the autotuning settings which
+will alter settings for the next autotuning flight
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        保存
+    
+    
+        
+        button:save
+        
+    
+
+
+    CameraStabilizationWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        Camera Stabilization
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        Enable CameraStabilization module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Basic Settings (Stabilization)
+        
+    
+    
+        
+        Camera yaw angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        objname:CameraStabSettings
+        
+    
+    
+        
+        fieldname:OutputRange
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Camera pitch angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Camera roll angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        Yaw output channel for camera gimbal
+        
+    
+    
+        
+        None
+        无
+    
+    
+        
+        Pitch output channel for camera gimbal
+        
+    
+    
+        
+        Roll output channel for camera gimbal
+        
+    
+    
+        
+        Output Channel
+        
+    
+    
+        
+        Output Range
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Advanced Settings (Control)
+        
+    
+    
+        
+        Input channel to control camera yaw
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        fieldname:Input
+        
+    
+    
+        
+        Input channel to control camera pitch
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input channel to control camera roll
+
+Don't forget to map this channel using Input configuration tab.
+        
+    
+    
+        
+        Input Channel
+        
+    
+    
+        
+        Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.
+        
+    
+    
+        
+        fieldname:StabilizationMode
+        
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Maximum camera yaw deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        fieldname:InputRange
+        
+    
+    
+        
+        Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        fieldname:InputRate
+        
+    
+    
+        
+        Input low-pass filter response time for yaw axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        fieldname:ResponseTime
+        
+    
+    
+        
+        Maximum camera pitch deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for pitch axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        Maximum camera roll deflection for 100% input in Attitude mode, deg.
+        
+    
+    
+        
+        Maximum camera roll rate for 100% input in AxisLock mode, deg/s.
+        
+    
+    
+        
+        Input low-pass filter response time for roll axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.
+        
+    
+    
+        
+        MaxAxisLockRate
+        
+    
+    
+        
+        Response Time
+        
+    
+    
+        
+        Input Rate
+        
+    
+    
+        
+        Input Range
+        
+    
+    
+        
+        Stabilization Mode
+        
+    
+    
+        
+        (the same value for Roll, Pitch, Yaw)
+        
+    
+    
+        
+        Stick input deadband for all axes in AxisLock mode, deg/s.
+
+When stick input is within the MaxAxisLockRate range, camera tracks
+current attitude. Otherwise it starts moving according to input with
+rate depending on input value.
+
+If you have drift in your Tx controls, you may want to increase this
+value.
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration
+        
+    
+    
+        
+        Load default CameraStabilization settings except output channels into GCS.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reset To Defaults
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        Reloads saved CameraStabilization settings  except output channels
+from board into GCS. Useful if you have accidentally changed some
+settings.
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        保存
+    
+    
+        
+        button:save
+        
+    
+
+
+    CC_HW_Widget
+    
+        
+        Form
+        界面
+    
+    
+        
+        HW settings
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        Changes on this page only take effect after board reset or power cycle
+        
+    
+    
+        
+        Telemetry speed:
+        
+    
+    
+        
+        GPS speed:
+        
+    
+    
+        
+        ComUsbBridge speed:
+        
+    
+    
+        
+        Select the speed here.
+        
+    
+    
+        
+        USB HID Port
+        
+    
+    
+        
+        MainPort
+        
+    
+    
+        
+        FlexiPort
+        
+    
+    
+        
+        USB VCP Port
+        
+    
+    
+        
+        RcvrPort
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Save
+        保存
+    
+
+
+    ccattitude
+    
+        
+        Form
+        界面
+    
+    
+        
+        Attitude
+        
+    
+    
+        
+        Rotate virtual attitude relative to board
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Calibration
+        
+    
+    
+        
+        Place aircraft very flat, and then click level to compute the accelerometer and gyro bias
+        
+    
+    
+        
+        Launch horizontal calibration.
+        
+    
+    
+        
+        Level
+        
+    
+    
+        
+        If enabled, a fast recalibration of gyro zero point will be done
+whenever the frame is armed. Do not move the airframe while
+arming it in that case!
+        
+    
+    
+        
+        Zero gyros while arming aircraft
+        
+    
+    
+        
+        AccelTau
+        
+    
+    
+        
+        Accelerometer filtering.
+
+Sets the amount of lowpass filtering of accelerometer data 
+for the attitude estimation. Higher values apply a stronger 
+filter, which may help with drifting in attitude mode.
+
+Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
+Start low and raise until drift stops.
+
+A setting of 0.00 disables the filter.
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Click to permanently save the accel bias in the CopterControl Flash.
+        
+    
+    
+        
+        Save
+        保存
+    
+
+
+    ccpmWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        Swashplate config:
+        
+    
+    
+        
+        Select aircraft type here
+        
+    
+    
+        
+        Basic settings
+        
+    
+    
+        
+        Outputs
+        
+    
+    
+        
+        Tail Rotor
+        
+    
+    
+        
+        Engine
+        
+    
+    
+        
+        Swashplate Outputs
+        
+    
+    
+        
+        Servo W
+        
+    
+    
+        
+        Servo X
+        
+    
+    
+        
+        Front
+        
+    
+    
+        
+        Right
+        
+    
+    
+        
+        Rear
+        
+    
+    
+        
+        Left
+        
+    
+    
+        
+        1st Servo
+        
+    
+    
+        
+        Servo Z
+        
+    
+    
+        
+        Servo Y
+        
+    
+    
+        
+        Swashplate Servo Angles
+        
+    
+    
+        
+        Angle W
+        
+    
+    
+        
+        Angle X
+        
+    
+    
+        
+        Angle Y
+        
+    
+    
+        
+        Angle Z
+        
+    
+    
+        
+        Correction Angle
+        
+    
+    
+        
+        CCPM Options
+        
+    
+    
+        
+        Collective Pass through
+        
+    
+    
+        
+        Link Roll/Pitch
+        
+    
+    
+        
+        Link Cyclic/Collective
+        
+    
+    
+        
+        Swashplate Layout
+        
+    
+    
+        
+        REVO
+        
+    
+    
+        
+        100%
+        100%
+    
+    
+        
+        0%
+        0%
+    
+    
+        
+        CCPM
+        
+    
+    
+        
+        Collective
+        
+    
+    
+        
+        Cyclic
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Swashplate Levelling
+        
+    
+    
+        
+        Commands
+        
+    
+    
+        
+        Start
+        
+    
+    
+        
+        Next
+        
+    
+    
+        
+        Cancel
+        取消
+    
+    
+        
+        Finish
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Neutral
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Verify
+        
+    
+    
+        
+        Position
+        
+    
+    
+        
+        Swashplate Adjustment
+        
+    
+    
+        
+        Curve settings
+        
+    
+    
+        
+        Advanced settings
+        
+    
+    
+        
+        Channel
+        
+    
+    
+        
+        Curve 1
+        
+    
+    
+        
+        Curve 2
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        -
+        
+    
+
+
+    defaultattitude
+    
+        
+        Form
+        界面
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Attitude / INS calibration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This panel will be updated to provide the relevant controls to let you calibrate your OpenPilot INS or your CopterControl unit, depending on the board which is detected once telemetry is connected and running.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    defaulthwsettings
+    
+        
+        Form
+        界面
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Hardware Configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This panel will be updated to provide the relevant controls to let you configure your hardware once telemetry is connected and running.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p></body></html>
+        
+    
+
+
+    InputWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        RC Input
+        
+    
+    
+        
+        Roll/Pitch/Yaw stick deadband
+        
+    
+    
+        
+        Stick deadband in percents of full range (0-10), zero to disable
+        
+    
+    
+        
+        Back
+        
+    
+    
+        
+        Next
+        
+    
+    
+        
+        Cancel
+        取消
+    
+    
+        
+        Calibration and Configuration Options
+        
+    
+    
+        
+        Start Configuration Wizard
+        
+    
+    
+        
+        Manual Calibration
+        
+    
+    
+        
+        Flight Mode Switch Settings
+        
+    
+    
+        
+        Configure each stabilization mode for each axis
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Stabilized1
+        
+    
+    
+        
+        Stabilized2
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Stabilized3
+        
+    
+    
+        
+        FlightMode Switch Positions
+        
+    
+    
+        
+        Pos. 1
+        
+    
+    
+        
+        Pos. 2
+        
+    
+    
+        
+        Pos. 3
+        
+    
+    
+        
+        Pos. 4
+        
+    
+    
+        
+        Pos. 5
+        
+    
+    
+        
+        Pos. 6
+        
+    
+    
+        
+        This slider moves when you move the flight mode switch
+on your remote. It shows currently active flight mode.
+
+Setup the flight mode channel on the RC Input tab if you have not done so already.
+        
+    
+    
+        
+        Select the stabilization mode on this position (manual/stabilized/auto)
+        
+    
+    
+        
+        Number of flight modes:
+        
+    
+    
+        
+        Number of positions your FlightMode switch has.
+
+Default is 3.
+
+It will be 2 or 3 for most of setups, but it also can be up to 6.
+In that case you have to configure your radio mixers so the whole range
+from min to max is split into N equal intervals, and you may set arbitrary
+channel value for each flight mode.
+        
+    
+    
+        
+        Avoid "Manual" for multirotors!
+        
+    
+    
+        
+        Arming Settings
+        
+    
+    
+        
+        Arm airframe using throttle off and:
+        
+    
+    
+        
+        Indicate the control used for arming the airframe, in addition to setting the throttle to its minimum position. In other terms "Throttle Off".
+        
+    
+    
+        
+        Arming timeout:
+        
+    
+    
+        
+        After the time indicated here, the frame go back to disarmed state.
+Set to 0 to disable (recommended for soaring fixed wings).
+        
+    
+    
+        
+        seconds (0 to disable).
+        
+    
+    
+        
+        Airframe disarm is done by throttle off and opposite of above combination.
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        
+    
+    
+        
+        Save
+        保存
+    
+
+
+    inputChannelForm
+    
+        
+        Form
+        界面
+    
+    
+        
+        Function
+        
+    
+    
+        
+        Type
+        
+    
+    
+        
+        Number
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Neutral
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Chan %1
+        
+    
+
+
+    MixerCurve
+    
+        
+        MixerCurve
+        
+    
+    
+        
+        Throttle Curve
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        4
+        4
+    
+    
+        
+        3
+        3
+    
+    
+        
+        2
+        2
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Value
+        值
+    
+    
+        
+        1.0
+        1.0
+    
+    
+        
+        .75
+        
+    
+    
+        
+        .50
+        
+    
+    
+        
+        .25
+        
+    
+    
+        
+        .00
+        
+    
+    
+        
+        Linear
+        
+    
+    
+        
+        Log
+        
+    
+    
+        
+        Exp
+        
+    
+    
+        
+        Flat
+        
+    
+    
+        
+        Step
+        
+    
+    
+        
+        Generate
+        
+    
+    
+        
+        Reset
+        重置
+    
+    
+        
+        Advanced...
+        
+    
+
+
+    OutputWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        Output
+        输出
+    
+    
+        
+        Output Update Speed
+        
+    
+    
+        
+        Channel:
+        
+    
+    
+        
+        -
+        
+    
+    
+        
+        Update rate:
+        
+    
+    
+        
+        Setup "TurboPWM" here: usual value is 400 Hz for multirotor airframes.
+Leave at 50Hz for fixed wing.
+        
+    
+    
+        
+        50
+        50
+    
+    
+        
+        60
+        60
+    
+    
+        
+        125
+        125
+    
+    
+        
+        165
+        165
+    
+    
+        
+        270
+        270
+    
+    
+        
+        330
+        330
+    
+    
+        
+        400
+        400
+    
+    
+        
+        Motors spin at neutral output when armed and throttle below zero (be careful)
+        
+    
+    
+        
+        Move the servos using the sliders. Two important things:
+- Take extra care if the output is connected to an motor controller!
+- Will only work if the RC receiver is working (failsafe)
+        
+    
+    
+        
+        Test outputs
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD
+        
+    
+    
+        
+        Save
+        保存
+    
+
+
+    outputChannelForm
+    
+        
+        Form
+        界面
+    
+    
+        
+        Current value of slider.
+        
+    
+    
+        
+        0000
+        0000
+    
+    
+        
+        Link
+        
+    
+    
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        #
+        
+    
+    
+        
+        Channel Number
+        
+    
+    
+        
+        Minimum PWM value, beware of not overdriving your servo.
+        
+    
+    
+        
+        Check to invert the channel.
+        
+    
+    
+        
+        Neutral (slowest for motor)
+        
+    
+    
+        
+        Assignment
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Output mode
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Maximum PWM value, beware of not overdriving your servo.
+        
+    
+
+
+    PipXtremeWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/dACrAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        保存
+    
+    
+        
+        Pairing
+        
+    
+    
+        
+        Broadcast
+        
+    
+    
+        
+        Broadcast Address
+        
+    
+    
+        
+        12345678
+        12345678
+    
+    
+        
+        %v dBm
+        
+    
+    
+        
+        -100dB
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Firmware Ver.
+        
+    
+    
+        
+        Serial Number
+        
+    
+    
+        
+        The modems serial number
+        
+    
+    
+        
+        Device ID
+        
+    
+    
+        
+        Pair ID
+        
+    
+    
+        
+        90ABCDEF
+        
+    
+    
+        
+        Min Frequency
+        
+    
+    
+        
+        The modems minimum allowed frequency
+        
+    
+    
+        
+        Max Frequency
+        
+    
+    
+        
+        The modems maximum allowed frequency
+        
+    
+    
+        
+        Freq. Step Size
+        
+    
+    
+        
+        The modems minimum frequency step size
+        
+    
+    
+        
+        Freq. Band
+        
+    
+    
+        
+        The current frequency band
+        
+    
+    
+        
+        RSSI
+        
+    
+    
+        
+        Rx AFC
+        
+    
+    
+        
+        TX Rate (B/s)
+        
+    
+    
+        
+        RX Rate (B/s)
+        
+    
+    
+        
+        Link State
+        
+    
+    
+        
+        The modems current state
+        
+    
+    
+        
+        Disconnected
+        
+    
+    
+        
+        Errors
+        
+    
+    
+        
+        Retries
+        
+    
+    
+        
+        UAVTalk Errors
+        
+    
+    
+        
+        Resets
+        
+    
+    
+        
+        Dropped
+        
+    
+    
+        
+        Configuration
+        配置
+    
+    
+        
+        Telemetry Port Config.
+        
+    
+    
+        
+        Set the telemetry port configuration
+        
+    
+    
+        
+        Telemetry Port Speed
+        
+    
+    
+        
+        Set the telemetry port speed
+        
+    
+    
+        
+        Flexi Port Configuration
+        
+    
+    
+        
+        Set the flexi port configuration
+        
+    
+    
+        
+        Flexi Port Speed
+        
+    
+    
+        
+        Set the flexi port speed
+        
+    
+    
+        
+        VCP Configuration
+        
+    
+    
+        
+        Set the virtual serial port configuration
+        
+    
+    
+        
+        VCP Speed
+        
+    
+    
+        
+        Set the virtual serial port speed
+        
+    
+    
+        
+        Max RF Datarate (bits/s)
+        
+    
+    
+        
+        Set the maximum RF datarate/channel bandwidth the modem will use
+        
+    
+    
+        
+        Max RF Tx Power(mW)
+        
+    
+    
+        
+        Set the maximum TX output power the modem will use
+        
+    
+    
+        
+        Send Timeout (ms)
+        
+    
+    
+        
+        Calibrate the modems RF carrier frequency
+        
+    
+    
+        
+        Min Packet Size
+        
+    
+    
+        
+        Frequency Calibration
+        
+    
+    
+        
+        Frequency (Hz)
+        
+    
+    
+        
+        Set the modems RF carrier frequency
+        
+    
+    
+        
+        AES Encryption
+        
+    
+    
+        
+        The AES encryption key - has to be the same key on the remote modem.
+        
+    
+    
+        
+        Radomise the AES encryption key
+        
+    
+    
+        
+         Rand
+        
+    
+    
+        
+        Enable/Disable AES encryption
+        
+    
+    
+        
+        Enable
+        
+    
+    
+        
+        Scan whole band to see where their is interference and/or used channels
+        
+    
+    
+        
+            Scan Spectrum    
+        
+    
+
+
+    PRO_HW_Widget
+    
+        
+        Form
+        界面
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</span></p></body></html>
+        
+    
+    
+        
+        Telemetry speed:
+        
+    
+    
+        
+        Select the speed here.
+        
+    
+    
+        
+        Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Applies and Saves all settings to SD.
+Beware of not locking yourself out!
+        
+    
+    
+        
+        Save
+        保存
+    
+
+
+    RevoSensorsWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        Calibration
+        
+    
+    
+        
+        #1: Multi-Point Calibration
+        
+    
+    
+        
+        Nice paper plane, eh?
+        
+    
+    
+        
+        Launch a sensor range and bias calibration.
+        
+    
+    
+        
+        Start
+        
+    
+    
+        
+        Save settings (only enabled when calibration is running)
+        
+    
+    
+        
+        Save Position
+        
+    
+    
+        
+        #2: Sensor noise calibration
+        
+    
+    
+        
+        These are the sensor variance values computed by the AHRS.
+
+Tip: lower is better!
+        
+    
+    
+        
+        Press to start a calibration procedure, about 15 seconds.
+
+Hint: run this with engines at cruising speed.
+        
+    
+    
+        
+        #3: Accelerometer Bias calibration
+        
+    
+    
+        
+        #4 Gyro temperature drift calibration
+        
+    
+    
+        
+        Temp:
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Currently measured temperature on the system. This is actually the
+MB temperature, be careful if somehow you know that your INS
+temperature is very different from your MB temp...
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Current drift:
+        
+    
+    
+        
+        Saved drift:
+        
+    
+    
+        
+        Start gathering data for temperature drift calibration.
+Avoid sudden moves once you have started gathering!
+        
+    
+    
+        
+        Launch drift measurement based on gathered data.
+
+TODO: is this necessary? Measurement could be auto updated every second or so, or done when we stop measuring...
+        
+    
+    
+        
+        Measure
+        
+    
+    
+        
+        Updates the XYZ drift values into the AHRS (saves to SD)
+        
+    
+    
+        
+        Save
+        保存
+    
+    
+        
+        Six Point Calibration instructions
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
+<tr>
+<td style="border: none;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Step #1 and #2 are really necessary. Steps #3 and #4 will help you achieve the best possible results.</span></p>
+<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#1: Multi-Point calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here.  Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#2: Sensor noise calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute sensor variance under standard conditions. You can leave your engines running at low to mid throttle to take their vibration into account before pressing &quot;Start&quot;.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#3: Accelerometer bias calibration:</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that accelerometer bias is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">#4 Gyro temp drift calibration:</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt; font-weight:600;"></p></td></tr></table></body></html>
+        
+    
+    
+        
+        Settings
+        设置
+    
+    
+        
+        Attitude Algorithm:
+        
+    
+    
+        
+        Select the sensor integration algorithm here.
+"Simple" only uses accelerometer values
+"INSGPS" the full featured algorithm integrating all sensors
+        
+    
+    
+        
+        Home Location:
+        
+    
+    
+        
+        Saves the Home Location. This is only enabled
+if the Home Location is set, i.e. if the GPS fix is
+successful.
+
+Disabled if there is no GPS fix.
+        
+    
+    
+        
+        Set
+        
+    
+    
+        
+        buttonGroup
+        
+    
+    
+        
+        Clears the HomeLocation: only makes sense if you save
+to SD. This will force the INS to use the next GPS fix as the
+new home location unless it is in indoor mode.
+        
+    
+    
+        
+        Clear
+        清除
+    
+    
+        
+        Telemetry link not established.
+        
+    
+    
+        
+        Ctrl+S
+        
+    
+    
+        
+        Save settings to the board (RAM only).
+
+This does not save the calibration settings, this is done using the
+specific calibration button on top of the screen.
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board, and save to the non-volatile memory.
+        
+    
+
+
+    StabilizationWidget
+    
+        
+        Stabilization
+        
+    
+    
+        
+        Basic
+        
+    
+    
+        
+        Rate Stabilization (Inner Loop)
+        
+    
+    
+        
+        Link Roll and Pitch
+        
+    
+    
+        
+        Reset all values to GCS defaults
+        
+    
+    
+        
+        Default
+        
+    
+    
+        
+        button:default
+        
+    
+    
+        
+        buttongroup:1
+        
+    
+    
+        
+        Roll
+        
+    
+    
+        
+        Pitch
+        
+    
+    
+        
+        Yaw
+        
+    
+    
+        
+        Proportional
+        
+    
+    
+        
+        Slowly raise Proportional until you start seeing clear oscillations when you fly.
+Then lower the value by 5 or so.
+        
+    
+    
+        
+        objname:StabilizationSettings
+        
+    
+    
+        
+        fieldname:RollRatePID
+        
+    
+    
+        
+        element:Kp
+        
+    
+    
+        
+        haslimits:yes
+        
+    
+    
+        
+        scale:0.0001
+        
+    
+    
+        
+        buttongroup:1,10
+        
+    
+    
+        
+        fieldname:PitchRatePID
+        
+    
+    
+        
+        fieldname:YawRatePID
+        
+    
+    
+        
+        Integral
+        
+    
+    
+        
+        As a rule of thumb, you can set the Integral at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        element:Ki
+        
+    
+    
+        
+        Attitude Stabilization (Outer Loop)
+        
+    
+    
+        
+        buttongroup:2
+        
+    
+    
+        
+        fieldname:RollPI
+        
+    
+    
+        
+        scale:0.1
+        
+    
+    
+        
+        buttongroup:2,10
+        
+    
+    
+        
+        fieldname:PitchPI
+        
+    
+    
+        
+        fieldname:YawPI
+        
+    
+    
+        
+        When the throttle is low, zero the intergral term to prevent intergral wind-up
+        
+    
+    
+        
+        Zero the integral when throttle is low
+        
+    
+    
+        
+        fieldname:LowThrottleZeroIntegral
+        
+    
+    
+        
+        Advanced
+        
+    
+    
+        
+        Rate Stabization Coefficients (Inner Loop)
+        
+    
+    
+        
+        buttongroup:4
+        
+    
+    
+        
+        element:Kd
+        
+    
+    
+        
+        haslimits:no
+        
+    
+    
+        
+        scale:1
+        
+    
+    
+        
+        buttongroup:4,20
+        
+    
+    
+        
+        As a rule of thumb, you can set the Ki at roughly the same
+value as the Kp.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+
+You can usually go for higher values for Yaw factors.
+        
+    
+    
+        
+        Slowly raise Kp until you start seeing clear oscillations when you fly.
+Then lower the value by 20% or so.
+        
+    
+    
+        
+        Derivative
+        
+    
+    
+        
+        Attitude Stabization Coefficients (Outer Loop)
+        
+    
+    
+        
+        buttongroup:5
+        
+    
+    
+        
+        buttongroup:5,20
+        
+    
+    
+        
+        Stick Range and Limits
+        
+    
+    
+        
+        buttongroup:6
+        
+    
+    
+        
+        fieldname:PitchMax
+        
+    
+    
+        
+        buttongroup:6,20
+        
+    
+    
+        
+        Max rate attitude (deg/s)
+        
+    
+    
+        
+        fieldname:MaximumRate
+        
+    
+    
+        
+        element:Roll
+        
+    
+    
+        
+        fieldname:ManualRate
+        
+    
+    
+        
+        element:Yaw
+        
+    
+    
+        
+        fieldname:YawMax
+        
+    
+    
+        
+        element:Pitch
+        
+    
+    
+        
+        Full stick angle (deg)
+        
+    
+    
+        
+        fieldname:RollMax
+        
+    
+    
+        
+        Full stick rate (deg/s)
+        
+    
+    
+        
+        Expert
+        
+    
+    
+        
+        Weak Leveling / Axis Lock
+        
+    
+    
+        
+        buttongroup:10
+        
+    
+    
+        
+        Weak Leveling Kp 
+        
+    
+    
+        
+        Weak Leveling Rate 
+        
+    
+    
+        
+        Max Axis Lock 
+        
+    
+    
+        
+        Max Axis Lock Rate 
+        
+    
+    
+        
+        fieldname:WeakLevelingKp
+        
+    
+    
+        
+        fieldname:MaxWeakLevelingRate
+        
+    
+    
+        
+        fieldname:MaxAxisLock
+        
+    
+    
+        
+        fieldname:MaxAxisLockRate
+        
+    
+    
+        
+        Integral Limits
+        
+    
+    
+        
+        buttongroup:13
+        
+    
+    
+        
+        element:ILimit
+        
+    
+    
+        
+        ILimit Attitude
+        
+    
+    
+        
+        ILimit Rate
+        
+    
+    
+        
+        Sensor Tuning
+        
+    
+    
+        
+        buttongroup:8
+        
+    
+    
+        
+        The proportional term for the accelerometer, the higher this term the more weight the  accel is given
+        
+    
+    
+        
+        objname:AttitudeSettings
+        
+    
+    
+        
+        fieldname:AccelKp
+        
+    
+    
+        
+        buttongroup:8,10
+        
+    
+    
+        
+        GyroTau
+        
+    
+    
+        
+        AccelKp
+        
+    
+    
+        
+        GyroTau is a gyro filter, the higher the factor the more filtering is applied to the gyros
+        
+    
+    
+        
+        fieldname:GyroTau
+        
+    
+    
+        
+        AccelKi
+        
+    
+    
+        
+        The intergral term for the accelerometer within the filter 
+        
+    
+    
+        
+        fieldname:AccelKi
+        
+    
+    
+        
+        Real Time Updates
+        
+    
+    
+        
+        If you check this, the GCS will udpate the stabilization factors
+automatically every 300ms, which will help for fast tuning.
+        
+    
+    
+        
+        Update in real time
+        
+    
+    
+        
+        Takes you to the wiki page
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DAO9
+        
+    
+    
+        
+        Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.
+        
+    
+    
+        
+        Reload Board Data
+        
+    
+    
+        
+        button:reload
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        button:apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        保存
+    
+    
+        
+        button:save
+        
+    
+
+
+    TxPIDWidget
+    
+        
+        TxPID
+        
+    
+    
+        
+        Tx PID
+        
+    
+    
+        
+        Module Control
+        
+    
+    
+        
+        This module will periodically update values of stabilization PID settings
+depending on configured input control channels. New values of stabilization
+settings are not saved to flash, but updated in RAM. It is expected that the
+module will be enabled only for tuning. When desired values are found, they
+can be read via GCS and saved permanently. Then this module should be
+disabled again.
+
+Up to 3 separate PID options (or option pairs) can be selected and updated.
+        
+    
+    
+        
+        Enable TxPID module
+        
+    
+    
+        
+        After enabling the module, you must power cycle before using and configuring.
+        
+    
+    
+        
+        Module Settings
+        
+    
+    
+        
+        PID option
+        
+    
+    
+        
+        Control Source
+        
+    
+    
+        
+        Min
+        
+    
+    
+        
+        Max
+        
+    
+    
+        
+        Instance 1
+        
+    
+    
+        
+        Select PID option or option pair to update.
+Set to Disabled if not used.
+        
+    
+    
+        
+        Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min > Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.
+        
+    
+    
+        
+        Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.
+        
+    
+    
+        
+        Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.
+        
+    
+    
+        
+        Instance 2
+        
+    
+    
+        
+        Instance 3
+        
+    
+    
+        
+        Update Mode
+        
+    
+    
+        
+        PID values update mode which can be set to:
+- Never: this disables PID updates (but module still will be run if enabled),
+- When Armed: PID updated only when system is armed,
+- Always: PID updated always regardless of arm state.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.
+        
+    
+    
+        
+        Throttle Range
+        
+    
+    
+        
+        Throttle channel lower bound mapped to PID Min value
+        
+    
+    
+        
+        Throttle channel upper bound mapped to PID Max value
+        
+    
+    
+        
+        Messages
+        
+    
+    
+        
+        button:help
+        
+    
+    
+        
+        url:http://wiki.openpilot.org/x/DACiAQ
+        
+    
+    
+        
+        Send settings to the board but do not save to the non-volatile memory
+        
+    
+    
+        
+        Apply
+        
+    
+    
+        
+        Send settings to the board and save to the non-volatile memory
+        
+    
+    
+        
+        Save
+        保存
+    
+
+
+    VernierWidget
+    
+        
+        Form
+        界面
+    
+
+
+    importSettings
+    
+        
+        OpenPilotGCS
+        
+    
+    
+        
+        No configuration file could be found.
+Please choose from one of the default configurations
+        
+    
+    
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        Load
+        载入
+    
+
+
+    Form
+    
+        
+        Form
+        界面
+    
+    
+        
+        Save to file
+        
+    
+
+
+    GCSControlGadgetOptionsPage
+    
+        
+        Form
+        界面
+    
+    
+        
+        Control Mode:
+        
+    
+    
+        
+        Mode 1
+        
+    
+    
+        
+        Mode 2
+        
+    
+    
+        
+        Mode 3
+        
+    
+    
+        
+        Mode 4
+        
+    
+    
+        
+        External input Device:
+        
+    
+    
+        
+        Only joystick is implemented at this stage, so this control is disabled.
+        
+    
+    
+        
+        Joystick
+        
+    
+    
+        
+        Audio
+        
+    
+    
+        
+        Available controllers
+        
+    
+    
+        
+        Default
+        
+    
+    
+        
+        Joystick Axes
+        
+    
+    
+        
+        Rev
+        
+    
+    
+        
+        Move your joystick controls to identify channels
+        
+    
+    
+        
+        Joystick Buttons
+        
+    
+    
+        
+        Press buttons on controller to identify mappings
+        
+    
+    
+        
+        button 1
+        
+    
+    
+        
+        button 2
+        
+    
+    
+        
+        button 8
+        
+    
+    
+        
+        button 7
+        
+    
+    
+        
+        button 6
+        
+    
+    
+        
+        button 5
+        
+    
+    
+        
+        button 4
+        
+    
+    
+        
+        button 3
+        
+    
+    
+        
+        by
+        
+    
+    
+        
+        Audio: soundcard-based PPM decoding for trainer port. Not implemented yet.
+        
+    
+    
+        
+        UDP Setup
+        
+    
+    
+        
+        UDP Port Configuration
+        
+    
+    
+        
+        Host:
+        
+    
+    
+        
+        127.0.0.1
+        127.0.0.1
+    
+    
+        
+        Port:
+        端口:
+    
+    
+        
+        2323
+        2323
+    
+
+
+    Widget
+    
+        
+        send data
+        
+    
+    
+        
+        Flight mode
+        
+    
+    
+        
+        Armed state
+        
+    
+    
+        
+        Disarmed
+        
+    
+    
+        
+        Arming
+        
+    
+    
+        
+        Armed
+        
+    
+    
+        
+        Channels
+        
+    
+
+
+    MagicWaypoint
+    
+        
+        Form
+        界面
+    
+    
+        
+        Scale:
+        
+    
+
+
+    homeEditor
+    
+        
+        Dialog
+        对话框
+    
+    
+        
+        Latitude:
+        
+    
+    
+        
+        Longitude:
+        
+    
+    
+        
+        Altitude:
+        
+    
+
+
+    pathPlannerUI
+    
+        
+        PathPlanner
+        
+    
+    
+        
+        Add Leg
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Delete Leg
+        
+    
+    
+        
+        Insert Leg
+        
+    
+    
+        
+        Read from file
+        
+    
+    
+        
+        Save to file
+        
+    
+    
+        
+        Send to UAV
+        
+    
+    
+        
+        Fetch from UAV
+        
+    
+    
+        
+        Open Details
+        
+    
+
+
+    PfdQmlGadgetOptionsPage
+    
+        
+        Form
+        界面
+    
+    
+        
+        QML file: 
+        
+    
+    
+        
+        Use OpenGL
+        
+    
+    
+        
+        Show Terrain:
+        
+    
+    
+        
+        OsgEarth file:
+        
+    
+    
+        
+        Use actual location
+        
+    
+    
+        
+        Use pre-defined location:
+        
+    
+    
+        
+        Latitude:
+        
+    
+    
+        
+        Longitude:
+        
+    
+    
+        
+        Altitude:
+        
+    
+    
+        
+        Use only cache data
+        
+    
+    
+        
+        Pre seed terrain cache
+        
+    
+    
+        
+        QML file (*.qml)
+        
+    
+    
+        
+        Choose QML file
+        
+    
+    
+        
+        OsgEarth (*.earth)
+        
+    
+    
+        
+        Choose OsgEarth terrain file
+        
+    
+
+
+    QmlViewGadgetOptionsPage
+    
+        
+        Form
+        界面
+    
+    
+        
+        Use OpenGL for rendering
+        
+    
+    
+        
+        QML file: 
+        
+    
+    
+        
+        QML file (*.qml)
+        
+    
+    
+        
+        Choose QML file
+        
+    
+
+
+    SerialPluginOptionsPage
+    
+        
+        Form
+        界面
+    
+    
+        
+        Serial Connection
+        
+    
+    
+        
+        Serial telemetry speed:
+        
+    
+    
+        
+        settings
+        
+    
+
+
+    ConnectionDiagram
+    
+        
+        Dialog
+        对话框
+    
+    
+        
+        Save
+        保存
+    
+    
+        
+        Close
+        关闭
+    
+    
+        
+        Connection Diagram
+        
+    
+    
+        
+        Save File
+        
+    
+    
+        
+        Images (*.png *.xpm *.jpg)
+        
+    
+
+
+    AutoUpdatePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Firmware Update Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">It is necessary that your firmware and ground control software are the same version.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To update your firmware to the correct version now:</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Unplug all batteries and USB from OpenPilot</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Ensure your board is powered down &amp; no LED's are active.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When you are ready you can start the upgrade below by pushing the button and follow the onscreen prompts, it is critical that nothing disturbs the board while the firmware is being written.</p></body></html>
+        
+    
+    
+        
+        Upgrade now
+        
+    
+    
+        
+        Upgrade
+        
+    
+    
+        
+        Ready...
+        
+    
+
+
+    ControllerPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot board identification</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to determine the configuration required for the type of OpenPilot controller you have. When connected, the wizard will attempt to automatically detect the type of board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If the board is already connected and successfully detected, the board type will already be displayed. You can </span><span style=" font-size:10pt; font-weight:600;">Disconnect</span><span style=" font-size:10pt;"> and select another device if you need to detect another board.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If your board is not connected, please connect the board to a USB port on your computer and select the device from the list below.  Then press </span><span style=" font-size:10pt; font-weight:600;">Connect</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Connection device:
+        
+    
+    
+        
+        Detected board type:
+        
+    
+    
+        
+        
+        Connect
+        
+    
+    
+        
+        <Unknown>
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        Disconnect
+        
+    
+
+
+    EndPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Congratulations!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Setup wizard is completed.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the setup procedure is now complete and you are one step away from completing the setup of your OpenPilot controller.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To complete the setup please click the Radio Setup Wizard button below to close this wizard and go directly to the Radio Setup Wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p></body></html>
+        
+    
+    
+        
+        Go to Input Wizard...
+        
+    
+    
+        
+        Unable to open Input Wizard since the Config Plugin is not
+loaded in the current workspace.
+        
+    
+
+
+    FixedWingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Fixed Wing section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    HeliPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Helicopter section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    InputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot basic input signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The OpenPilot controller supports many different types of input signals. Please select the type of input that matches your receiver configuration. If you are unsure, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, you will be instructed to do so on the next page of this wizard.</span></p></body></html>
+        
+    
+    
+        
+        PWM - One cable per channel
+        
+    
+    
+        
+        PWM
+        
+    
+    
+        
+        PPM - One cable for all channels
+        
+    
+    
+        
+        PPM
+        
+    
+    
+        
+        Futaba S-BUS
+        
+    
+    
+        
+        Futaba
+        
+    
+    
+        
+        Spektrum Satellite
+        
+    
+    
+        
+        Spektrum
+        
+    
+
+
+    LevellingPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot controller leveling calibration procedure</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To perform the leveling, please push the Calculate button and wait for the process to finish. </span></p></body></html>
+        
+    
+    
+        
+        Calculate gyro and accelerometer bias
+        
+    
+    
+        
+        Calculate
+        
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to perform bias calculations.
+Please connect your OpenPilot controller to your computer and try again.
+        
+    
+    
+        
+        Retrieving data...
+        
+    
+    
+        
+        <font color='green'>Done!</font>
+        
+    
+
+
+    MultiPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot multirotor configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This part of the wizard will set up the OpenPilot controller for use with a flying platform utilizing multiple rotors. The wizard supports the most common types of multirotors. Other variants of multirotors can be configured by using custom configuration options in the Configuration plugin in the GCS.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Please select the type of multirotor you want to create a configuration for below:</span></p></body></html>
+        
+    
+    
+        
+        Multirotor type:
+        
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        The Tricopter uses three motors and one servo. The servo is used to give yaw authority to the rear motor. The front motors are rotating in opposite directions. The Tricopter is known for its sweeping yaw movement and it is very well suited for FPV since the front rotors are spread wide apart.
+        
+    
+    
+        
+        Quadcopter X
+        
+    
+    
+        
+        The X Quadcopter uses four motors and is the most common multi rotor configuration. Two of the motors rotate clockwise and two counter clockwise. The motors positioned diagonal to each other rotate in the same direction. This setup is perfect for sport flying and is also commonly used for FPV platforms.
+        
+    
+    
+        
+        Quadcopter +
+        
+    
+    
+        
+        The Plus(+) Quadcopter uses four motors and is similar to the X Quadcopter but the forward direction is offset by 45 degrees. The motors front and rear rotate in clockwise and the motors right and left rotate counter-clockwise. This setup was one of the first to be used and is still used for sport flying. This configuration is not that well suited for FPV since the fore rotor tend to be in the way of the camera.
+        
+    
+    
+        
+        
+        Hexacopter
+        
+    
+    
+        
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Hexacopter H
+        
+    
+
+
+    NotYetImplementedPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">This section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    OutputCalibrationPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        Output calibration
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">It is now time to calibrate the output levels for the signals controlling your vehicle. </span></p>
+<p align="center" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">VERY IMPORTANT!</span><span style=" font-family:'Lucida Grande'; font-size:10pt;"><br /></span><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">REMOVE ALL PROPELLERS FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Connect all components according to the illustration on the summary page, and provide power using an external power supply such as a battery before continuing.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Depending on what vehicle you have selected, both the motors controlled by ESCs and/or servos controlled directly by the OpenPilot controller may have to be calibrated. The following steps will guide you safely through this process. </span></p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>In this step we will set the neutral rate for the motor highlighted in the illustration to the right. <br/>Plase pay attention to the details and in particular the motors position and its rotation direction.</p><p>To find the neutral rate for this engine, press the Start button below and slide the slider to the right until the engine just starts to spin stably. <br/><br/>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        
+        Start
+        
+    
+    
+        
+        <html><head/><body><p>This step calibrates the center position of the servo. To set the center position for this servo, press the Start button below and slide the slider to center the servo. </p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To save the servo and other hardware from damage we have to set the max and min angles for the servo. </p><p>To set the minimum angle for the servo, press the Start button below and select the top slider and slide it to the left until min angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        <html><head/><body><p>To set the maximum angle for the servo, press the Start button below and select the top slider and slide it to the right until max angle is reached.</p><p>When done press button again to stop.</p></body></html>
+        
+    
+    
+        
+        
+        
+        
+        Stop
+        停止
+    
+    
+        
+        The actuator module is in an error state.
+
+Please make sure the correct firmware version is used then restart the wizard and try again. If the problem persists please consult the openpilot.org support forum.
+        
+    
+
+
+    OutputPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">OpenPilot basic output signal configuration</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To set an optimal configuration of the output signals powering your motors, the wizard needs to know what type of Electronic Speed Controllers (ESCs) you will use and what their capabilities are.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Please select one of the options below. If you are unsure about the capabilities of your ESCs, just leave the default option selected and continue the wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To read more regarding ESC refresh rates, please see </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">this article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> in the OpenPilot Wiki</span></p></body></html>
+        
+    
+    
+        
+        Standard ESC 50Hz
+        
+    
+    
+        
+        Standard ESC
+        
+    
+    
+        
+        Turbo PWM ESC 400Hz
+        
+    
+    
+        
+        Turbo PWM
+        
+    
+
+
+    RebootPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ff0000;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ffd500;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">The configuration created by the wizard contains settings that require a reboot of your controller. Please power cycle the controller before continuing. To power cycle the controller remove all batteries and the USB cable for at least 30 seconds.</span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">After 30 seconds, plug in the board again and wait for it to connect, this can take a few seconds. Then press next.</span></p></body></html>
+        
+    
+
+
+    SavePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration ready to save</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The wizard is now ready to save the configuration directly to your OpenPilot controller. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If any of the selections made in this wizard require a reboot of the controller, then power cycling the OpenPilot controller board will have to be performed after you save in this step.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Press the Save button to save the configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;"><br /></span></p></body></html>
+        
+    
+    
+        
+        Write configuration to controller
+        
+    
+    
+        
+        Save
+        保存
+    
+    
+        
+        Ready...
+        
+    
+    
+        
+        An OpenPilot controller must be connected to your computer to save the configuration.
+Please connect your OpenPilot controller to your computer and try again.
+        
+    
+
+
+    StartPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Welcome to the OpenPilot Setup Wizard</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard will guide you through the basic steps required to setup your OpenPilot controller for the first time.  You will be asked questions about your platform (multirotor/heli/fixed-wing) which this wizard will use to configure your aircraft for your maiden flight. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">This wizard does not configure all of the advanced settings available in the GCS Configuration. All basic and advanced configuration parameters can be modified later by using the GCS Configuration plugin.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">WARNING: YOU MUST REMOVE ALL PROPELLERS </span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">FROM THE VEHICLE BEFORE PROCEEDING!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Disregarding this warning puts you at</span><span style=" font-size:10pt; font-weight:600; color:#000000;"> risk of very serious injury</span><span style=" font-size:10pt;">!</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Now that your props are removed we can get started. Ready?</span></p></body></html>
+        
+    
+
+
+    SummaryPage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">OpenPilot configuration summary</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The first part of this wizard is now complete. All information required to create a basic OpenPilot controller configuration for a specific vehicle has been collected.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Below is a summary of the configuration and a button that links to a diagram illustrating how to connect required hardware and the OpenPilot Controller with the current configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue the wizard and go through some basic configuration steps, please continue to the next step of this wizard.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The following steps require that your OpenPilot controller is set up according to the diagram, it is </span><span style=" font-size:10pt; font-weight:600;">connected to the computer</span><span style=" font-size:10pt;"> by USB, and that the vehicle is</span><span style=" font-size:10pt; font-weight:600;"> powered by a battery</span><span style=" font-size:10pt;">.</span></p></body></html>
+        
+    
+    
+        
+        Show connection diagram for configuration
+        
+    
+
+
+    SurfacePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Surface Vehicle section of the OpenPilot Setup Wizard is not yet implemented</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
+        
+    
+
+
+    VehiclePage
+    
+        
+        WizardPage
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Vehicle type selection</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to know what type of vehicle the OpenPilot controller board is going to be used with. This step is crucial since much of the following configuration is unique per vehicle type.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Go ahead and select the type of vehicle for which you want to create a configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(The current version only provides functionality for multirotors.)</span></p></body></html>
+        
+    
+    
+        
+        Tricopter, Quadcopter, Hexacopter
+        
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        CCPM Helicopters
+        
+    
+    
+        
+        Helicopter
+        
+    
+    
+        
+        Airplane, Sloper, Jet
+        
+    
+    
+        
+        Fixed wing
+        
+    
+    
+        
+        Car, Boat, U-Boat
+        
+    
+    
+        
+        Surface
+        
+    
+
+
+    viewoptions
+    
+        
+        View Options
+        
+    
+    
+        
+        Show MetaData
+        
+    
+    
+        
+        Show Categorized
+        
+    
+    
+        
+        Show Scientific
+        
+    
+
+
+    ImportSummaryDialog
+    
+        
+        Dialog
+        对话框
+    
+    
+        
+        UAV Settings import summary
+        
+    
+    
+        
+        Save all settings checked above to persistent board storage,
+then close the dialog.
+        
+    
+    
+        
+        Save to Board Flash
+        
+    
+    
+        
+        Close this dialog without saving to persistent storage
+        
+    
+    
+        
+        Close
+        关闭
+    
+    
+        
+        Import Summary
+        
+    
+
+
+    deviceWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        lblDevName
+        
+    
+    
+        
+        DeviceID
+        
+    
+    
+        
+        lblHWRev
+        
+    
+    
+        
+        RW
+        
+    
+    
+        
+        BL Version
+        
+    
+    
+        
+        MaxCodeSize
+        
+    
+    
+        
+        Open a file with new firmware image to be flashed
+        
+    
+    
+        
+        Open...
+        
+    
+    
+        
+        I know what I'm doing
+        
+    
+    
+        
+        Write loaded firmware image to the board
+        
+    
+    
+        
+        Flash
+        
+    
+    
+        
+        Read and save current board firmware to a file
+        
+    
+    
+        
+        Retrieve...
+        
+    
+    
+        
+        ic
+        
+    
+    
+        
+        Status
+        
+    
+    
+        
+        Firmware:
+        
+    
+    
+        
+        Board name:
+        
+    
+    
+        
+        Firmware tag:
+        
+    
+    
+        
+        Firmware date:
+        
+    
+    
+        
+        Git commit hash:
+        
+    
+    
+        
+        CRC:
+        
+    
+    
+        
+        On Device
+        
+    
+    
+        
+        lblBrdName
+        
+    
+    
+        
+        lblDescription
+        
+    
+    
+        
+        lblBuildDate
+        
+    
+    
+        
+        lblGitTag
+        
+    
+    
+        
+        lblCRC
+        
+    
+    
+        
+        lblCertified
+        
+    
+    
+        
+        Loaded
+        已载入
+    
+    
+        
+        lblDescritpionL
+        
+    
+    
+        
+        lblCertifiedL
+        
+    
+    
+        
+        Custom description:
+        
+    
+    
+        
+        HW Revision: 
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+    
+        
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Can't calculate, file too big for device
+        
+    
+    
+        
+        The board has the same firmware as loaded. No need to update
+        
+    
+    
+        
+        WARNING: the loaded firmware is for different hardware. Do not update!
+        
+    
+    
+        
+        The board has newer firmware than loaded. Are you sure you want to update?
+        
+    
+    
+        
+        The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)
+        
+    
+    
+        
+        This is the tagged officially released OpenPilot firmware
+        
+    
+    
+        
+        WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing
+        
+    
+    
+        
+        
+        Select firmware file
+        
+    
+    
+        
+        Firmware Files (*.opfw *.bin)
+        
+    
+    
+        
+        Firmware Files (*.bin)
+        
+    
+
+
+    runningDeviceWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        Device Information
+        
+    
+    
+        
+        TextLabel
+        TextLabel
+    
+    
+        
+        CPU Serial:
+        
+    
+    
+        
+        Firmware Information
+        
+    
+    
+        
+        HW Revision: 
+        
+    
+    
+        
+        Firmware CRC: 
+        
+    
+    
+        
+        Tagged officially released firmware build
+        
+    
+    
+        
+        Untagged or custom firmware build
+        
+    
+    
+        
+        Custom Firmware Build
+        
+    
+
+
+    UploaderWidget
+    
+        
+        Form
+        界面
+    
+    
+        
+        Tells the mainboard to go down
+to bootloader mode.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Halt
+        
+    
+    
+        
+        Boots the system.
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, green LED on)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Boot
+        
+    
+    
+        
+        Boots the system into safe mode (ie. default HwSettings).
+Only useful if the system is halted
+(mainboard blue LED blinking slowly, orange LED off)
+
+If telemetry is not running, select the link using the dropdown
+menu on the right.
+        
+    
+    
+        
+        Safe Boot
+        
+    
+    
+        
+        Reset the system.
+(Only enabled if telemetry link is established, either
+through serial or USB)
+        
+    
+    
+        
+        Reset
+        重置
+    
+    
+        
+        Start a guided procedure to manually
+recover a system which does not boot.
+
+Rescue is possible in USB mode only.
+        
+    
+    
+        
+        Rescue
+        
+    
+    
+        
+        When telemetry is not connected, select the communication
+method using this combo box.
+
+You can use this to force a communication channel when doing
+a "Boot" (button on the left). It is updated automatically when
+halting a running board.
+        
+    
+    
+        
+        Refresh the list of serial ports
+        
+    
+    
+        
+        ...
+        
+    
+    
+        
+        Running
+        执行中
+    
+    
+        
+        Mainboard
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To upgrade the firmware in your boards, proceed as follows:</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Connect telemetry</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Once telemetry is running, press &quot;Halt&quot; above</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You will get a list of devices.</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can then upload/download to/from each board as you wish</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can resume operations by pressing &quot;Boot&quot;</p></body></html>
+        
+    
+    
+        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
+        
+    
+
+
+    NewsPanel
+    
+        
+        Project News
+        
+    
+
+
+    SitesPanel
+    
+        
+        OpenPilot Websites
+        
+    
+
+
+    XmlConfig
+    
+        
+        GCS config
+        
+    
+    
+        
+        Parse error at line %1, column %2:
+%3
+        
+    
+
+
+    AntennaTrackGadgetFactory
+    
+        
+        Antenna Track Gadget
+        
+    
+
+
+    ConfigMultiRotorWidget
+    
+        
+        
+        Configuration OK
+        
+    
+
+
+    ConfigCCHWWidget
+    
+        
+        Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported
+        
+    
+    
+        
+        Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported
+        
+    
+    
+        
+        Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported
+        
+    
+
+
+    ConfigCCAttitudeWidget
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    ConfigGadgetWidget
+    
+        
+        Unsaved changes
+        
+    
+    
+        
+        The tab you are leaving has unsaved changes,if you proceed they will be lost.Do you still want to proceed?
+        
+    
+
+
+    ConfigInputWidget
+    
+        
+        
+        Arming Settings are now set to 'Always Disarmed' for your safety.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished. After the last step of the wizard you will be taken to the Arming Settings screen.
+        
+    
+    
+        
+        Welcome to the inputs configuration wizard.
+
+Please follow the instructions on the screen and only move your controls when asked to.
+Make sure you already configured your hardware settings on the proper tab and restarted your board.
+
+You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.
+
+        
+    
+    
+        
+        Please choose your transmitter type:
+        
+    
+    
+        
+        Acro: normal transmitter for fixed-wing or quad
+        
+    
+    
+        
+        Helicopter: has collective pitch and throttle input
+        
+    
+    
+        
+        If selecting the Helicopter option, please engage throttle hold now.
+        
+    
+    
+        
+        Please choose your transmitter mode:
+        
+    
+    
+        
+        Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right
+        
+    
+    
+        
+        Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right
+        
+    
+    
+        
+        Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right
+        
+    
+    
+        
+        Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right
+        
+    
+    
+        
+        Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right
+        
+    
+    
+        
+        Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right
+        
+    
+    
+        
+        Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right
+        
+    
+    
+        
+        Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right
+        
+    
+    
+        
+        For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw.
+        
+    
+    
+        
+        Please center all controls and trims and press Next when ready.
+
+If your FlightMode switch has only two positions, leave it in either position.
+        
+    
+    
+        
+        Please move all controls to their maximum extents on both directions.
+
+Press Next when ready.
+        
+    
+    
+        
+        Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.
+        
+    
+    
+        
+        You have completed this wizard, please check below if the picture mimics your sticks movement.
+
+IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings tab where you can set your desired arming sequence and save the configuration.
+        
+    
+    
+        
+        Please enable throttle hold mode.
+
+Move the Collective Pitch stick.
+        
+    
+    
+        
+        Please toggle the Flight Mode switch.
+
+For switches you may have to repeat this rapidly.
+        
+    
+    
+        
+        Please disable throttle hold mode.
+
+Move the Throttle stick.
+        
+    
+    
+        
+        Please move each control one at a time according to the instructions and picture below.
+
+Move the %1 stick.
+        
+    
+    
+        
+         Alternatively, click Next to skip this channel.
+        
+    
+    
+        
+        You will have to reconfigure the arming settings manually when the wizard is finished.
+        
+    
+
+
+    ConfigOutputWidget
+    
+        
+        The actuator module is in an error state.  This can also occur because there are no inputs.  Please fix these before testing outputs.
+        
+    
+    
+        
+        This option will start your motors by the amount selected on the sliders regardless of transmitter.  It is recommended to remove any blades from motors.  Are you sure you want to do this?
+        
+    
+
+
+    ConfigPlugin
+    
+        
+        Erase all settings from board...
+        
+    
+    
+        
+        Are you sure you want to erase all board settings?.
+        
+    
+    
+        
+        All settings stored in your board flash will be deleted.
+        
+    
+    
+        
+        
+        Error trying to erase settings.
+        
+    
+    
+        
+        
+        Power-cycle your board after removing all blades. Settings might be inconsistent.
+        
+    
+    
+        
+        Settings are now erased.
+        
+    
+    
+        
+        Please wait for the status LED to begin flashing regularly (up to a minute) then power-cycle your board to complete reset.
+        
+    
+
+
+    Core::Internal::AuthorsDialog
+    
+        
+        About OpenPilot Authors
+        
+    
+    
+        
+        From revision %1<br/>
+        This gets conditionally inserted as argument %8 into the description string.
+        来自版本 %1<br/>
+    
+    
+        
+        <h3>The OpenPilot Project</h3>Proudly brought to you by this fine team:<br/>
+        
+    
+
+
+    Core::ConnectionManager
+    
+        
+        Connections:
+        
+    
+    
+        
+        Connect
+        
+    
+
+
+    DebugGadgetFactory
+    
+        
+        DebugGadget
+        
+    
+
+
+    DebugGadgetWidget
+    
+        
+        Save log File As
+        
+    
+    
+        
+        Log Save
+        
+    
+    
+        
+        Unable to save log: 
+        
+    
+
+
+    DialGadgetFactory
+    
+        
+        Analog Dial
+        
+    
+
+
+    GCSControlGadgetFactory
+    
+        
+        Controller
+        
+    
+
+
+    GpsDisplayGadgetFactory
+    
+        
+        GPS Display
+        
+    
+
+
+    ImportExportPlugin
+    
+        
+        GCS Settings Import/Export...
+        
+    
+
+
+    LineardialGadgetFactory
+    
+        
+        Bargraph Dial
+        
+    
+
+
+    LoggingConnection
+    
+        
+        Open file
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        
+    
+
+
+    LoggingThread
+    
+        
+        Logging: retrieve settings objects from the autopilot (%1 objects)
+        
+    
+
+
+    LoggingPlugin
+    
+        
+        Start Log
+        
+    
+    
+        
+        OP-%0.opl
+        
+    
+    
+        
+        OpenPilot Log (*.opl)
+        
+    
+    
+        
+        Stop logging
+        
+    
+    
+        
+        Start logging...
+        
+    
+
+
+    MagicWaypointGadgetFactory
+    
+        
+        Magic Waypoint
+        
+    
+
+
+    ModelViewGadgetFactory
+    
+        
+        ModelView
+        
+    
+
+
+    NotificationItem
+    
+        
+        Never
+        从不
+    
+    
+        
+        Before first
+        
+    
+    
+        
+        Before second
+        
+    
+    
+        
+        After second
+        
+    
+    
+        
+        Repeat Once
+        
+    
+    
+        
+        Repeat Once per update
+        
+    
+    
+        
+        Repeat Instantly
+        
+    
+    
+        
+        Repeat 10 seconds
+        
+    
+    
+        
+        Repeat 30 seconds
+        
+    
+    
+        
+        Repeat 1 minute
+        
+    
+
+
+    flightDataModel
+    
+        
+        Unable to open file
+        
+    
+    
+        
+        File Parsing Failed.
+        
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        
+    
+    
+        
+        This file does not contain correct UAVSettings
+        
+    
+
+
+    OPMapGadgetFactory
+    
+        
+        OPMap
+        
+    
+
+
+    pathPlanner
+    
+        
+        Open File
+        
+    
+    
+        
+        Save File
+        
+    
+
+
+    PFDGadgetFactory
+    
+        
+        Primary Flight Display
+        
+    
+
+
+    PfdQmlGadgetFactory
+    
+        
+        PFD (qml)
+        
+    
+
+
+    PowerlogPlugin
+    
+        
+        Log filename
+        
+    
+    
+        
+        PowerLog-%0.csv
+        
+    
+    
+        
+        Comma Separated Values (*.csv)
+        
+    
+
+
+    QmlViewGadgetFactory
+    
+        
+        QML Viewer, QML
+        
+    
+
+
+    ScopeGadgetFactory
+    
+        
+        Scope
+        
+    
+
+
+    ScopeGadgetWidget
+    
+        
+        Click legend to show/hide scope trace
+        
+    
+
+
+    LevellingUtil
+    
+        
+        Calibration timed out before receiving required updates.
+        
+    
+
+
+    SetupWizard
+    
+        
+        OpenPilot Setup Wizard
+        
+    
+    
+        
+        Controller type: 
+        
+    
+    
+        
+        OpenPilot CopterControl
+        
+    
+    
+        
+        OpenPilot CopterControl 3D
+        
+    
+    
+        
+        OpenPilot Revolution
+        
+    
+    
+        
+        OpenPilot OPLink Radio Modem
+        
+    
+    
+        
+        
+        
+        
+        
+        Unknown
+        
+    
+    
+        
+        Vehicle type: 
+        
+    
+    
+        
+        Multirotor
+        
+    
+    
+        
+        Vehicle sub type: 
+        
+    
+    
+        
+        Tricopter
+        
+    
+    
+        
+        Quadcopter X
+        
+    
+    
+        
+        Quadcopter +
+        
+    
+    
+        
+        Hexacopter
+        
+    
+    
+        
+        Hexacopter Coax (Y6)
+        
+    
+    
+        
+        Hexacopter X
+        
+    
+    
+        
+        Octocopter
+        
+    
+    
+        
+        Octocopter Coax X
+        
+    
+    
+        
+        Octocopter Coax +
+        
+    
+    
+        
+        Octocopter V
+        
+    
+    
+        
+        Fixed wing
+        
+    
+    
+        
+        Helicopter
+        
+    
+    
+        
+        Surface vehicle
+        
+    
+    
+        
+        Input type: 
+        
+    
+    
+        
+        PWM (One cable per channel)
+        
+    
+    
+        
+        PPM (One cable for all channels)
+        
+    
+    
+        
+        Futaba S.Bus
+        
+    
+    
+        
+        Spektrum satellite (DSM2)
+        
+    
+    
+        
+        Spektrum satellite (DSMX10BIT)
+        
+    
+    
+        
+        Spektrum satellite (DSMX11BIT)
+        
+    
+    
+        
+        ESC type: 
+        
+    
+    
+        
+        Legacy ESC (50 Hz)
+        
+    
+    
+        
+        Rapid ESC (400 Hz)
+        
+    
+
+
+    SetupWizardPlugin
+    
+        
+        Vehicle Setup Wizard
+        
+    
+
+
+    VehicleConfigurationHelper
+    
+        
+        
+        Done!
+        
+    
+    
+        
+        
+        Failed!
+        
+    
+    
+        
+        Writing hardware settings
+        
+    
+    
+        
+        Writing actuator settings
+        
+    
+    
+        
+        Writing flight mode settings
+        
+    
+    
+        
+        Writing gyro and accelerometer bias settings
+        
+    
+    
+        
+        Writing stabilization settings
+        
+    
+    
+        
+        Writing mixer settings
+        
+    
+    
+        
+        Writing vehicle settings
+        
+    
+    
+        
+        Writing manual control defaults
+        
+    
+    
+        
+        Preparing mixer settings
+        
+    
+    
+        
+        Preparing vehicle settings
+        
+    
+
+
+    SystemHealthGadgetFactory
+    
+        
+        System Health
+        
+    
+
+
+    SystemHealthGadgetWidget
+    
+        
+        Displays flight system errors. Click on an alarm for more information.
+        
+    
+
+
+    UAVObjectField
+    
+        
+        0
+        0
+    
+    
+        
+        1
+        1
+    
+
+
+    PopupWidget
+    
+        
+        Close
+        关闭
+    
+
+
+    UAVSettingsImportExportFactory
+    
+        
+        Export UAV Settings...
+        
+    
+    
+        
+        Import UAV Settings...
+        
+    
+    
+        
+        Export UAV Data...
+        
+    
+    
+        
+        UAVObjects XML files (*.uav);; XML files (*.xml)
+        
+    
+    
+        
+        Import UAV Settings
+        
+    
+    
+        
+        File Parsing Failed.
+        
+    
+    
+        
+        This file is not a correct XML file
+        
+    
+    
+        
+        Wrong file contents
+        
+    
+    
+        
+        This file does not contain correct UAVSettings
+        
+    
+    
+        
+        
+        UAVObjects XML files (*.uav)
+        
+    
+    
+        
+        Save UAVSettings File As
+        
+    
+    
+        
+        UAV Settings Export
+        
+    
+    
+        
+        Unable to save settings: 
+        
+    
+    
+        
+        Settings saved.
+        
+    
+    
+        
+        Are you sure?
+        
+    
+    
+        
+        This option is only useful for passing your current system data to the technical support staff. Do you really want to export?
+        
+    
+    
+        
+        Save UAVData File As
+        
+    
+    
+        
+        UAV Data Export
+        
+    
+    
+        
+        Unable to save data: 
+        
+    
+    
+        
+        Data saved.
+        
+    
+
 
     UploaderGadgetFactory
     
         
-        Uploader Gadget
+        Uploader
         
     
 
 
     UploaderGadgetWidget
     
-        
-        QFileDialog::getOpenFileName()
+        
+        The controller board is armed and can not be halted.
+
+Please make sure the board is not armed and then press halt again to proceed
+or use the rescue option to force a firmware upgrade.
         
     
     
-        
-        All Files (*);;Text Files (*.bin)
+        
+        The controller board is armed and can not be reset.
+
+Please make sure the board is not armed and then press reset again to proceed
+or power cycle to force a board reset.
+        
+    
+    
+        
+        
+        OpenPilot Uploader
+        
+    
+    
+        
+        
+        Please disconnect all openpilot boards
+        
+    
+    
+        
+        Please connect the board (USB only!)
+        
+    
+    
+        
+        Cancel
+        取消
+    
+    
+        
+        Openpilot Uploader
+        
+    
+    
+        
+        No board connection was detected!
+        
+    
+    
+        
+        GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. GCS version: %1 Firmware version: %2.
         
     
 
diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/NewsPanel.qml b/ground/openpilotgcs/src/plugins/welcome/qml/NewsPanel.qml
index cb95da906..4d08f2d80 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/NewsPanel.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/NewsPanel.qml
@@ -10,7 +10,7 @@ Item {
 
     Text {
         id: header
-        text: "Project News"
+        text: qsTr("Project News")
         width: parent.width
         color: "#44515c"
         font {
diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/SitesPanel.qml b/ground/openpilotgcs/src/plugins/welcome/qml/SitesPanel.qml
index a41ef83d5..be6ddd9a4 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/SitesPanel.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/SitesPanel.qml
@@ -10,7 +10,7 @@ Item {
 
     Text {
         id: header
-        text: "OpenPilot Websites"
+        text: qsTr("OpenPilot Websites")
         width: parent.width
         color: "#44515c"
         font {

From d0789deb718438839826078c607aeab52c6ec509 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Thu, 3 Jan 2013 15:10:11 +0100
Subject: [PATCH 10/36] Minor changes for test

---
 .../share/openpilotgcs/translations/openpilotgcs_fr.ts          | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index c8fb34488..22dfc7fe0 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -13756,7 +13756,7 @@ Move the %1 stick.
     
         
         Quadcopter +
-        Quadricopter +
+        Quadricopter +
     
     
         

From 37fedc53193f69103a6bf4b8333af72939afacfc Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Thu, 3 Jan 2013 16:28:03 +0100
Subject: [PATCH 11/36] Updated translations for input Wizard

---
 .../translations/openpilotgcs_fr.ts           | 42 ++++++++++++-------
 1 file changed, 26 insertions(+), 16 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 22dfc7fe0..146829507 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -6066,12 +6066,12 @@ Update
     
         
         HITL Simulation
-        
+        Simulation HITL
     
     
         
         HITL Simulation (v2)
-        
+        Simulation HITL (v2)
     
 
 
@@ -6084,7 +6084,7 @@ Update
     
         
         Choose 3D model
-        Choir le modèle 3D
+        Choisir le modèle 3D
     
     
         
@@ -13144,12 +13144,12 @@ p, li { white-space: pre-wrap; }
         
         
         Arming Settings are now set to 'Always Disarmed' for your safety.
-        Les Paramètres d'Armement sont à présent réglés à 'Toujours Désarmé' pour votre sécurité.
+        Les Paramètres d'Armement sont à présent réglés à 'Toujours Désarmé' pour votre sécurité.
     
     
         
         You will have to reconfigure the arming settings manually when the wizard is finished. After the last step of the wizard you will be taken to the Arming Settings screen.
-        Vous devrez reconfigurer manuellement les paramètres d'armement lorsque l'assistant sera terminé. Après la dernière étape vous serez dirigé sur l'écran Paramètres d'Armement.
+        Vous devrez reconfigurer manuellement les paramètres d'armement lorsque l'assistant sera terminé. Après la dernière étape vous serez dirigé sur l'écran Paramètres d'Armement.
     
     
         
@@ -13160,7 +13160,7 @@ Make sure you already configured your hardware settings on the proper tab and re
 
 You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.
 
-        Bienvenue sur l'assistant de configuration des entrées.
+        Bienvenue sur l'assistant de configuration des entrées.
 
 Veuillez suivre les instructions à l'écran et uniquement bouger les commandes lorsque on vous le demande.
 Soyez certain d'avoir déjà configuré vos paramètres matériels dans l'onglet approprié et redémarré votre carte.
@@ -13191,7 +13191,7 @@ Vous pouvez appuyer à tout moment sur 'Précédent' pour revenir à l
     
         
         Please choose your transmitter mode:
-        Veuillez choisir votre mode de pilotage :
+        Veuillez choisir votre mode de pilotage :
     
     
         
@@ -13236,39 +13236,46 @@ Vous pouvez appuyer à tout moment sur 'Précédent' pour revenir à l
     
         
         For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw.
-        
+        Pour un Quad : Profondeur correspond à Pitch, Ailerons à Roll et Dérive correspond à Yaw.
     
     
         
         Please center all controls and trims and press Next when ready.
 
 If your FlightMode switch has only two positions, leave it in either position.
-        
+        Veuillez centrer tous les manches et trims et appuyer sur Suivant lorsque vous êtes prêt.
+
+Si votre interrupteur de Mode de Vol a seulement deux positions, laissez-le dans n'importe quelle position. 
     
     
         
         Please move all controls to their maximum extents on both directions.
 
 Press Next when ready.
-        
+        Veuillez bouger les manches et les commandes d'accessoires au maximum, dans toutes les directions.
+
+Appuyez sur Suivant lorsque vous êtes prêt.
     
     
         
         Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.
-        
+        Veuillez vérifier l'image ci-dessous et corriger les manches qui s'affichent en sens inverse. Appuyer sur Suivant lorsque vous êtes prêt.
     
     
         
         You have completed this wizard, please check below if the picture mimics your sticks movement.
 
 IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings tab where you can set your desired arming sequence and save the configuration.
-        
+        Vous avez terminé cet assistant, veuillez vérifier ci-dessous si l'image correspond à vos mouvements de manches
+
+IMPORTANT : Ces nouveaux paramètres ne sont pas encore enregistrés sur la carte. Après avoir appuyé sur Suivant vous serez dirigé vers l'onglet Paramètres d'Armement où vous pourrez choisir votre séquence d'armement et enregistrer la configuration.
     
     
         
         Please enable throttle hold mode.
 
 Move the Collective Pitch stick.
+        hélico ? à traduire
         
     
     
@@ -13276,13 +13283,16 @@ Move the Collective Pitch stick.
         Please toggle the Flight Mode switch.
 
 For switches you may have to repeat this rapidly.
-        
+        Veuillez activer l'interrupteur Mode de Vol.
+
+Pour les interrupteurs vous pourriez avoir à répéter l'opération rapidement.
     
     
         
         Please disable throttle hold mode.
 
 Move the Throttle stick.
+        hélico ? à traduire
         
     
     
@@ -13290,17 +13300,17 @@ Move the Throttle stick.
         Please move each control one at a time according to the instructions and picture below.
 
 Move the %1 stick.
-        
+        Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l'image ci-dessous. Bougez le manche %1.
     
     
         
          Alternatively, click Next to skip this channel.
-        
+         Vous avez la possibilité d'appuyer sur Suivant pour ignorer cette voie.
     
     
         
         You will have to reconfigure the arming settings manually when the wizard is finished.
-        
+        Vous devrez reconfigurer les paramètres d'armement manuellement lorsque l'assistant sera terminé.
     
 
 

From eb0d3890e692f2593daf38527991cedc1c363515 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Thu, 3 Jan 2013 21:34:11 +0100
Subject: [PATCH 12/36] More updates in French language. Still some text not
 displayed in french, need tuning in source code. @Dev : See english remarks
 in ts file.

---
 .../translations/openpilotgcs_fr.ts           | 399 +++++++++++-------
 1 file changed, 239 insertions(+), 160 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 146829507..3afa14b83 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -62,7 +62,8 @@
     
         
         <System Language>
-        
+        Other languages aren't translated : English and dynamicaly generated... Check in ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp
+        <Langue Système>
     
     
         
@@ -170,7 +171,7 @@
     
         
         Save &GCS Default Settings
-        Enregistrer Paramètres par &Défaut
+        Enregistrer Paramètres GCS par &Défaut
     
     
         
@@ -232,7 +233,7 @@
     
         
         Edit Gadgets Mode
-        Editer Mode Gadgets
+        Editer Mode Gadgets
     
     
         
@@ -414,7 +415,7 @@
     
         
         <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
-        <h3>Station de Contrôle au Sol</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
+        <h3>Station de Contrôle au Sol (GCS)</h3>Révision GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
     
 
 
@@ -1552,7 +1553,7 @@ Raison : %3
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -1857,13 +1858,13 @@ p, li { white-space: pre-wrap; }
         
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         
         Request update
-        
+        Demander mise à jour
     
     
         
@@ -1902,12 +1903,12 @@ p, li { white-space: pre-wrap; }
     
         
         AP OFF
-        
+        
     
     
         
         Sim OFF
-        
+        
     
 
 
@@ -1915,12 +1916,12 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Dial SVG: 
-        
+        SVG Dial :
     
     
         
@@ -1955,7 +1956,7 @@ p, li { white-space: pre-wrap; }
     
         
         Input:
-        Entrée :
+        Entrée :
     
     
         
@@ -1970,7 +1971,7 @@ p, li { white-space: pre-wrap; }
     
         
         Dial font:
-        Police Dial :
+        Police Dial :
     
     
         
@@ -1985,7 +1986,7 @@ p, li { white-space: pre-wrap; }
     
         
         Factor:
-        
+        Facteur :
     
     
         
@@ -2056,7 +2057,7 @@ Cela améliore les performances, mais c'est à utiliser à vos risques et p
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -2096,7 +2097,7 @@ Cela améliore les performances, mais c'est à utiliser à vos risques et p
     
         
         Sound Collection
-        
+        Bibliothèque Sons
     
     
         
@@ -2110,7 +2111,11 @@ Cela améliore les performances, mais c'est à utiliser à vos risques et p
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;">Select the sound collection</span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;">Sélectionner la bibliothèque de sons</span></p></body></html>
     
     
         
@@ -2145,7 +2150,7 @@ p, li { white-space: pre-wrap; }
     
         
         Choose sound collection directory
-        
+        Choisir le dossier de la bibliothèque de sons
     
     
         
@@ -2155,7 +2160,7 @@ p, li { white-space: pre-wrap; }
     
         
         Notify Plugin
-        
+        Plugin de Notification
     
     
         
@@ -2467,7 +2472,7 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -2537,12 +2542,12 @@ p, li { white-space: pre-wrap; }
     
         
         UAV Symbol
-        Symbole Appareil
+        Symbole Appareil
     
     
         
         Default Max Update Rate 
-        Fréquence d'Actualisation Maximale par Défaut
+        Fréquence d'Actualisation Maximale par Défaut
     
 
 
@@ -2550,7 +2555,7 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -2611,7 +2616,8 @@ p, li { white-space: pre-wrap; }
         
         Add
 Update
-        
+        Ajouter
+Mise à Jour
     
     
         
@@ -2675,12 +2681,12 @@ Update
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Subsystem SVG:
-        
+        Sous-système SVG :
     
     
         
@@ -2698,12 +2704,12 @@ Update
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Request
-        Demander
+        Demander
     
     
         
@@ -2713,7 +2719,7 @@ Update
     
         
         Save
-        Enregistrer
+        Enregistrer
     
     
         
@@ -2728,7 +2734,7 @@ Update
     
         
         ...
-        
+        
     
     
         
@@ -6058,7 +6064,7 @@ Update
     
         
         Maybe you first have to choose Edit Gadgets Mode in the Window menu.
-        
+        Peut-être avez-vous besoin de d'abord cocher Editer Gadgets Mode dans le menu Fenêtre.
     
 
 
@@ -6857,7 +6863,7 @@ Update
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -6956,7 +6962,7 @@ Update
         
         Heading:
         Direction ?
-        
+        Direction :
     
     
         
@@ -6988,9 +6994,9 @@ Update
         Displays the SNR for each detected sat.
 Satellite number (PRN) is displayed inside the green bar.
 Sat SNR is displayed above (in dBHz)
-        Affiche le SNR pour chaue satellite détecté.
+        Affiche le SNR pour chaque satellite détecté.
 Le numéro du satellite (PRN) est affiché sur une barre verte.
-Le SNR du satellite est affiche au dessus (en dBHz)
+Le SNR du satellite est affiche au-dessus (en dBHz)
     
 
 
@@ -6998,7 +7004,7 @@ Le SNR du satellite est affiche au dessus (en dBHz)
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -7243,12 +7249,12 @@ Le SNR du satellite est affiche au dessus (en dBHz)
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         PFD SVG: 
-        
+        QVG PFD :
     
     
         
@@ -7273,7 +7279,7 @@ Le SNR du satellite est affiche au dessus (en dBHz)
     
         
         Smooth updates
-        
+        Mises à jour lissées
     
 
 
@@ -7322,7 +7328,7 @@ Le SNR du satellite est affiche au dessus (en dBHz)
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -7403,7 +7409,7 @@ Le SNR du satellite est affiche au dessus (en dBHz)
         
         Vehicle type:
         véhicule / appareil ?
-        Type de Véhicule :
+        Type de Véhicule :
     
     
         
@@ -7661,17 +7667,17 @@ Typical value is 50% for + or X configuration on quads.
     
         
         Curve 1
-        Courbe 1
+        Courbe 1
     
     
         
         Curve 2
-        Courbe 2
+        Courbe 2
     
     
         
         Type
-        Type
+        Type
     
     
         
@@ -7726,7 +7732,7 @@ Typical value is 50% for + or X configuration on quads.
     
         
         -
-        -
+        -
     
     
         
@@ -7815,7 +7821,7 @@ p, li { white-space: pre-wrap; }
     
         
         Takes you to the wiki page
-        Vous renvoie à la page wiki
+        Vous renvoie à la page wiki
     
     
         
@@ -7825,7 +7831,7 @@ p, li { white-space: pre-wrap; }
     
         
         Apply
-        Appliquer
+        Appliquer
     
     
         
@@ -7835,7 +7841,7 @@ p, li { white-space: pre-wrap; }
     
         
         Save
-        Enregistrer
+        Enregistrer
     
 
 
@@ -7871,7 +7877,7 @@ p, li { white-space: pre-wrap; }
     
         
         Dialog
-        Boîte de dialogue
+        Boîte de dialogue
     
     
         
@@ -7884,33 +7890,33 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Items
-        
+        Eléments
     
     
         
         General (Workspace, Key-Bindings)
-        
+        Général (Espace de Travail, Raccourcis Clavier)
     
     
         
         All Gadgets
-        
+        Tous les Gadgets
     
     
         
         
         GCS Settings file (*.xml)
-        
+        Fichier Paramètres GCS (*.xml)
     
     
         
         Save GCS Settings too file ..
-        
+        Enregistre Paramètres GCS vers fichier ..
     
     
         
@@ -7925,7 +7931,7 @@ p, li { white-space: pre-wrap; }
     
         
         Load GCS Settings from file ..
-        
+        Charge Paramètres GCS depuis fichier ..
     
     
         
@@ -7935,7 +7941,7 @@ p, li { white-space: pre-wrap; }
     
         
         The settings have been imported from 
-        Les paramètrs ont été importés depuis 
+        Les paramètres ont été importés depuis 
     
     
         
@@ -7945,17 +7951,17 @@ p, li { white-space: pre-wrap; }
     
         
         All your settings will be deleted!
-        
+        Tous vos réglages seront effacés !
     
     
         
         You must restart the GCS in order to activate the changes.
-        
+        Vous devez redémarrer le GCS pour activer les modifications.
     
     
         
         Plugins
-        
+        
     
     
         
@@ -7993,17 +7999,17 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Play
-        Jouer
+        Lecture
     
     
         
         Pause
-        
+        Pause
     
     
         
@@ -8062,7 +8068,7 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -8092,7 +8098,7 @@ p, li { white-space: pre-wrap; }
     
         
         Timeout(ms):
-        Temps de latence (ms) :
+        Temps de latence (ms) :
     
     
         
@@ -8115,42 +8121,42 @@ p, li { white-space: pre-wrap; }
     
         
         Coord:
-        
+        Coord :
     
     
         
         Unknown
-        Inconnu
+        Inconnu
     
     
         
         HomeCoord:
-        
+        HomeCoord :
     
     
         
         Azimuth
-        
+        Azimuth
     
     
         
         Elevation
-        
+        Elévation
     
     
         
         Connect
-        Connecter
+        Connecter
     
     
         
         Disconnect
-        Déconnecter
+        Déconnecter
     
     
         
         Output
-        Sortie
+        Sortie
     
 
 
@@ -8406,27 +8412,27 @@ Useful if you have accidentally changed some settings.
     
         
         Camera Stabilization
-        
+        Stabilisation Caméra
     
     
         
         Module Control
-        
+        Module de Contrôle
     
     
         
         Enable CameraStabilization module
-        
+        Activer le module de Stabilisation Caméra
     
     
         
         After enabling the module, you must power cycle before using and configuring.
-        
+        Après activation du module, vous devez redémarrer la carte avant de l'utiliser et le configurer.
     
     
         
         Basic Settings (Stabilization)
-        
+        Paramètres de Base (Stabilisation)
     
     
         
@@ -8434,36 +8440,44 @@ Useful if you have accidentally changed some settings.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.
-        
+        Angle caméra en Yaw pour une valeur de sortie de 100%, degrés.
+
+Cette valeur doit être ajustée en fonction de la nacelle et du servo. Vous devez également ajuster la plage de sortie du canal dans l'onglet Output.
     
     
         
         objname:CameraStabSettings
+        Pas toucher !
         
     
     
         
         fieldname:OutputRange
+        Pas toucher !
         
     
     
         
         element:Yaw
+        Pas toucher !
         
     
     
         
         haslimits:no
+        Pas toucher !
         
     
     
         
         scale:1
+        Pas toucher !
         
     
     
         
         buttongroup:1
+        Pas toucher !
         
     
     
@@ -8472,11 +8486,14 @@ have to define channel output range using Output configuration tab.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.
-        
+        Angle caméra en Pitch pour une valeur de sortie de 100%, degrés.
+
+Cette valeur doit être ajustée en fonction de la nacelle et du servo. Vous devez également ajuster la plage de sortie du canal dans l'onglet Output.
     
     
         
         element:Pitch
+        Pas toucher !
         
     
     
@@ -8485,73 +8502,83 @@ have to define channel output range using Output configuration tab.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.
-        
+        Angle caméra en Roll pour une valeur de sortie de 100%, degrés.
+
+Cette valeur doit être ajustée en fonction de la nacelle et du servo. Vous devez également ajuster la plage de sortie du canal dans l'onglet Output.
     
     
         
         element:Roll
+        Pas toucher !
         
     
     
         
         Yaw output channel for camera gimbal
-        
+        Canal de sortie Yaw pour la nacelle caméra
     
     
         
         None
-        Aucune
+        Stay None in GCS ! 
+        Aucun
     
     
         
         Pitch output channel for camera gimbal
-        
+        Canal de sortie Pitch pour la nacelle caméra
     
     
         
         Roll output channel for camera gimbal
-        
+        Canal de sortie Roll pour la nacelle caméra
     
     
         
         Output Channel
-        
+        Canal Sortie
     
     
         
         Output Range
-        
+        Plage Sortie
     
     
         
         Yaw
+        Pas toucher, terme technique ?
         
     
     
         
         Pitch
+        Pas toucher, terme technique ?
         
     
     
         
         Roll
+        Pas toucher, terme technique ?
         
     
     
         
         Advanced Settings (Control)
-        
+        Paramètres Avancés (Contrôle)
     
     
         
         Input channel to control camera yaw
 
 Don't forget to map this channel using Input configuration tab.
-        
+        Canal d'entrée pour contrôler la caméra en Yaw
+
+N'oubliez pas de déclarer ce canal dans l'onglet Input.
     
     
         
         fieldname:Input
+        Pas toucher !
         
     
     
@@ -8559,19 +8586,23 @@ Don't forget to map this channel using Input configuration tab.
         Input channel to control camera pitch
 
 Don't forget to map this channel using Input configuration tab.
-        
+        Canal d'entrée pour contrôler la caméra en Pitch
+
+N'oubliez pas de déclarer ce canal dans l'onglet Input.
     
     
         
         Input channel to control camera roll
 
 Don't forget to map this channel using Input configuration tab.
-        
+        Canal d'entrée pour contrôler la caméra en Roll
+
+N'oubliez pas de déclarer ce canal dans l'onglet Input.
     
     
         
         Input Channel
-        
+        Canal d'Entrée
     
     
         
@@ -8584,11 +8615,13 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
     
         
         fieldname:StabilizationMode
+        Pas toucher !
         
     
     
         
         Attitude
+        Pas toucher, terme technique ?
         
     
     
@@ -8599,6 +8632,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
     
         
         fieldname:InputRange
+        Pas toucher !
         
     
     
@@ -8609,6 +8643,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
     
         
         fieldname:InputRate
+        Pas toucher !
         
     
     
@@ -8621,6 +8656,7 @@ This option smoothes the stick input. Zero value disables LPF.
     
         
         fieldname:ResponseTime
+        Pas toucher !
         
     
     
@@ -8665,7 +8701,7 @@ This option smoothes the stick input. Zero value disables LPF.
     
         
         Response Time
-        
+        Temps de Réponse
     
     
         
@@ -8680,12 +8716,12 @@ This option smoothes the stick input. Zero value disables LPF.
     
         
         Stabilization Mode
-        
+        Mode Stabilisation
     
     
         
         (the same value for Roll, Pitch, Yaw)
-        
+        (Les mêmes valeurs pour Roll, Pitch, Yaw)
     
     
         
@@ -8702,6 +8738,7 @@ value.
     
         
         fieldname:MaxAxisLockRate
+        Pas toucher !
         
     
     
@@ -8717,6 +8754,7 @@ value.
     
         
         button:help
+        Pas toucher !
         
     
     
@@ -8735,11 +8773,12 @@ Apply or Save button afterwards.
     
         
         Reset To Defaults
-        
+        Restaurer les paramètres par défaut
     
     
         
         button:default
+        Pas toucher !
         
     
     
@@ -8755,41 +8794,44 @@ Apply or Save button afterwards.
     
         
         Reload Board Data
-        Recharger Données Carte
+        Recharger Données Carte
     
     
         
         button:reload
+        Pas toucher !
         
     
     
         
         Send settings to the board but do not save to the non-volatile memory
-        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire
+        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire non-volatile
     
     
         
         Apply
-        Appliquer
+        Appliquer
     
     
         
         button:apply
+        Pas toucher !
         
     
     
         
         Send settings to the board and save to the non-volatile memory
-        Envoyer les paramètres sur la carte et enregistrer dans la mémoire
+        Envoyer les paramètres sur la carte et enregistrer dans la mémoire non-volatile
     
     
         
         Save
-        Enregistrer
+        Enregistrer
     
     
         
         button:save
+        Pas toucher !
         
     
 
@@ -8798,7 +8840,7 @@ Apply or Save button afterwards.
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -8895,7 +8937,7 @@ Méfiez-vous de ne pas vous verrouiller l'accès !
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -8925,7 +8967,7 @@ Méfiez-vous de ne pas vous verrouiller l'accès !
     
         
         Calibration
-        Calibration
+        Calibration
     
     
         
@@ -8953,7 +8995,7 @@ la carte est armée. Dans ce cas ne bougez pas l'appareil lors de l'ar
     
         
         Zero gyros while arming aircraft
-        Mettre les gyros à zéro lors de l'armement
+        Mettre les gyros à zéro lors de l'armement
     
     
         
@@ -8972,12 +9014,19 @@ Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
 Start low and raise until drift stops.
 
 A setting of 0.00 disables the filter.
-        
+        Filtrage accéléromètres.
+
+Ajuste le niveau de filtrage passe-bas des données d'accéléromètres pour l'estimation de l'inclinaison. Des valeurs élevées donnent un filtrage plus important qui peut aider pour le glissement en mode stabilisé.
+
+Plage : 0.00 - 0.20, Bonne valeur de départ : 0.05 - 0.10
+Commencez à un niveau bas et augmentez jusqu'à ce que le glissement s'arrête.
+
+Une valeur de 0.00 désactive le filtre.
     
     
         
         Takes you to the wiki page
-        Vous renvoie à la page wiki
+        Vous renvoie à la page wiki
     
     
         
@@ -9304,7 +9353,7 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -9331,7 +9380,7 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -9391,7 +9440,8 @@ p, li { white-space: pre-wrap; }
     
         
         Yaw
-        
+        Terme tech à laisser ?
+        
     
     
         
@@ -9406,12 +9456,14 @@ p, li { white-space: pre-wrap; }
     
         
         Pitch
-        
+        Terme tech à laisser ?
+        
     
     
         
         Roll
-        
+        Terme tech à laisser ?
+        
     
     
         
@@ -9426,32 +9478,32 @@ p, li { white-space: pre-wrap; }
     
         
         Pos. 1
-        
+        
     
     
         
         Pos. 2
-        
+        
     
     
         
         Pos. 3
-        
+        
     
     
         
         Pos. 4
-        
+        
     
     
         
         Pos. 5
-        
+        
     
     
         
         Pos. 6
-        
+        
     
     
         
@@ -9485,7 +9537,12 @@ It will be 2 or 3 for most of setups, but it also can be up to 6.
 In that case you have to configure your radio mixers so the whole range
 from min to max is split into N equal intervals, and you may set arbitrary
 channel value for each flight mode.
-        
+        Nombre de positions de votre interrupteur Mode de Vol.
+
+La valeur par défaut est 3.
+
+Cela peut être 2 ou 3 dans la plupart des configurations, mais cela peut aller jusqu'à 6.
+Dans ce cas vous devez configurer les mixages de votre radio pour que la plage mini à maxi soit divisée en N intervales égaux et ainsi vous pouvez définir une valeur arbitraire du canal de sortie pour chaque mode de vol.
     
     
         
@@ -9565,7 +9622,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -9585,7 +9642,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Min
-        Mini
+        Mini
     
     
         
@@ -9600,17 +9657,17 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         TextLabel
-        Label de texte
+        Label de texte
     
     
         
         Rev
-        Inv
+        Inv
     
     
         
         Chan %1
-        Canal %1
+        Canal %1
     
 
 
@@ -9623,6 +9680,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Throttle Curve
+        Not translated.. see code source ?
         Courbe Gaz
     
     
@@ -9708,7 +9766,7 @@ Applique et Enregistre tous les paramètres sur la SD
         
         Step
         Saut ?
-        
+        
     
     
         
@@ -9731,7 +9789,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -9855,7 +9913,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -10296,7 +10354,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -10307,7 +10365,7 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.</span></p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
@@ -10761,17 +10819,17 @@ value as the Kp.
     
         
         When the throttle is low, zero the intergral term to prevent intergral wind-up
-        Quand les gaz sont faibles, mettre à zero le terme intégral pour éviter les secousses
+        Quand les gaz sont faibles, mettre à zero le terme intégral pour éviter les secousses
     
     
         
         Zero the integral when throttle is low
-        Mettre l'intégrale à zéro lorsque les gaz sont faibles
+        Mettre l'intégrale à zéro lorsque les gaz sont bas
     
     
         
         fieldname:LowThrottleZeroIntegral
-        
+        
     
     
         
@@ -11198,12 +11256,12 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.
         
         Min
-        Mini
+        Mini
     
     
         
         Max
-        Maxi
+        Maxi
     
     
         
@@ -11574,7 +11632,7 @@ Please choose from one of the default configurations
     
         
         Channels
-        
+        Canaux
     
 
 
@@ -11582,7 +11640,7 @@ Please choose from one of the default configurations
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -11595,7 +11653,7 @@ Please choose from one of the default configurations
     
         
         Dialog
-        Boîte de dialogue
+        Boîte de dialogue
     
     
         
@@ -11805,7 +11863,7 @@ Please choose from one of the default configurations
     
         
         Dialog
-        Boîte de dialogue
+        Boîte de dialogue
     
     
         
@@ -11878,7 +11936,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -11894,7 +11952,7 @@ p, li { white-space: pre-wrap; }
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">If your board is not connected, please connect the board to a USB port on your computer and select the device from the list below.  Then press </span><span style=" font-size:10pt; font-weight:600;">Connect</span><span style=" font-size:10pt;">.</span></p></body></html>
         'moyen de connexion', à affiner...
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
@@ -11904,7 +11962,7 @@ p, li { white-space: pre-wrap; }
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Si la carte est déjà branchée et correctement détectée, le type de carte sera déjà affiché. Vous pouvez </span><span style=" font-size:10pt; font-weight:600;">Déconnecter</span><span style=" font-size:10pt;"> et sélectionner un autre moyen de connexion si vous avez besoin de détecter une autre carte.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Si votre carte n'est pas connectée, branchez votre carte sur un port USB de votre ordinateur et sélectionnez le moyen de connexion dans la liste ci-dessous. Appuyez ensuite sur </span><span style=" font-size:10pt; font-weight:600;">Connecter</span><span style=" font-size:10pt;">.</span></p></body></html>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Si votre carte n'est pas connectée, branchez-là sur un port USB de votre ordinateur et sélectionnez le moyen de connexion dans la liste ci-dessous. Appuyez ensuite sur </span><span style=" font-size:10pt; font-weight:600;">Connecter</span><span style=" font-size:10pt;">.</span></p></body></html>
     
     
         
@@ -12029,7 +12087,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12042,7 +12100,15 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The OpenPilot controller supports many different types of input signals. Please select the type of input that matches your receiver configuration. If you are unsure, just leave the default option selected and continue the wizard.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, you will be instructed to do so on the next page of this wizard.</span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Configuration de base du signal d'entrée</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">La carte controleur OpenPilot supporte plusieurs types de signaux d'entrée. Veuillez sélectionner le type d'entrée qui correspond à votre configuration de récepteur. Si vous n'êtes pas certain, laissez juste l'option par défaut sélectionnée et continuez l'assistant.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Quelques options requièrent un redémarrage du controleur OpenPilot avant que les changements ne prennent effet. Si une option demandant un redémarrage est sélectionnée, cela vous sera demandé de le faire dans la prochaine page de l'assistant.</span></p></body></html>
     
     
         
@@ -12166,7 +12232,7 @@ p, li { white-space: pre-wrap; }
     
         
         The Tricopter uses three motors and one servo. The servo is used to give yaw authority to the rear motor. The front motors are rotating in opposite directions. The Tricopter is known for its sweeping yaw movement and it is very well suited for FPV since the front rotors are spread wide apart.
-        
+        Le tricoptère utilise trois moteurs et un servo. Le servo est utilisé pour permettre au moteur arrière d'agir sur le Yaw (Lacet). Les moteurs de devant tournent dans des sens opposés. Le tricoptère est connu pour son mouvement de balayage en lacet et il est très adapté pour le FPV car les moteurs de devant sont écartés.
     
     
         
@@ -12176,7 +12242,7 @@ p, li { white-space: pre-wrap; }
     
         
         The X Quadcopter uses four motors and is the most common multi rotor configuration. Two of the motors rotate clockwise and two counter clockwise. The motors positioned diagonal to each other rotate in the same direction. This setup is perfect for sport flying and is also commonly used for FPV platforms.
-        
+        Le Quadricoptère X utilise quatre moteurs et c'est la configuration la plus commune en multirotor. Deux des moteurs tournent dans le sens horaire et les deux dans le sens anti-horaire. Les moteurs situés en diagonale tournent dans le même sens. Cette configuration est idéale pour le vol sportif et couramment utilisé pour des plates-formes FPV.
     
     
         
@@ -12186,29 +12252,29 @@ p, li { white-space: pre-wrap; }
     
         
         The Plus(+) Quadcopter uses four motors and is similar to the X Quadcopter but the forward direction is offset by 45 degrees. The motors front and rear rotate in clockwise and the motors right and left rotate counter-clockwise. This setup was one of the first to be used and is still used for sport flying. This configuration is not that well suited for FPV since the fore rotor tend to be in the way of the camera.
-        
+        Le Quadricoptère (+) utilise quatres moteurs et il est similaire au Quadricoptère X mais la direction de déplacement est décalée de 45 degrés. Les moteurs avant et arrière tournent dans le sens horaire et les moteurs gauche et droit tournent dans le sens anti-horaire. Cette configuration a été l'une des premières à être utilisée et est encore utilisée pour le vol sportif. Cette agencement n'est pas bien adapté pour que FPV car le moteur de devant a tendance à être dans le champ de vision de la caméra.
     
     
         
         
         Hexacopter
-        
+        Hexacoptère
     
     
         
         
         Hexacopter Coax (Y6)
-        
+        Hexacoptère Coax (Y6)
     
     
         
         Hexacopter X
-        
+        Hexacoptère X
     
     
         
         Hexacopter H
-        
+        Hexacoptère H
     
 
 
@@ -12383,7 +12449,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12401,7 +12467,20 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Press the Save button to save the configuration.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;"><br /></span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Configuration OpenPilot prête à être enregistrée</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">L'assistant est maintenant prêt à enregistrer les paramètres directement dans votre carte contrôleur OpenPilot. </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Si une des sélections nécessite un redémarrage de la carte contrôleur, alors vous devrez éteindre / allumer la carte contrôleur OpenPilot après avoir enregistré dans cette étape.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Appuyer sur le bouton Enregistrer pour enregistrer la configuration.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;"><br /></span></p></body></html>
     
     
         
@@ -12506,7 +12585,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12536,12 +12615,12 @@ p, li { white-space: pre-wrap; }
     
         
         Tricopter, Quadcopter, Hexacopter
-        Tricoptère, Quadricopter, Hexacopter
+        Tricoptère, Quadricoptère, Hexacoptère
     
     
         
         Multirotor
-        
+        Multirotor
     
     
         
@@ -13469,7 +13548,7 @@ Move the %1 stick.
     
         
         Open file
-        Ouvrir fichier
+        Ouvrir fichier
     
     
         
@@ -14014,7 +14093,7 @@ Move the %1 stick.
     
         
         This file is not a correct XML file
-        
+        Ce fichier n'est pas un fichier XML valide
     
     
         
@@ -14040,7 +14119,7 @@ Move the %1 stick.
     
         
         UAV Settings Export
-        
+        Export des Paramètres UAV
     
     
         
@@ -14060,7 +14139,7 @@ Move the %1 stick.
     
         
         This option is only useful for passing your current system data to the technical support staff. Do you really want to export?
-        
+        Cette option est seulement utile pour transmettre vos données actuelles du système à l'équipe du support technique. Voulez-vous vraiment procéder à l'exportation ?
     
     
         
@@ -14070,7 +14149,7 @@ Move the %1 stick.
     
         
         UAV Data Export
-        
+        Export des Paramètres UAV
     
     
         

From 95b87c0cc5e8e7829cdd043e80289ec50334bf6a Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Sat, 5 Jan 2013 11:24:37 +0100
Subject: [PATCH 13/36] More updates in French

---
 .../translations/openpilotgcs_fr.ts           | 190 +++++++++++-------
 1 file changed, 121 insertions(+), 69 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 3afa14b83..bd5a56bee 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -1709,52 +1709,52 @@ p, li { white-space: pre-wrap; }
         
         
         For receiving data from sim
-        
+        Pour reçevoir les données du simulateur
     
     
         
         Check this box to start the simulator on the local computer
-        
+        Cochez cette case pour démarrer le simulateur sur l'ordinateur local
     
     
         
         Start simulator on local machine
-        
+        Démarrer le simulateur sur la machine locale
     
     
         
         
         Local interface (IP):
-        
+        Interface locale (IP) :
     
     
         
         
         For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.
-        
+        Pour la communication avec l'ordinateur de simulation via le réseau. Doit-être l'adresse IP d'une des interfaces de l'ordinateur avec GCS.
     
     
         
         
         Remote interface (IP):
-        
+        Interface distante (IP) :
     
     
         
         
         Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.
-        
+        Seulement nécessaire si le simulateur est lancé sur une machine distante. Doit être l'IP de la machine sur laquelle le simulateur est lancé.
     
     
         
         
         For sending data to sim
-        
+        Pour envoyer les données au simulateur
     
     
         
         Attitude data
-        
+        Données attitude
     
     
         
@@ -1764,7 +1764,7 @@ p, li { white-space: pre-wrap; }
     
         
         Refresh rate
-        
+        Fréquence de raffraichissement
     
     
         
@@ -1779,22 +1779,22 @@ p, li { white-space: pre-wrap; }
     
         
         send raw data to board
-        
+        envoyer les données brutes vers la carte
     
     
         
         use values from simulator
-        
+        utiliser les données du simulateur
     
     
         
         calculate from AttitudeRaw
-        
+        calculer avec AttitudeRaw
     
     
         
         Other data
-        
+        Autres données
     
     
         
@@ -9542,7 +9542,9 @@ channel value for each flight mode.
 La valeur par défaut est 3.
 
 Cela peut être 2 ou 3 dans la plupart des configurations, mais cela peut aller jusqu'à 6.
-Dans ce cas vous devez configurer les mixages de votre radio pour que la plage mini à maxi soit divisée en N intervales égaux et ainsi vous pouvez définir une valeur arbitraire du canal de sortie pour chaque mode de vol.
+Dans ce cas vous devez configurer les mixages de votre radio pour que la plage mini à 
+maxi soit divisée en N intervales égaux et ainsi vous pouvez définir une valeur arbitraire 
+du canal de sortie pour chaque mode de vol.
     
     
         
@@ -10728,41 +10730,49 @@ Then lower the value by 5 or so.
     
         
         objname:StabilizationSettings
+        pas toucher !
         
     
     
         
         fieldname:RollRatePID
+        pas toucher !
         
     
     
         
         element:Kp
+        pas toucher !
         
     
     
         
         haslimits:yes
+        pas toucher !
         
     
     
         
         scale:0.0001
+        pas toucher !
         
     
     
         
         buttongroup:1,10
+        pas toucher !
         
     
     
         
         fieldname:PitchRatePID
+        pas toucher !
         
     
     
         
         fieldname:YawRatePID
+        pas toucher !
         
     
     
@@ -10779,6 +10789,7 @@ value as the Kp.
     
         
         element:Ki
+        pas toucher !
         
     
     
@@ -10789,31 +10800,37 @@ value as the Kp.
     
         
         buttongroup:2
+        pas toucher !
         
     
     
         
         fieldname:RollPI
+        pas toucher !
         
     
     
         
         scale:0.1
+        pas toucher !
         
     
     
         
         buttongroup:2,10
+        pas toucher !
         
     
     
         
         fieldname:PitchPI
+        pas toucher !
         
     
     
         
         fieldname:YawPI
+        pas toucher !
         
     
     
@@ -10824,11 +10841,12 @@ value as the Kp.
     
         
         Zero the integral when throttle is low
-        Mettre l'intégrale à zéro lorsque les gaz sont bas
+        Mettre l'intégrale à zéro lorsque les gaz sont bas
     
     
         
         fieldname:LowThrottleZeroIntegral
+        pas toucher !
         
     
     
@@ -10844,26 +10862,31 @@ value as the Kp.
     
         
         buttongroup:4
+        pas toucher !
         
     
     
         
         element:Kd
+        pas toucher !
         
     
     
         
         haslimits:no
+        pas toucher !
         
     
     
         
         scale:1
+        pas toucher !
         
     
     
         
         buttongroup:4,20
+        pas toucher !
         
     
     
@@ -10899,11 +10922,13 @@ Then lower the value by 20% or so.
     
         
         buttongroup:5
+        pas toucher !
         
     
     
         
         buttongroup:5,20
+        pas toucher !
         
     
     
@@ -10914,12 +10939,14 @@ Then lower the value by 20% or so.
     
         
         buttongroup:6
+        pas toucher !
         
     
     
         
         fieldname:PitchMax
-        
+        pas toucher !
+        
     
     
         
@@ -10934,31 +10961,37 @@ Then lower the value by 20% or so.
     
         
         fieldname:MaximumRate
+        pas toucher !
         
     
     
         
         element:Roll
+        pas toucher !
         
     
     
         
         fieldname:ManualRate
+        pas toucher !
         
     
     
         
         element:Yaw
+        pas toucher !
         
     
     
         
         fieldname:YawMax
+        pas toucher !
         
     
     
         
         element:Pitch
+        pas toucher !
         
     
     
@@ -10969,6 +11002,7 @@ Then lower the value by 20% or so.
     
         
         fieldname:RollMax
+        pas toucher !
         
     
     
@@ -10979,7 +11013,7 @@ Then lower the value by 20% or so.
     
         
         Expert
-        
+        Expert
     
     
         
@@ -10989,6 +11023,7 @@ Then lower the value by 20% or so.
     
         
         buttongroup:10
+        pas toucher !
         
     
     
@@ -11014,21 +11049,25 @@ Then lower the value by 20% or so.
     
         
         fieldname:WeakLevelingKp
+        pas toucher !
         
     
     
         
         fieldname:MaxWeakLevelingRate
+        pas toucher !
         
     
     
         
         fieldname:MaxAxisLock
+        pas toucher !
         
     
     
         
         fieldname:MaxAxisLockRate
+        pas toucher !
         
     
     
@@ -11044,16 +11083,19 @@ Then lower the value by 20% or so.
     
         
         element:ILimit
+        pas toucher !
         
     
     
         
         ILimit Attitude
+        pas toucher !
         
     
     
         
         ILimit Rate
+        pas toucher !
         
     
     
@@ -11064,6 +11106,7 @@ Then lower the value by 20% or so.
     
         
         buttongroup:8
+        pas toucher !
         
     
     
@@ -11074,16 +11117,19 @@ Then lower the value by 20% or so.
     
         
         objname:AttitudeSettings
+        pas toucher !
         
     
     
         
         fieldname:AccelKp
+        pas toucher !
         
     
     
         
         buttongroup:8,10
+        pas toucher !
         
     
     
@@ -11104,6 +11150,7 @@ Then lower the value by 20% or so.
     
         
         fieldname:GyroTau
+        pas toucher !
         
     
     
@@ -11119,6 +11166,7 @@ Then lower the value by 20% or so.
     
         
         fieldname:AccelKi
+        pas toucher !
         
     
     
@@ -11135,12 +11183,12 @@ automatically every 300ms, which will help for fast tuning.
     
         
         Update in real time
-        
+        Mise à jour en temps réel
     
     
         
         Takes you to the wiki page
-        Vous renvoie à la page wiki
+        Vous renvoie à la page wiki
     
     
         
@@ -11150,13 +11198,13 @@ automatically every 300ms, which will help for fast tuning.
     
         
         url:http://wiki.openpilot.org/x/DAO9
-        
+        
     
     
         
         Reloads the saved settings into GCS.
 Useful if you have accidentally changed some settings.
-        
+        Recharge les donnés enregistrées, dans GCS. Utile si vous avez accidentellement modifié des paramètres.
     
     
         
@@ -11389,7 +11437,7 @@ only when system is armed without disabling the module.
     
         
         Form
-        Formulaire
+        Formulaire
     
 
 
@@ -11397,18 +11445,19 @@ only when system is armed without disabling the module.
     
         
         OpenPilotGCS
-        
+        
     
     
         
         No configuration file could be found.
 Please choose from one of the default configurations
-        
+        Aucun fichier de configuration n'a pu être trouvé.
+Veuillez en choisir un dans les configurations par défaut
     
     
         
         TextLabel
-        Label de texte
+        Label de texte
     
     
         
@@ -11421,12 +11470,12 @@ Please choose from one of the default configurations
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Save to file
-        
+        Enregistre dans un fichier
     
 
 
@@ -11434,32 +11483,32 @@ Please choose from one of the default configurations
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Control Mode:
-        Mode de pilotage : 
+        Mode de pilotage : 
     
     
         
         Mode 1
-        
+        
     
     
         
         Mode 2
-        
+        
     
     
         
         Mode 3
-        
+        
     
     
         
         Mode 4
-        
+        
     
     
         
@@ -11484,12 +11533,12 @@ Please choose from one of the default configurations
     
         
         Available controllers
-        Controleurs disponibles
+        Controleurs disponibles
     
     
         
         Default
-        Défaut
+        Défaut
     
     
         
@@ -11499,12 +11548,12 @@ Please choose from one of the default configurations
     
         
         Rev
-        Inv
+        Inv
     
     
         
         Move your joystick controls to identify channels
-        
+        Bougez votre joystick pour identifier les canaux
     
     
         
@@ -11519,11 +11568,13 @@ Please choose from one of the default configurations
     
         
         button 1
+        pas toucher !
         
     
     
         
         button 2
+        pas toucher !
         
     
     
@@ -11579,7 +11630,7 @@ Please choose from one of the default configurations
     
         
         Host:
-        Hôte :
+        Hôte :
     
     
         
@@ -11729,57 +11780,58 @@ Please choose from one of the default configurations
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         QML file: 
-        Fichier  QML :
+        Fichier  QML :
     
     
         
         Use OpenGL
-        Utiliser OpenGL
+        Utiliser OpenGL
     
     
         
         Show Terrain:
-        
+        Afficher terrain :
     
     
         
         OsgEarth file:
-        
+        Fichier OsgEarth :
     
     
         
         Use actual location
-        
+        Utiliser position actuelle
     
     
         
         Use pre-defined location:
-        
+        Utiliser une position prédéfinie :
     
     
         
         Latitude:
-        Latitude :
+        Latitude :
     
     
         
         Longitude:
-        Longitude :
+        Longitude :
     
     
         
         Altitude:
-        Altitude :
+        Altitude :
     
     
         
         Use only cache data
-        
+        Utiliser uniquement 
+les données en cache
     
     
         
@@ -11789,22 +11841,22 @@ Please choose from one of the default configurations
     
         
         QML file (*.qml)
-        Fichier QML (*.qml)
+        Fichier QML (*.qml)
     
     
         
         Choose QML file
-        Choisir un fichier QML
+        Choisir un fichier QML
     
     
         
         OsgEarth (*.earth)
-        
+        
     
     
         
         Choose OsgEarth terrain file
-        
+        Choisir un fichier de terrain OsgEarth
     
 
 
@@ -11989,22 +12041,22 @@ p, li { white-space: pre-wrap; }
     
         
         OpenPilot CopterControl
-        
+        
     
     
         
         OpenPilot CopterControl 3D
-        
+        
     
     
         
         OpenPilot Revolution
-        
+        
     
     
         
         OpenPilot OPLink Radio Modem
-        
+        
     
     
         
@@ -12156,7 +12208,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -13410,39 +13462,39 @@ Move the %1 stick.
     
         
         Erase all settings from board...
-        
+        Supprimer tous les paramètres sur la carte...
     
     
         
         Are you sure you want to erase all board settings?.
-        
+        Êtes-vous certain de vouloir supprimer tous les paramètres sur la carte ?. 
     
     
         
         All settings stored in your board flash will be deleted.
-        
+        Tous les paramètres stockés sur la flash de votre carte seront supprimés.
     
     
         
         
         Error trying to erase settings.
-        
+        Erreur en essayant de supprimer les paramètres.
     
     
         
         
         Power-cycle your board after removing all blades. Settings might be inconsistent.
-        
+        Eteindre / Allumer votre carte après avoir enlevé toutes les hélices. Les paramètres peuvent-être incorrects. 
     
     
         
         Settings are now erased.
-        
+        Les paramètres sont maintenant supprimés.
     
     
         
         Please wait for the status LED to begin flashing regularly (up to a minute) then power-cycle your board to complete reset.
-        
+        Veuillez attendre que la LED de statut commence à clignoter régulièrement (environ une minute) puis éteindre / allumer votre carte pour terminer la réinitialisation.
     
 
 
@@ -13450,18 +13502,18 @@ Move the %1 stick.
     
         
         About OpenPilot Authors
-        
+        A propos des auteurs d'OpenPilot
     
     
         
         From revision %1<br/>
         This gets conditionally inserted as argument %8 into the description string.
-        Depuis la révision %1<br/>
+        Depuis la révision %1<br/>
     
     
         
         <h3>The OpenPilot Project</h3>Proudly brought to you by this fine team:<br/>
-        
+        <h3>Le Projet OpenPilot</h3>Fièrement présenté par cette fine équipe :<br/>
     
 
 

From 66aa0fde4316617c558d7b1288a554ee79fec60e Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Mon, 7 Jan 2013 14:51:22 +0100
Subject: [PATCH 14/36] More French updates : Setup Wizard text for
 configuration finished.

---
 .../translations/openpilotgcs_fr.ts           | 644 +++++++++++-------
 1 file changed, 380 insertions(+), 264 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index bd5a56bee..eaba78baa 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -146,7 +146,7 @@
     
         
         OpenPilot GCS
-        
+        
     
     
         
@@ -293,7 +293,7 @@
     
         
         Goto Next View
-        Aller à la Vue Suivante
+        Aller Vue Suivante
     
     
         
@@ -793,17 +793,17 @@
     
         
         Choose the location
-        Choisir l'emplacement
+        Choisir l'emplacement
     
     
         
         Name:
-        Nom :
+        Nom :
     
     
         
         Path:
-        Chemin :
+        Chemin :
     
 
 
@@ -1483,7 +1483,7 @@ Raison : %3
     
         
         Welcome
-        Accueil
+        Accueil
     
 
 
@@ -1646,7 +1646,7 @@ p, li { white-space: pre-wrap; }
         
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -1754,7 +1754,7 @@ p, li { white-space: pre-wrap; }
     
         
         Attitude data
-        Données attitude
+        Données attitude
     
     
         
@@ -1764,12 +1764,12 @@ p, li { white-space: pre-wrap; }
     
         
         Refresh rate
-        Fréquence de raffraichissement
+        Fréquence de raffraichissement
     
     
         
         ms
-        ms
+        ms
     
     
         
@@ -1794,7 +1794,7 @@ p, li { white-space: pre-wrap; }
     
         
         Other data
-        Autres données
+        Autres données
     
     
         
@@ -1804,12 +1804,12 @@ p, li { white-space: pre-wrap; }
     
         
         0 - update once, or every N seconds
-        
+        0 - MàJ unique, ou chaque N secondes
     
     
         
         sec
-        
+        
     
     
         
@@ -1824,12 +1824,12 @@ p, li { white-space: pre-wrap; }
     
         
         Range detection
-        
+        Plage de détection
     
     
         
         m
-        
+        
     
     
         
@@ -1926,7 +1926,7 @@ p, li { white-space: pre-wrap; }
     
         
         Whole range:
-        
+        Plage totale :
     
     
         
@@ -1961,12 +1961,12 @@ p, li { white-space: pre-wrap; }
     
         
         ObjectName
-        
+        
     
     
         
         ObjectField
-        
+        
     
     
         
@@ -1981,7 +1981,7 @@ p, li { white-space: pre-wrap; }
     
         
         Decimal places:
-        
+        Nb décimales :
     
     
         
@@ -2184,7 +2184,7 @@ p, li { white-space: pre-wrap; }
     
         
         Find place
-        Chercher un lieu
+        Chercher un lieu
     
     
         
@@ -2208,7 +2208,7 @@ p, li { white-space: pre-wrap; }
         
         
         Map position
-        Position carte
+        Position carte
     
     
         
@@ -2220,7 +2220,7 @@ p, li { white-space: pre-wrap; }
         
         
         Mouse position
-        Position souris
+        Position souris
     
     
         
@@ -2257,7 +2257,7 @@ p, li { white-space: pre-wrap; }
     
         
          Places 
-        Lieux
+        Lieux
     
     
         
@@ -2267,22 +2267,22 @@ p, li { white-space: pre-wrap; }
     
         
          Waypoints 
-        
+        
     
     
         
         New waypoints
-        Nouveau waypoint
+        Nouveau waypoint
     
     
         
         New
-        Nouveau
+        Nouveau
     
     
         
         Open waypoints
-        Ouvrir waypoint
+        Ouvrir waypoint
     
     
         
@@ -2319,54 +2319,54 @@ p, li { white-space: pre-wrap; }
         
         
         Center map over UAV position
-        Centrer la carte sur la position de l'appareil
+        Centrer la carte sur la position de l'appareil
     
     
         
         
         Map rotation follows UAV heading
-        La rotation de la carte suit la direction de l'appareil
+        La rotation de la carte suit la direction de l'appareil
     
     
         
         UAV hold position
-        L'appareil reste sur sa position
+        L'appareil reste sur sa position
     
     
         
         Hold
-        Maintenir
+        Maintenir
     
     
         
         UAV go home
-        L'appareil revient au point de départ
+        L'appareil revient au point de départ
     
     
         
         
         Home
-        Maison
+        Maison
     
     
         
         Move UAV to previous waypoint
-        Déplacer l'appareil au précédent waypoint
+        Déplacer l'appareil au précédent waypoint
     
     
         
         Previous WP
-        Précédent WP
+        Précédent WP
     
     
         
         Move UAV to next waypoint
-        Déplacer l'appareil au waypoint suivant
+        Déplacer l'appareil au waypoint suivant
     
     
         
         Next WP
-        WP Suivant
+        WP Suivant
     
     
         
@@ -2382,7 +2382,7 @@ p, li { white-space: pre-wrap; }
         
         
         UAV position
-        Position de l'appareil
+        Position de l'appareil
     
     
         
@@ -2400,71 +2400,71 @@ p, li { white-space: pre-wrap; }
         
         
         Normal Map Mode
-        Mode Carte Normale
+        Mode Carte Normale
     
     
         
         
            Normal   
-           Normal 
+           Normal 
     
     
         
         
         Magic Waypoint Map Mode
-        Mode Carte Waypoint Magique
+        Mode Carte Waypoint Magique
     
     
         
         
            Magic Waypoint   
-           Waypoint Magique 
+           Waypoint Magique 
     
     
         
         Go To Place:
-        Aller Au Lieu :
+        Aller Au Lieu :
     
     
         
         ...
-        
+        
     
     
         
         
         Click to move the UAV to the magic waypoint position
-        Cliquer pour déplacer l'appareil à la position du waypoint magique
+        Cliquer pour déplacer l'appareil à la position du waypoint magique
     
     
         
         
         Move to WP
-        Dépacer au Waypoint
+        Dépacer au Waypoint
     
     
         
         
         Move the magic waypoint to the home position
-        Déplacer le Waypoint magique au point de départ
+        Déplacer le Waypoint magique au point de départ
     
     
         
         
         Home WP
-        WP Maison
+        WP Maison
     
     
         
         
         UAV
-        Appareil
+        Appareil
     
     
         
         
         Heading
-        Orientation
+        Direction
     
 
 
@@ -2575,7 +2575,7 @@ p, li { white-space: pre-wrap; }
     
         
         UAVObject:
-        
+        UAVObject :
     
     
         
@@ -2585,7 +2585,7 @@ p, li { white-space: pre-wrap; }
     
         
         UAVField:
-        
+        UAVField :
     
     
         
@@ -2610,6 +2610,7 @@ p, li { white-space: pre-wrap; }
     
         
         Add a new curve to the scope, or update it if the UAVObject and UAVField is the same.
+        Oscilloscope ?
         
     
     
@@ -2622,6 +2623,7 @@ Mise à Jour
     
         
         Remove the curve from the scope.
+        Oscilloscope ?
         
     
     
@@ -2648,17 +2650,18 @@ Mise à Jour
     
         
          samples
+        échantillons ?
         
     
     
         
         Math function:
-        
+        Fonction Mathématique :
     
     
         
         Log data to csv file (not interpolated)
-        
+        Données journal dans un fichier csv (non interpolées)
     
     
         
@@ -2775,7 +2778,7 @@ Mise à Jour
     
         
         ZIP/UNZIP API error %1
-        
+        Erreur %1 de l'API ZIP/UNZIP
     
 
 
@@ -6108,7 +6111,7 @@ Mise à Jour
     
         
         Notify Plugin
-        
+        Plugin de Notification
     
 
 
@@ -6735,12 +6738,12 @@ Mise à Jour
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Dial SVG: 
-        
+        SVG Dial :
     
     
         
@@ -6755,62 +6758,62 @@ Mise à Jour
     
         
         Dial font:
-        Police Dial :
+        Police Dial :
     
     
         
         Select...
-        Sélectionner...
+        Sélectionner...
     
     
         
         Indicator 1
-        
+        Indicateur 1
     
     
         
         Movement:
-        
+        Mouvement :
     
     
         
         ID:
-        
+        
     
     
         
         Min:
-        Mini :
+        Mini :
     
     
         
         Max:
-        Maxi :
+        Maxi :
     
     
         
         Factor:
-        
+        Facteur :
     
     
         
         DataObject
-        
+        
     
     
         
         ObjectField
-        
+        
     
     
         
         Indicator 2
-        
+        Indicateur 2
     
     
         
         Indicator 3
-        
+        Indicateur 3
     
     
         
@@ -6967,12 +6970,12 @@ Mise à Jour
     
         
         H / V / P DOP:
-        
+        
     
     
         
         0 / 0 / 0
-        
+        
     
     
         
@@ -7474,7 +7477,7 @@ Le SNR du satellite est affiche au-dessus (en dBHz)
     
         
         50
-        50
+        
     
     
         
@@ -7499,7 +7502,7 @@ Le SNR du satellite est affiche au-dessus (en dBHz)
     
         
         100
-        100
+        
     
     
         
@@ -7849,7 +7852,7 @@ p, li { white-space: pre-wrap; }
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -8131,7 +8134,7 @@ p, li { white-space: pre-wrap; }
     
         
         HomeCoord:
-        HomeCoord :
+        HomeCoord :
     
     
         
@@ -8407,7 +8410,7 @@ Useful if you have accidentally changed some settings.
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -8440,7 +8443,7 @@ Useful if you have accidentally changed some settings.
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.
-        Angle caméra en Yaw pour une valeur de sortie de 100%, degrés.
+        Angle caméra en Yaw pour une valeur de sortie de 100%, degrés.
 
 Cette valeur doit être ajustée en fonction de la nacelle et du servo. Vous devez également ajuster la plage de sortie du canal dans l'onglet Output.
     
@@ -8486,7 +8489,7 @@ Cette valeur doit être ajustée en fonction de la nacelle et du servo. Vous dev
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.
-        Angle caméra en Pitch pour une valeur de sortie de 100%, degrés.
+        Angle caméra en Pitch pour une valeur de sortie de 100%, degrés.
 
 Cette valeur doit être ajustée en fonction de la nacelle et du servo. Vous devez également ajuster la plage de sortie du canal dans l'onglet Output.
     
@@ -8502,7 +8505,7 @@ Cette valeur doit être ajustée en fonction de la nacelle et du servo. Vous dev
 
 This value should be tuned for particular gimbal and servo. You also
 have to define channel output range using Output configuration tab.
-        Angle caméra en Roll pour une valeur de sortie de 100%, degrés.
+        Angle caméra en Roll pour une valeur de sortie de 100%, degrés.
 
 Cette valeur doit être ajustée en fonction de la nacelle et du servo. Vous devez également ajuster la plage de sortie du canal dans l'onglet Output.
     
@@ -8701,7 +8704,7 @@ This option smoothes the stick input. Zero value disables LPF.
     
         
         Response Time
-        Temps de Réponse
+        Temps de Réponse
     
     
         
@@ -8716,12 +8719,12 @@ This option smoothes the stick input. Zero value disables LPF.
     
         
         Stabilization Mode
-        Mode Stabilisation
+        Mode Stabilisation
     
     
         
         (the same value for Roll, Pitch, Yaw)
-        (Les mêmes valeurs pour Roll, Pitch, Yaw)
+        (Les mêmes valeurs pour Roll, Pitch, Yaw)
     
     
         
@@ -8744,7 +8747,7 @@ value.
     
         
         Messages
-        Messages
+        Messages
     
     
         
@@ -8880,27 +8883,27 @@ Apply or Save button afterwards.
     
         
         USB HID Port
-        
+        
     
     
         
         MainPort
-        
+        
     
     
         
         FlexiPort
-        
+        
     
     
         
         USB VCP Port
-        
+        
     
     
         
         RcvrPort
-        
+        
     
     
         
@@ -8942,27 +8945,27 @@ Méfiez-vous de ne pas vous verrouiller l'accès !
     
         
         Attitude
-        
+        Attitude
     
     
         
         Rotate virtual attitude relative to board
-        
+        Pivoter l'attitude virtuelle par rapport à la carte
     
     
         
         Roll
-        
+        
     
     
         
         Yaw
-        
+        
     
     
         
         Pitch
-        
+        
     
     
         
@@ -9000,7 +9003,7 @@ la carte est armée. Dans ce cas ne bougez pas l'appareil lors de l'ar
     
         
         AccelTau
-        
+        
     
     
         
@@ -9016,7 +9019,9 @@ Start low and raise until drift stops.
 A setting of 0.00 disables the filter.
         Filtrage accéléromètres.
 
-Ajuste le niveau de filtrage passe-bas des données d'accéléromètres pour l'estimation de l'inclinaison. Des valeurs élevées donnent un filtrage plus important qui peut aider pour le glissement en mode stabilisé.
+Ajuste le niveau de filtrage passe-bas des données d'accéléromètres pour 
+l'estimation de l'inclinaison. Des valeurs élevées donnent un filtrage plus 
+important qui peut aider pour le glissement en mode stabilisé.
 
 Plage : 0.00 - 0.20, Bonne valeur de départ : 0.05 - 0.10
 Commencez à un niveau bas et augmentez jusqu'à ce que le glissement s'arrête.
@@ -9050,7 +9055,7 @@ accéléromètres dans la mémoire Flash de la carte.
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -9060,12 +9065,12 @@ accéléromètres dans la mémoire Flash de la carte.
     
         
         Select aircraft type here
-        Sélectionner ici le type d'appareil
+        Sélectionner ici le type d'appareil
     
     
         
         Basic settings
-        
+        Paramètres de base
     
     
         
@@ -9075,7 +9080,7 @@ accéléromètres dans la mémoire Flash de la carte.
     
         
         Tail Rotor
-        
+        Rotor queue
     
     
         
@@ -9310,12 +9315,12 @@ accéléromètres dans la mémoire Flash de la carte.
     
         
         Curve 1
-        Courbe 1
+        Courbe 1
     
     
         
         Curve 2
-        Courbe 2
+        Courbe 2
     
     
         
@@ -9325,7 +9330,7 @@ accéléromètres dans la mémoire Flash de la carte.
     
         
         -
-        -
+        
     
 
 
@@ -9333,7 +9338,7 @@ accéléromètres dans la mémoire Flash de la carte.
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -9345,7 +9350,14 @@ p, li { white-space: pre-wrap; }
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This panel will be updated to provide the relevant controls to let you calibrate your OpenPilot INS or your CopterControl unit, depending on the board which is detected once telemetry is connected and running.</p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Attitude / calibration INS</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Ce panneau sera mis à jour pour vous fournir les contrôles pertinents afin de vous permettre de calibrer votre INS OpenPilot ou votre carte CopterControl, en fonction du matériel détecté, une fois que la télémétrie est connectée et en cours d'exécution.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html>
     
 
 
@@ -9693,17 +9705,17 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         4
-        4
+        
     
     
         
         3
-        3
+        
     
     
         
         2
-        2
+        
     
     
         
@@ -9718,57 +9730,57 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         1.0
-        1.0
+        
     
     
         
         .75
-        
+        
     
     
         
         .50
-        
+        
     
     
         
         .25
-        
+        
     
     
         
         .00
-        
+        
     
     
         
         Linear
         pas toucher !
-        
+        
     
     
         
         Log
         pas toucher !
-        
+        
     
     
         
         Exp
         pas toucher !
-        
+        
     
     
         
         Flat
         pas toucher !
-        
+        
     
     
         
         Step
         Saut ?
-        
+        
     
     
         
@@ -9829,37 +9841,37 @@ Laisser à 50Hz pour une aile volante.
     
         
         50
-        50
+        
     
     
         
         60
-        60
+        
     
     
         
         125
-        125
+        
     
     
         
         165
-        165
+        
     
     
         
         270
-        270
+        
     
     
         
         330
-        330
+        
     
     
         
         400
-        400
+        
     
     
         
@@ -9925,22 +9937,22 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         0000
-        0000
+        
     
     
         
         Link
-        
+        Lien
     
     
         
         TextLabel
-        Label de texte
+        
     
     
         
         #
-        
+        
     
     
         
@@ -10415,12 +10427,12 @@ Méfiez-vous de ne pas vous verrouiller l'accès distant !
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         Calibration
-        Calibration
+        Calibration
     
     
         
@@ -10430,7 +10442,7 @@ Méfiez-vous de ne pas vous verrouiller l'accès distant !
     
         
         Nice paper plane, eh?
-        Joli avion en papier, hein ?
+        Joli avion en papier, hein ?
     
     
         
@@ -10440,17 +10452,17 @@ Méfiez-vous de ne pas vous verrouiller l'accès distant !
     
         
         Start
-        Démarrer
+        Démarrer
     
     
         
         Save settings (only enabled when calibration is running)
-        Enregistrer les paramètres (actif uniquement lorsque la calibration est en route)
+        Enregistrer les paramètres (actif uniquement lorsque la calibration est en route)
     
     
         
         Save Position
-        Enregistre Position
+        Enregistre Position
     
     
         
@@ -10469,7 +10481,7 @@ Tip: lower is better!
         Press to start a calibration procedure, about 15 seconds.
 
 Hint: run this with engines at cruising speed.
-        Appuyer pour démarrer la procédure de calibration, environ 15 secondes.
+        Appuyer pour démarrer la procédure de calibration, environ 15 secondes.
 
 Astuce : Faites-le avec le moteur en vitesse de croisière.
     
@@ -10491,7 +10503,7 @@ Astuce : Faites-le avec le moteur en vitesse de croisière.
     
         
         Min
-        Mini
+        Mini
     
     
         
@@ -10503,7 +10515,7 @@ temperature is very different from your MB temp...
     
         
         Max
-        Maxi
+        Maxi
     
     
         
@@ -10541,7 +10553,7 @@ TODO: is this necessary? Measurement could be auto updated every second or so, o
     
         
         Save
-        Enregistrer
+        Enregistrer
     
     
         
@@ -10576,7 +10588,7 @@ p, li { white-space: pre-wrap; }
     
         
         Settings
-        Paramètres
+        Paramètres
     
     
         
@@ -10588,7 +10600,7 @@ p, li { white-space: pre-wrap; }
         Select the sensor integration algorithm here.
 "Simple" only uses accelerometer values
 "INSGPS" the full featured algorithm integrating all sensors
-        Sélectionner ici l'algorithme d'intégration des capteurs.
+        Sélectionner ici l'algorithme d'intégration des capteurs.
 "Simple" utilise seulement les valeurs des accéléromètres
 "INSGPS" l'algorithme complet intégrant tous les capteurs
     
@@ -10649,7 +10661,7 @@ specific calibration button on top of the screen.
     
         
         Apply
-        Appliquer
+        Appliquer
     
     
         
@@ -10704,17 +10716,17 @@ specific calibration button on top of the screen.
     
         
         Roll
-        
+        
     
     
         
         Pitch
-        
+        
     
     
         
         Yaw
-        
+        
     
     
         
@@ -10725,7 +10737,8 @@ specific calibration button on top of the screen.
         
         Slowly raise Proportional until you start seeing clear oscillations when you fly.
 Then lower the value by 5 or so.
-        
+        Augmentez doucement Prportionnel jusqu'à commencer à observer des 
+oscillations claires en vol. Baissez ensuite la valeur de 5 ou plus.
     
     
         
@@ -10784,7 +10797,8 @@ Then lower the value by 5 or so.
         
         As a rule of thumb, you can set the Integral at roughly the same
 value as the Kp.
-        
+        En règle générale, vous pouvez définir l'intégrale 
+à peu près à la même valeur que Kp.
     
     
         
@@ -11073,7 +11087,7 @@ Then lower the value by 20% or so.
     
         
         Integral Limits
-        
+        Limites Intégrales
     
     
         
@@ -11101,7 +11115,7 @@ Then lower the value by 20% or so.
     
         
         Sensor Tuning
-        
+        Réglages Capteurs
     
     
         
@@ -11172,13 +11186,14 @@ Then lower the value by 20% or so.
     
         
         Real Time Updates
-        
+        MàJ Temps Réel
     
     
         
         If you check this, the GCS will udpate the stabilization factors
 automatically every 300ms, which will help for fast tuning.
-        
+        Si vous cochez, GCS mettra à jour les facteurs de stabilisation 
+automatiquement toutes les 300ms, ce qui aidera pour un réglage rapide. 
     
     
         
@@ -11404,6 +11419,7 @@ only when system is armed without disabling the module.
     
         
         button:help
+        Pas toucher.
         
     
     
@@ -11513,22 +11529,22 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         External input Device:
-        
+        Périphérique d'entrée :
     
     
         
         Only joystick is implemented at this stage, so this control is disabled.
-        
+        Actuellement seulement le joystick est implémenté , donc ce contôle est désactivé.
     
     
         
         Joystick
-        
+        
     
     
         
         Audio
-        
+        
     
     
         
@@ -11543,7 +11559,7 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         Joystick Axes
-        
+        Axes Joystick
     
     
         
@@ -11558,64 +11574,64 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         Joystick Buttons
-        
+        Boutons Joystick
     
     
         
         Press buttons on controller to identify mappings
-        
+        Appuyer sur les boutons du contrôleur pour identifier les attributions
     
     
         
         button 1
         pas toucher !
-        
+        bouton 1
     
     
         
         button 2
         pas toucher !
-        
+        bouton 2
     
     
         
         button 8
-        
+        bouton 8
     
     
         
         button 7
-        
+        bouton 7
     
     
         
         button 6
-        
+        bouton 6
     
     
         
         button 5
-        
+        bouton 5
     
     
         
         button 4
-        
+        bouton 4
     
     
         
         button 3
-        
+        bouton 3
     
     
         
         by
-        
+        par
     
     
         
         Audio: soundcard-based PPM decoding for trainer port. Not implemented yet.
-        
+        Audio : décodage du signal PPM par la carte son. Pas encore implémenté.
     
     
         
@@ -11635,7 +11651,7 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         127.0.0.1
-        127.0.0.1
+        
     
     
         
@@ -11645,7 +11661,7 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         2323
-        2323
+        
     
 
 
@@ -11653,12 +11669,12 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         send data
-        
+        Envoi données
     
     
         
         Flight mode
-        
+        Mode de vol
     
     
         
@@ -11948,7 +11964,7 @@ les données en cache
     
         
         WizardPage
-        
+        
     
     
         
@@ -12069,7 +12085,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12084,18 +12100,29 @@ p, li { white-space: pre-wrap; }
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To complete the setup please click the Radio Setup Wizard button below to close this wizard and go directly to the Radio Setup Wizard.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Félicitations !</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">L'Assistant de Configuration est terminé.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Cette partie de la procédure de configuration est maintenant terminée et il vous reste une étape pour arriver au terme de la configuration de votre contrôleur OpenPilot.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Pour terminer la configuration veuillez appuyer sur le bouton Aller à l'Assistant des Entrées... ci-dessous pour fermer cet assistant et aller directement à l'Assistant de Configuration Radio.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p></body></html>
     
     
         
         Go to Input Wizard...
-        
+        Aller à l'Assistant des Entrées...
     
     
         
         Unable to open Input Wizard since the Config Plugin is not
 loaded in the current workspace.
-        
+        Impossible d'ouvrir l'Assistant des Entrées car le Plugin de 
+Configuration n'est pas chargé dans l'espace de travail actuel.
     
 
 
@@ -12103,7 +12130,7 @@ loaded in the current workspace.
     
         
         WizardPage
-        
+        
     
     
         
@@ -12113,7 +12140,12 @@ p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Fixed Wing section of the OpenPilot Setup Wizard is not yet implemented</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">La partie Voilure Fixe de l'Assistant de Configuration OpenPilot n'est pas encore implémentée.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
     
 
 
@@ -12121,7 +12153,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12131,7 +12163,12 @@ p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Helicopter section of the OpenPilot Setup Wizard is not yet implemented</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">La partie Hélicoptère de l'Assistant de Configuration OpenPilot n'est pas encore implémentée</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
     
 
 
@@ -12221,7 +12258,15 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To perform the leveling, please push the Calculate button and wait for the process to finish. </span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">Procédure de calibration de la mise à niveau du contrôleur OpenPilot</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">L'assistant a besoin de récupérer des informations du contrôleur pour déterminer dans quelle position le véhicule est habituellement considéré comme étant de niveau. Pour être en mesure de réaliser ces mesures correctement, vous devez placer le véhicule sur une surface aussi plane et horizontale que possible. De telles surfaces peut être une table ou le sol par exemple. Veillez à ce que le véhicule soit vraiment de niveau, car cette étape aura une incidence sur les ajustements de l'accéléromètre et du gyroscope dans le logiciel de la carte.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Veuillez appuyer sur le bouton Calculer pour effectuer la mise à niveau et attendez la fin du processus. </span></p></body></html>
     
     
         
@@ -12334,7 +12379,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12344,7 +12389,12 @@ p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">This section of the OpenPilot Setup Wizard is not yet implemented</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Cette partie de l'Assistant de Configuration OpenPilot n'est pas encore implémentée</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
     
 
 
@@ -12352,12 +12402,12 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
         Output calibration
-        
+        Calibration des sorties
     
     
         
@@ -12370,12 +12420,20 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Connect all components according to the illustration on the summary page, and provide power using an external power supply such as a battery before continuing.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Depending on what vehicle you have selected, both the motors controlled by ESCs and/or servos controlled directly by the OpenPilot controller may have to be calibrated. The following steps will guide you safely through this process. </span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Il est à présent temps de calibrer les niveaux de sortie des signaux controlant votre véhicule. </span></p>
+<p align="center" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">TRES IMPORTANT !</span><span style=" font-family:'Lucida Grande'; font-size:10pt;"><br /></span><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">ENLEVER TOUTES LES HELICES DE VOTRE VEHICULE AVANT DE CONTINUER !</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Branchez tous les composants comme sur l'illustration dans la page de résumé et alimentez avec une source externe comme une batterie avant de continuer.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">En fonction du véhicule que vous avez sélectionné, les moteurs pilotés par des variateurs et/ou les servos contrôlés directement par la carte OpenPilot devront-être calibrés. Les étapes suivantes vous guideront en toute sécurité dans ce processus. </span></p></body></html>
     
     
         
         <html><head/><body><p>In this step we will set the neutral rate for the motor highlighted in the illustration to the right. <br/>Plase pay attention to the details and in particular the motors position and its rotation direction.</p><p>To find the neutral rate for this engine, press the Start button below and slide the slider to the right until the engine just starts to spin stably. <br/><br/>When done press button again to stop.</p></body></html>
-        
+        <html><head/><body><p>Dans cette étape nous allons régler le neutre du moteur mis en évidence dans l'illustration de droite. <br/>Veuillez faire attention aux détails, en particulier la position du moteur et son sens de rotation.</p><p>Pour trouver le neutre pour ce moteur, appuyer sur le bouton Démarrer et déplacez le curseur vers la droite jusqu'à ce que le moteur commence à tourner régulièrement. <br/><br/>Lorsque c'est fait, appuyez à nouveau sur le bouton pour arrêter.</p></body></html>
     
     
         
@@ -12384,22 +12442,22 @@ p, li { white-space: pre-wrap; }
         
         
         Start
-        Démarrer
+        Démarrer
     
     
         
         <html><head/><body><p>This step calibrates the center position of the servo. To set the center position for this servo, press the Start button below and slide the slider to center the servo. </p><p>When done press button again to stop.</p></body></html>
-        
+        <html><head/><body><p>Cette étape calibre la position centrale d'un servo. Pour régler la position centrale pour ce servo, appuyez sur le bouton Démarrer ci-dessous et bougez le curseur pour centrer le servo. </p><p>Lorsque c'est fait, appuyez à nouveau sur le bouton pour arrêter.</p></body></html>
     
     
         
         <html><head/><body><p>To save the servo and other hardware from damage we have to set the max and min angles for the servo. </p><p>To set the minimum angle for the servo, press the Start button below and select the top slider and slide it to the left until min angle is reached.</p><p>When done press button again to stop.</p></body></html>
-        
+        <html><head/><body><p>Pour protéger le servo ou tout autre matériel contre des dommages nous devons régler l'angle maxi et mini pour le servo. </p><p>Pour régler l'angle minimum du servo, appuyez sur le bouton Démarrer ci-dessous, sélectionnez le curseur du haut puis bougez-le vers la gauche jusqu'à atteindre l'angle minimum.</p><p>Lorsque c'est fait, appuyez à nouveau sur le bouton pour arrêter.</p></body></html>
     
     
         
         <html><head/><body><p>To set the maximum angle for the servo, press the Start button below and select the top slider and slide it to the right until max angle is reached.</p><p>When done press button again to stop.</p></body></html>
-        
+        <html><head/><body><p>Pour régler l'angle maximum du servo, appuyez sur le bouton Démarrer ci-dessous, sélectionnez le curseur du haut puis bougez-le vers la droite jusqu'à atteindre l'angle maximum.</p><p>Lorsque c'est fait, appuyez à nouveau sur le bouton pour arrêter.</p></body></html>
     
     
         
@@ -12407,14 +12465,16 @@ p, li { white-space: pre-wrap; }
         
         
         Stop
-        Arrêter
+        Arrêter
     
     
         
         The actuator module is in an error state.
 
 Please make sure the correct firmware version is used then restart the wizard and try again. If the problem persists please consult the openpilot.org support forum.
-        
+        Le module de sortie est dans un état d'erreur.
+
+Soyez certain d'utiliser la bonne version de firmware puis redémarrer l'assistant et essayez à nouveau. Si le problème persiste, consultez le forum openpilot.org.
     
 
 
@@ -12422,7 +12482,7 @@ Please make sure the correct firmware version is used then restart the wizard an
     
         
         WizardPage
-        
+        
     
     
         
@@ -12437,27 +12497,37 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Please select one of the options below. If you are unsure about the capabilities of your ESCs, just leave the default option selected and continue the wizard.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To read more regarding ESC refresh rates, please see </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">this article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> in the OpenPilot Wiki</span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;">Configuration de base des signaux de sortie OpenPilot</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Pour régler une configuration optimale des signaux de sortie pilotant vos moteurs, l'assistant doit connaître quel type de variateurs (ESC) vous allez utiliser et quelles sont leur capacités.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Veuillez sélectionner une des options ci-dessous. Si vous n'êtes pas certain des capacités de vos variateurs laissez juste l'option par défaut sélectionnée et continuez l'assistant.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Pour en savoir plus à propos des fréquences de raffraichissement des variateurs, veuillez consulter </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">cet article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> sur le Wiki OpenPilot (en anglais)</span></p></body></html>
     
     
         
         Standard ESC 50Hz
-        
+        Variateur Standard 50Hz
     
     
         
         Standard ESC
-        
+        Variateur Standard
     
     
         
         Turbo PWM ESC 400Hz
-        
+        Variateur Turbo PWM 400Hz
     
     
         
         Turbo PWM
-        
+        Turbo PWM
     
 
 
@@ -12465,7 +12535,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12474,7 +12544,11 @@ p, li { white-space: pre-wrap; }
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
 <p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ff0000;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ff0000;">VEUILLEZ REDEMARRER VOTRE CONTRÔLEUR</span></p></body></html>
     
     
         
@@ -12483,7 +12557,11 @@ p, li { white-space: pre-wrap; }
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
 <p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ffd500;">PLEASE REBOOT YOUR CONTROLLER</span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:18pt; color:#ffd500;">VEUILLEZ REDEMARRER VOTRE CONTRÔLEUR</span></p></body></html>
     
     
         
@@ -12493,7 +12571,12 @@ p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
 <p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">The configuration created by the wizard contains settings that require a reboot of your controller. Please power cycle the controller before continuing. To power cycle the controller remove all batteries and the USB cable for at least 30 seconds.</span></p>
 <p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">After 30 seconds, plug in the board again and wait for it to connect, this can take a few seconds. Then press next.</span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">La configuration générée par l'assistant contient des paramètres qui nécessitent un redémarrage de votre contrôleur. Veuillez éteindre / allumer le contrôleur avant de continuer. Enlevez toutes les batteries et débranchez le câble USB durant au moins 30 secondes.</span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt; color:#000000;">Après 30 secondes, branchez à nouveau votre carte et attendez qu'elle se connecte, cela peut prendre quelques secondes. Puis appuyez sur Suivant.</span></p></body></html>
     
 
 
@@ -12562,7 +12645,7 @@ Connectez votre carte OpenPilot et essayez à nouveau.
     
         
         WizardPage
-        
+        
     
     
         
@@ -12582,7 +12665,22 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Disregarding this warning puts you at</span><span style=" font-size:10pt; font-weight:600; color:#000000;"> risk of very serious injury</span><span style=" font-size:10pt;">!</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Now that your props are removed we can get started. Ready?</span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Bienvenue sur l'assistant de configuration OpenPilot</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Cet assistant va vous guider à travers les étapes de base nécessaires à la configuration de votre contrôleur OpenPilot pour la première fois. Des questions vous seront posées sur votre plate-forme (multirotor / hélicoptère / voilure fixe), cet assistant les utilisera afin de configurer votre appareil pour votre premier vol.  </span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Cet assistant ne configure pas tous les paramètres avancés disponibles dans le module Configuration de GCS. Tous les paramètres de configuration de base et avancés pourront être modifiés plus tard en utilisant le plugin de Configuration de GCS.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">ATTENTION : VOUS DEVEZ RETIRER TOUTES LES HELICES </span></p>
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600; color:#ff0000;">DU VEHICULE AVANT DE CONTINUER !</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Ne pas tenir compte de cet avertissement vous expose à des</span><span style=" font-size:10pt; font-weight:600; color:#000000;"> risques de blessures très graves</span><span style=" font-size:10pt;"> !</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Dès que vos hélices seront retirées nous pourrons continuer. Êtes-vous prêt ?</span></p></body></html>
     
 
 
@@ -12590,7 +12688,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12606,12 +12704,24 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue the wizard and go through some basic configuration steps, please continue to the next step of this wizard.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The following steps require that your OpenPilot controller is set up according to the diagram, it is </span><span style=" font-size:10pt; font-weight:600;">connected to the computer</span><span style=" font-size:10pt;"> by USB, and that the vehicle is</span><span style=" font-size:10pt; font-weight:600;"> powered by a battery</span><span style=" font-size:10pt;">.</span></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Sommaire de configuration OpenPilot</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">La première partie de cet assistant est maintenant terminée. Toutes les informations nécessaires à la création d'une configuration de base du contrôleur OpenPilot pour un céhicule particulier ont été collectées.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Vous trouverez ci-dessous un résumé de la configuration et un bouton vous renvoyant vers un diagramme décrivant comment brancher le matériel nécessaire avec le Contrôleur OpenPilot dans la configuration actuelle.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Pour continuer l'assistant et passer par quelques étapes de configuration de base, veuillez passez à l'étape suivante de l'assistant.</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Les étapes suivantes requièrent que votre contrôleur OpenPilot soit mis en oeuvre comme sur le diagramme, </span><span style=" font-size:10pt; font-weight:600;">connecté à l'ordinateur</span><span style=" font-size:10pt;"> par le port USB et que le véhicule soit</span><span style=" font-size:10pt; font-weight:600;"> alimenté par une batterie</span><span style=" font-size:10pt;">.</span></p></body></html>
     
     
         
         Show connection diagram for configuration
-        
+        Afficher le diagramme de branchement pour la configuration
+        Afficher le diagramme de branchement pour la configuration
     
 
 
@@ -12619,7 +12729,7 @@ p, li { white-space: pre-wrap; }
     
         
         WizardPage
-        
+        
     
     
         
@@ -12629,7 +12739,12 @@ p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">The Surface Vehicle section of the OpenPilot Setup Wizard is not yet implemented</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">La partie Véhicule de Surface de l'Assistant de Configuration OpenPilot n'est pas encore implémentée</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"></p></body></html>
     
 
 
@@ -12652,17 +12767,17 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Go ahead and select the type of vehicle for which you want to create a configuration.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(The current version only provides functionality for multirotors.)</span></p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Sélection du type de véhicule</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">To continue, the wizard needs to know what type of vehicle the OpenPilot controller board is going to be used with. This step is crucial since much of the following configuration is unique per vehicle type.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Pour continuer, l'assistant a besoin de connaître sur quel type de véhicule la carte Openpilot va être utilisée. Cette étape est cruciale car une grande partie de la configuration qui suit est spécifique au type de véhicule.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Go ahead and select the type of vehicle for which you want to create a configuration.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Allez-y et sélectionnez le type de véhicule pour lequel vous souhaitez créer une configuration.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(The current version only provides functionality for multirotors.)</span></p></body></html>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">(La version actuelle ne fournit des fonctionnalités que pour les multirotors.)</span></p></body></html>
     
     
         
@@ -12677,7 +12792,7 @@ p, li { white-space: pre-wrap; }
     
         
         CCPM Helicopters
-        
+        Hélicoptères CCPM
     
     
         
@@ -12692,7 +12807,7 @@ p, li { white-space: pre-wrap; }
     
         
         Fixed wing
-        Aile
+        Aile
     
     
         
@@ -12702,7 +12817,7 @@ p, li { white-space: pre-wrap; }
     
         
         Surface
-        
+        
     
 
 
@@ -12710,22 +12825,22 @@ p, li { white-space: pre-wrap; }
     
         
         View Options
-        Voir Options
+        Voir Options
     
     
         
         Show MetaData
-        
+        Afficher Metadata
     
     
         
         Show Categorized
-        
+        Afficher par Catégories
     
     
         
         Show Scientific
-        
+        Afficher Scientifique
     
 
 
@@ -12733,28 +12848,29 @@ p, li { white-space: pre-wrap; }
     
         
         Dialog
-        Boîte de dialogue
+        Boîte de dialogue
     
     
         
         UAV Settings import summary
-        
+        Résumé d'importation des paramètres UAV
     
     
         
         Save all settings checked above to persistent board storage,
 then close the dialog.
-        
+        Enregistre tous les paramètres cochés ci-dessus dans le stockage 
+persistant de la carte, et ensuite ferme la boite de dialogue.
     
     
         
         Save to Board Flash
-        
+        Enregistrer sur Carte Flash
     
     
         
         Close this dialog without saving to persistent storage
-        
+        Ferme cette boite de dialogue sans enregistrer vers le stockage persistant
     
     
         
@@ -12772,7 +12888,7 @@ then close the dialog.
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -12877,17 +12993,17 @@ then close the dialog.
     
         
         Git commit hash:
-        Git commit hash :
+        Hash de commit GIT :
     
     
         
         CRC:
-        CRC :
+        CRC :
     
     
         
         On Device
-        Sur la Carte
+        Sur la Carte
     
     
         
@@ -12922,7 +13038,7 @@ then close the dialog.
     
         
         Loaded
-        Chargé
+        Chargé
     
     
         
@@ -13018,7 +13134,7 @@ then close the dialog.
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -13033,22 +13149,22 @@ then close the dialog.
     
         
         CPU Serial:
-        
+        N° Série CPU :
     
     
         
         Firmware Information
-        
+        Information Firmware
     
     
         
         HW Revision: 
-        Révision Matériel :
+        Révision Matériel :
     
     
         
         Firmware CRC: 
-        
+        CRC Firmware : 
     
     
         
@@ -13201,13 +13317,13 @@ p, li { white-space: pre-wrap; }
     
         
         GCS config
-        
+        Config GCS
     
     
         
         Parse error at line %1, column %2:
 %3
-        
+        Erreur d'analyse à la ligne %1, colonne %2 : %3
     
 
 
@@ -13449,12 +13565,12 @@ Move the %1 stick.
     
         
         The actuator module is in an error state.  This can also occur because there are no inputs.  Please fix these before testing outputs.
-        
+        Le module de sortie est en erreur. Cela peut arriver parce-qu'il n'y a pas d'entrées. Veuillez réparer ça avant de tester les sorties.
     
     
         
         This option will start your motors by the amount selected on the sliders regardless of transmitter.  It is recommended to remove any blades from motors.  Are you sure you want to do this?
-        
+        Cette option démarrera vos moteurs à un niveau sélectionné par les curseurs sans tenir compte de l'émetteur. Il est recommandé d'enlever toutes les hélices des moteurs. Êtes-vous certain de vouloir faire cela ?
     
 
 
@@ -13833,32 +13949,32 @@ Move the %1 stick.
     
         
         OpenPilot Setup Wizard
-        
+        Assistant Configuration OpenPilot
     
     
         
         Controller type: 
-        
+        Type de contrôleur : 
     
     
         
         OpenPilot CopterControl
-        
+        
     
     
         
         OpenPilot CopterControl 3D
-        
+        
     
     
         
         OpenPilot Revolution
-        
+        
     
     
         
         OpenPilot OPLink Radio Modem
-        
+        
     
     
         
@@ -13877,12 +13993,12 @@ Move the %1 stick.
     
         
         Multirotor
-        
+        Multirotor
     
     
         
         Vehicle sub type: 
-        
+        Sous-type véhicule : 
     
     
         
@@ -13902,52 +14018,52 @@ Move the %1 stick.
     
         
         Hexacopter
-        
+        Hexacoptère
     
     
         
         Hexacopter Coax (Y6)
-        
+        Hexacoptère Coax (Y6)
     
     
         
         Hexacopter X
-        
+        Hexacoptère X
     
     
         
         Octocopter
-        
+        Octocoptère
     
     
         
         Octocopter Coax X
-        
+        Octocoptère Coax X
     
     
         
         Octocopter Coax +
-        
+        Octocoptère Coax +
     
     
         
         Octocopter V
-        
+        Octocoptère V
     
     
         
         Fixed wing
-        Aile
+        Aile
     
     
         
         Helicopter
-        Hélicoptère
+        Hélicoptère
     
     
         
         Surface vehicle
-        
+        Véhicule surface
     
     
         
@@ -13967,22 +14083,22 @@ Move the %1 stick.
     
         
         Futaba S.Bus
-        
+        
     
     
         
         Spektrum satellite (DSM2)
-        
+        
     
     
         
         Spektrum satellite (DSMX10BIT)
-        
+        
     
     
         
         Spektrum satellite (DSMX11BIT)
-        
+        
     
     
         
@@ -14005,7 +14121,7 @@ Move the %1 stick.
     
         
         Vehicle Setup Wizard
-        
+        Assistant Configuration Véhicule
     
 
 

From 81d3761f671a58a42fd55d2f0b8c3f3629614a69 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Thu, 10 Jan 2013 21:20:13 +0100
Subject: [PATCH 15/36] More updates in french : should be usable by beginners.
 Need re-read by french users

---
 .../translations/openpilotgcs_fr.ts           | 285 ++++++++++--------
 1 file changed, 161 insertions(+), 124 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index eaba78baa..2ac5feb18 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -10010,192 +10010,193 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
         button:help
-        
+        Pas toucher !
+        
     
     
         
         url:http://wiki.openpilot.org/x/dACrAQ
-        
+        
     
     
         
         Send settings to the board but do not save to the non-volatile memory
-        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire
+        Envoyer les paramètres sur la carte sans enregistrer dans la mémoire
     
     
         
         Apply
-        Appliquer
+        Appliquer
     
     
         
         Send settings to the board and save to the non-volatile memory
-        Envoyer les paramètres sur la carte et enregistrer dans la mémoire
+        Envoyer les paramètres sur la carte et enregistrer dans la mémoire
     
     
         
         Save
-        Enregistrer
+        Enregistrer
     
     
         
         Pairing
-        
+        Appairage
     
     
         
         Broadcast
-        
+        Diffusion
     
     
         
         Broadcast Address
-        
+        Adresse Diffusion
     
     
         
         12345678
-        12345678
+        
     
     
         
         %v dBm
-        
+        %v dBm
     
     
         
         -100dB
-        
+        
     
     
         
         Status
-        Statut
+        Statut
     
     
         
         Firmware Ver.
-        
+        Version Firm.
     
     
         
         Serial Number
-        
+        Numéro Série
     
     
         
         The modems serial number
-        
+        Le numéro de série du modem
     
     
         
         Device ID
-        
+        ID Appareil
     
     
         
         Pair ID
-        
+        ID Appairage
     
     
         
         90ABCDEF
-        
+        
     
     
         
         Min Frequency
-        
+        Fréquence Mini
     
     
         
         The modems minimum allowed frequency
-        
+        La fréquence modem minimale autorisée
     
     
         
         Max Frequency
-        
+        Fréquence Maxi
     
     
         
         The modems maximum allowed frequency
-        
+        La fréquence modem maximale autorisée
     
     
         
         Freq. Step Size
-        
+        Taille Saut Fréq.
     
     
         
         The modems minimum frequency step size
-        
+        La taille minimale du saut de fréauence du modem
     
     
         
         Freq. Band
-        
+        Bande Fréquence
     
     
         
         The current frequency band
-        
+        La bande de fréquences actuelle
     
     
         
         RSSI
-        
+        
     
     
         
         Rx AFC
-        
+        AFC Rx
     
     
         
         TX Rate (B/s)
-        
+        Débit TX (B/s)
     
     
         
         RX Rate (B/s)
-        
+        Débit RX (B/s)
     
     
         
         Link State
-        
+        Etat Liaison
     
     
         
         The modems current state
-        
+        L'état actuel du modem
     
     
         
         Disconnected
-        
+        Déconnecté
     
     
         
         Errors
-        
+        Erreurs
     
     
         
         Retries
-        
+        Essais
     
     
         
         UAVTalk Errors
-        
+        Erreurs UAVTalk
     
     
         
@@ -10210,157 +10211,157 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Configuration
-        Configuration
+        Configuration
     
     
         
         Telemetry Port Config.
-        
+        Config. Port Télémétrie
     
     
         
         Set the telemetry port configuration
-        
+        Régler la configuration du port de télémétrie
     
     
         
         Telemetry Port Speed
-        
+        Vitesse Port Télémétrie
     
     
         
         Set the telemetry port speed
-        
+        Régler la vitesse du port de télémétrie
     
     
         
         Flexi Port Configuration
-        
+        Configuration FlexiPort
     
     
         
         Set the flexi port configuration
-        
+        Régler la configuration du FlexiPort
     
     
         
         Flexi Port Speed
-        
+        Vitesse FlexiPort
     
     
         
         Set the flexi port speed
-        
+        Régler la vitesse du FlexiPort
     
     
         
         VCP Configuration
-        
+        Configuration VCP
     
     
         
         Set the virtual serial port configuration
-        
+        Régler la configuration du port série virtuel
     
     
         
         VCP Speed
-        
+        Vitesse VCP
     
     
         
         Set the virtual serial port speed
-        
+        Régler la vitesse du port série virtuel
     
     
         
         Max RF Datarate (bits/s)
-        
+        Débit Données Maxi HF (bits/s)
     
     
         
         Set the maximum RF datarate/channel bandwidth the modem will use
-        
+        Régler le débit de données HF maxi / canal bande-passante utilisée par le modem
     
     
         
         Max RF Tx Power(mW)
-        
+        Puissance HF Tx Maxi (mW)
     
     
         
         Set the maximum TX output power the modem will use
-        
+        Régler la puissance TX maximale utilisée par le modem
     
     
         
         Send Timeout (ms)
-        
+        Temps de Latence Envoi (ms)
     
     
         
         Calibrate the modems RF carrier frequency
-        
+        Ajuster la fréquence de porteuse du modem
     
     
         
         Min Packet Size
-        
+        Taille Paquet Mini
     
     
         
         Frequency Calibration
-        
+        Calibration Fréquence
     
     
         
         Frequency (Hz)
-        
+        Fréquence (Hz)
     
     
         
         Set the modems RF carrier frequency
-        
+        Régler la fréquence de la porteuse HF du modem
     
     
         
         AES Encryption
-        
+        Cryptage AES
     
     
         
         The AES encryption key - has to be the same key on the remote modem.
-        
+        La clé d'encryptage AES - doit être la même clé sur le modem distant. 
     
     
         
         Radomise the AES encryption key
-        
+        Rendre aléatoire la clé de cryptage AES
     
     
         
          Rand
-        
+         Aléatoire
     
     
         
         Enable/Disable AES encryption
-        
+        Active / Désactive le cryptage AES
     
     
         
         Enable
-        
+        Activé
     
     
         
         Scan whole band to see where their is interference and/or used channels
-        
+        Balayer toute la bande pour voir les interférences et/ou les canaux utilisés
     
     
         
             Scan Spectrum    
-        
+        Balayage Bande
     
 
 
@@ -10437,7 +10438,7 @@ Méfiez-vous de ne pas vous verrouiller l'accès distant !
     
         
         #1: Multi-Point Calibration
-        
+        #1 : Calibration Multi-Points
     
     
         
@@ -10447,7 +10448,7 @@ Méfiez-vous de ne pas vous verrouiller l'accès distant !
     
         
         Launch a sensor range and bias calibration.
-        
+        Lancer la calibration de la plage et des ajustements capteurs.
     
     
         
@@ -10467,14 +10468,16 @@ Méfiez-vous de ne pas vous verrouiller l'accès distant !
     
         
         #2: Sensor noise calibration
-        
+        #2 . Calibration du bruit capteur
     
     
         
         These are the sensor variance values computed by the AHRS.
 
 Tip: lower is better!
-        
+        Ce sont les valeurs de variation calculées par le AHRS
+
+Astuce : le plus bas est le meilleur !
     
     
         
@@ -10488,17 +10491,17 @@ Astuce : Faites-le avec le moteur en vitesse de croisière.
     
         
         #3: Accelerometer Bias calibration
-        
+        #3 : Calibration ajustement accéléromètres
     
     
         
         #4 Gyro temperature drift calibration
-        
+        #4: Calibration dérive en température Gyro
     
     
         
         Temp:
-        
+        Temp :
     
     
         
@@ -10510,7 +10513,9 @@ Astuce : Faites-le avec le moteur en vitesse de croisière.
         Currently measured temperature on the system. This is actually the
 MB temperature, be careful if somehow you know that your INS
 temperature is very different from your MB temp...
-        
+        Température mesurée actuellement sur le système. C'est actuellement 
+la température MB, soyez prudent si vous savez que votre température INS
+est très différente de votre température MB...
     
     
         
@@ -10520,12 +10525,12 @@ temperature is very different from your MB temp...
     
         
         Current drift:
-        
+        Dérive actuelle :
     
     
         
         Saved drift:
-        
+        Dérive enregistrée :
     
     
         
@@ -10543,7 +10548,7 @@ TODO: is this necessary? Measurement could be auto updated every second or so, o
     
         
         Measure
-        
+        Mesurer
     
     
         
@@ -10737,7 +10742,7 @@ specific calibration button on top of the screen.
         
         Slowly raise Proportional until you start seeing clear oscillations when you fly.
 Then lower the value by 5 or so.
-        Augmentez doucement Prportionnel jusqu'à commencer à observer des 
+        Augmentez doucement Proportionnel jusqu'à commencer à observer des 
 oscillations claires en vol. Baissez ensuite la valeur de 5 ou plus.
     
     
@@ -11267,17 +11272,17 @@ Useful if you have accidentally changed some settings.
     
         
         TxPID
-        
+        
     
     
         
         Tx PID
-        
+        
     
     
         
         Module Control
-        
+        Contrôle du Module
     
     
         
@@ -11289,32 +11294,39 @@ can be read via GCS and saved permanently. Then this module should be
 disabled again.
 
 Up to 3 separate PID options (or option pairs) can be selected and updated.
-        
+        Ce module mettra régulièrement à jour les valeurs des paramètres PID de stabilisation
+configurés en fonction de canaux de contrôle d'entrée. Les nouvelles valeurs des paramètres
+de stabilisation ne sont pas enregistrés dans la flash, mais mis à jour dans la mémoire RAM.
+Il est prévu que le module soit activé uniquement pour les réglages. Lorsque les valeurs 
+désirées sont trouvés, elles peuvent être lues via GCS et sauvegardées de manière permanente.
+Ensuite, ce module devrait être à nouveau désactivé.
+
+Jusqu'à 3 options distinctes (PID ou paires d'options) peuvent être sélectionnées et mises à jour. 
     
     
         
         Enable TxPID module
-        
+        Activer module TxPID
     
     
         
         After enabling the module, you must power cycle before using and configuring.
-        
+        Après activation du module, vous devez redémarrer la carte avant de l'utiliser et le configurer.
     
     
         
         Module Settings
-        
+        Paramètres Module
     
     
         
         PID option
-        
+        Option PID
     
     
         
         Control Source
-        
+        Source Contrôle
     
     
         
@@ -11329,13 +11341,14 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.
         
         Instance 1
-        
+        Réglage 1
     
     
         
         Select PID option or option pair to update.
 Set to Disabled if not used.
-        
+        Sélectionner l'option PID ou une paire d'options PID à actualiser.
+Réglé à Disabled si non utilisé.
     
     
         
@@ -11353,34 +11366,49 @@ accordingly.
 Note that it is possible to set PID Min > Max. In that case increasing
 control input value will decrease the PID option value. This can be
 used, for instance, to decrease PID value when increasing Throttle.
-        
+        Sélectionner l'entrée utilisé comme source de contrôle pour ce réglage
+Cela peut être un des canaux Accessoires ou la commande des gaz.
+
+Si un canal Accessoire est choisi alors sa plage [0..1] sera associée à 
+la plage PID [Mini..Maxi) définie pour ce réglage.
+
+Si la commande des gaz est choisie alors la plage [0..1] sera associée 
+la plage PID [Mini..Maxi) définie pour ce réglage. Si les gaz dépassent 
+les limites alors les valeurs PID Mini et Maxi seront utilisées en conséquence.
+
+Notez qu'il est possible de définir un PID Mini > Maxi. Dans ce cas en augmentant 
+la valeur de contrôle en entrée la valeur de loption PID diminue. Cela peut être
+utilisé par exemple pour diminuer la valeur PID lors de l'augmentation des gaz.
+
     
     
         
         Minimum PID value mapped to Accessory channel = 0 or
 Throttle channel lesser or equal to Throttle Min value.
-        
+        Valeur Minimale du PID associée à la valeur 0 du canal d'Accessoire ou
+d'une valeur de gaz inférieure ou égale à la la valeur minimale des gaz.
     
     
         
         Maximum PID value mapped to Accessory channel = 1 or
 Throttle channel greater or equal to Throttle Max value.
-        
+        Valeur Maximale du PID associée à la valeur 1 du canal d'Accessoire ou
+d'une valeur de gaz supérieure ou égale à la la valeur maximale des gaz.
     
     
         
         Instance 2
-        
+        Réglage 2
     
     
         
         Instance 3
-        
+        Réglage 3
     
     
         
         Update Mode
-        
+        Mode Mise à Jour
     
     
         
@@ -11394,22 +11422,31 @@ tricky to change other PID values from the GUI if the module is enabled
 and constantly updates stabilization settings object. As a workaround,
 this option can be used to temporarily disable updates or enable them
 only when system is armed without disabling the module.
-        
+        Mode de mise à jour des valeurs PID qui peut être réglé à :
+- Never : ceci désactive les mises à jour PID (mais le module continue de fonctionner, si activé,)
+- When Armed : Les PID sont mis à jours lorsque le système est armé,
+- Always : les PID sont toujours mis à jour, indépendamment de l'état d'armement.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.
     
     
         
         Throttle Range
-        
+        Plage Gaz
     
     
         
         Throttle channel lower bound mapped to PID Min value
-        
+        Seuil inférieur des gaz associé à la valeur PID minimale
     
     
         
         Throttle channel upper bound mapped to PID Max value
-        
+        Seuil supérieur des gaz associé à la valeur PID maximale
     
     
         
@@ -11420,7 +11457,7 @@ only when system is armed without disabling the module.
         
         button:help
         Pas toucher.
-        
+        
     
     
         
@@ -11669,7 +11706,7 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         send data
-        Envoi données
+        envoi données
     
     
         
@@ -11694,7 +11731,7 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         Armed
-        Armé
+        
     
     
         
@@ -13367,7 +13404,7 @@ p, li { white-space: pre-wrap; }
     
         
         Calibration timed out before receiving required updates.
-        
+        Temps d'attente dépassé avant d'avoir reçu les mises à jour demandées.
     
 
 
@@ -13834,27 +13871,27 @@ Move the %1 stick.
     
         
         Unable to open file
-        
+        Impossible d'ouvrir le fichier
     
     
         
         File Parsing Failed.
-        Echec Parsing Fichier.
+        Echec Analyse Fichier.
     
     
         
         This file is not a correct XML file
-        
+        Ce fichier n'est pas un fichier XML valide
     
     
         
         Wrong file contents
-        Mauvais contenu de fichier
+        Mauvais contenu de fichier
     
     
         
         This file does not contain correct UAVSettings
-        Ce fichier ne contient pas de paramètres UAV corrects
+        Ce fichier ne contient pas de paramètres UAV valides
     
 
 
@@ -13899,7 +13936,7 @@ Move the %1 stick.
     
         
         Log filename
-        
+        Fichier de journal
     
     
         
@@ -13941,7 +13978,7 @@ Move the %1 stick.
     
         
         Calibration timed out before receiving required updates.
-        
+        Temps d'attente dépassé avant d'avoir reçu les mises à jour demandées.
     
 
 
@@ -14108,12 +14145,12 @@ Move the %1 stick.
     
         
         Legacy ESC (50 Hz)
-        
+        Variateur Classique (50Hz)
     
     
         
         Rapid ESC (400 Hz)
-        
+        Variateur Rapide (400Hz)
     
 
 
@@ -14130,48 +14167,48 @@ Move the %1 stick.
         
         
         Done!
-        
+        Terminé !
     
     
         
         
         Failed!
-        
+        Echoué !
     
     
         
         Writing hardware settings
-        
+        Ecriture paramètres matériels
     
     
         
         Writing actuator settings
-        
+        Ecriture paramètres actionneurs
     
     
         
         Writing flight mode settings
-        
+        Ecriture paramètres mode vol
     
     
         
         Writing gyro and accelerometer bias settings
-        
+        Ecriture paramètres d'ajustement gyro et accéléromètres
     
     
         
         Writing stabilization settings
-        
+        Ecriture paramètres de stabilisation
     
     
         
         Writing mixer settings
-        
+        Ecriture paramètres mixer
     
     
         
         Writing vehicle settings
-        
+        Ecriture paramètres véhicule
     
     
         

From b6852a0e2b18abd1d423c20092fb68124af4630a Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Mon, 21 Jan 2013 00:30:15 +0100
Subject: [PATCH 16/36] Little changes in French

---
 .../translations/openpilotgcs_fr.ts           | 76 ++++++++++++-------
 1 file changed, 47 insertions(+), 29 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 2ac5feb18..269d3803d 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -2750,7 +2750,7 @@ Mise à Jour
     
         
         Form
-        Formulaire
+        Formulaire
     
     
         
@@ -10131,7 +10131,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Freq. Step Size
-        Taille Saut Fréq.
+        Valeur Saut Fréquence
     
     
         
@@ -10912,7 +10912,8 @@ value as the Kp.
         
         As a rule of thumb, you can set the Ki at roughly the same
 value as the Kp.
-        
+        En règle générale, vous pouvez définir l'intégrale 
+à peu près à la même valeur que Kp.
     
     
         
@@ -10920,13 +10921,17 @@ value as the Kp.
 Then lower the value by 20% or so.
 
 You can usually go for higher values for Yaw factors.
-        
+        Augmentez doucement Proportionnel jusqu'à commencer à observer des 
+oscillations claires en vol. Baissez ensuite la valeur de 20% ou plus.
+
+Vous pouvez généralement utiliser pour des valeurs plus élevées pour les facteurs de Yaw.
     
     
         
         Slowly raise Kp until you start seeing clear oscillations when you fly.
 Then lower the value by 20% or so.
-        
+        Augmentez doucement Proportionnel jusqu'à commencer à observer des 
+oscillations claires en vol. Baissez ensuite la valeur de 20% ou plus.
     
     
         
@@ -11422,16 +11427,16 @@ tricky to change other PID values from the GUI if the module is enabled
 and constantly updates stabilization settings object. As a workaround,
 this option can be used to temporarily disable updates or enable them
 only when system is armed without disabling the module.
-        Mode de mise à jour des valeurs PID qui peut être réglé à :
+        Mode de mise à jour des valeurs PID qui peut être réglé à :
 - Never : ceci désactive les mises à jour PID (mais le module continue de fonctionner, si activé,)
-- When Armed : Les PID sont mis à jours lorsque le système est armé,
+- When Armed : Les PID sont mis à jour lorsque le système est armé,
 - Always : les PID sont toujours mis à jour, indépendamment de l'état d'armement.
 
-Since the GCS updates GUI PID values in real time on change, could be
-tricky to change other PID values from the GUI if the module is enabled
-and constantly updates stabilization settings object. As a workaround,
-this option can be used to temporarily disable updates or enable them
-only when system is armed without disabling the module.
+Puisque la mise à jour des valeurs PID se fait en temps réel lors des changements, il peut-être
+difficile de changer les valeurs PID à partir de l'interface graphique si le module est activé
+et actualise les paramètres de stabilisation. Pour contourner ce problème,
+cette option peut être utilisée pour désactiver temporairement les mises à jour ou les permettre
+uniquement lorsque le système est armé, sans désactiver le module.
     
     
         
@@ -12018,22 +12023,34 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Ensure your board is powered down &amp; no LED's are active.</p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When you are ready you can start the upgrade below by pushing the button and follow the onscreen prompts, it is critical that nothing disturbs the board while the firmware is being written.</p></body></html>
-        
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head><meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Assistant de Mise à Jour Firmware</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Il est nécessaire d'avoir la même version de firmware et de logiciel de station au sol (GCS).</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Pour mettre à jour la version correcte de firmware maintenant :</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Débrancher toutes les batteries et le cordon USB de la carte</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> - Vérifier que la carte n'est pas alimentée et qu'aucune LED n'est allumée.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Lorsque vous êtes prêt vous pouvez démarrer la mise à jour en appuyant sur le bouton ci-dessous et suivre les intructions à l'écran. Il est essentiel que rien ne vienne perturber le fonctionnement de la carte tant que le firmware est en cours d'écriture.</p></body></html>
     
     
         
         Upgrade now
-        
+        Mettre à jour maintenant
     
     
         
         Upgrade
-        
+        Mettre à Jour
     
     
         
         Ready...
-        Prêt...
+        Prêt...
     
 
 
@@ -12867,17 +12884,17 @@ p, li { white-space: pre-wrap; }
     
         
         Show MetaData
-        Afficher Metadata
+        Afficher Metadata
     
     
         
         Show Categorized
-        Afficher par Catégories
+        Afficher par Catégories
     
     
         
         Show Scientific
-        Afficher Scientifique
+        Afficher Scientifique
     
 
 
@@ -13100,19 +13117,19 @@ persistant de la carte, et ensuite ferme la boite de dialogue.
     
         
         Custom Firmware Build
-        
+        Version Firmware Personnelle
     
     
         
         
         Tagged officially released firmware build
-        
+        Firmware certifié OpenPilot, publié officellement
     
     
         
         
         Untagged or custom firmware build
-        
+        Firmware non-certifié ou version personnelle
     
     
         
@@ -13137,12 +13154,13 @@ persistant de la carte, et ensuite ferme la boite de dialogue.
     
         
         The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)
-        
+        Le firmware chargé n'est certifié ou est une version personnelle. Mettez à jour uniquement si
+vous l'avez reçue d'une source sûre (site web officiel ou votre propre version)
     
     
         
         This is the tagged officially released OpenPilot firmware
-        
+        Ceci est un firmware certifié OpenPilot, publié officellement
     
     
         
@@ -13181,7 +13199,7 @@ persistant de la carte, et ensuite ferme la boite de dialogue.
     
         
         TextLabel
-        Label de texte
+        
     
     
         
@@ -13206,17 +13224,17 @@ persistant de la carte, et ensuite ferme la boite de dialogue.
     
         
         Tagged officially released firmware build
-        
+        Firmware certifié OpenPilot, publié officellement
     
     
         
         Untagged or custom firmware build
-        
+        Firmware non-certifié ou version personnelle
     
     
         
         Custom Firmware Build
-        
+        Version Firmware Personnelle
     
 
 
@@ -14239,7 +14257,7 @@ Move the %1 stick.
     
         
         Displays flight system errors. Click on an alarm for more information.
-        Affiche les erreurs du système de vol. Cliquer sur une alarme pour plus d'informations.
+        Affiche les erreurs du système de vol. Cliquer sur une alarme pour plus d'informations.
     
 
 

From 0c77a2b374354359f4bc787750eed9d46687d70e Mon Sep 17 00:00:00 2001
From: Platypus 
Date: Thu, 31 Jan 2013 00:09:01 +0100
Subject: [PATCH 17/36] =?UTF-8?q?Premi=C3=A8res=20corrections=20et=20sugge?=
 =?UTF-8?q?stions?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Platypus 
---
 .../translations/openpilotgcs_fr.ts           | 94 ++++++++++---------
 1 file changed, 50 insertions(+), 44 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 269d3803d..7ebe9feae 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -6,7 +6,8 @@
     
         
         Failed to load core: %1
-        Échec dans le chargement du core : %1
+        [Platypus] core-> noyau
+        Échec dans le chargement du noyau : %1
     
     
         
@@ -16,12 +17,13 @@
     
         
         Could not find 'Core.pluginspec' in %1
-        'Core.pluginspec' introuvable dans %1
+        [Platypus]Ajout de "est"
+        'Core.pluginspec' est introuvable dans %1
     
     
         
         OpenPilot GCS - Plugin loader messages
-        Openpilot GCS - Messages du chargeur de plugins
+        Openpilot GCS - Messages du chargeur de modules complémentaires
     
 
 
@@ -37,7 +39,7 @@
     
         
         General settings
-        Réglages généraux
+        Paramètres généraux
     
     
         
@@ -131,7 +133,7 @@
     
         
         &Tools
-        O&utils
+        O&utils
     
     
         
@@ -151,7 +153,7 @@
     
         
         Ctrl+Shift+S
-        Ctrl+Shift+S
+        Ctrl+Maj+S
     
     
         
@@ -171,7 +173,7 @@
     
         
         Save &GCS Default Settings
-        Enregistrer Paramètres GCS par &Défaut
+        Enregistrer les paramètres GCS par &Défaut
     
     
         
@@ -188,7 +190,7 @@
         
         
         &Redo
-        Re&faire
+        Réta&blir
     
     
         
@@ -218,7 +220,7 @@
     
         
         Minimize
-        Minimiser
+        Réduire
     
     
         
@@ -233,7 +235,7 @@
     
         
         Edit Gadgets Mode
-        Editer Mode Gadgets
+        Editer le Mode des Gadgets
     
     
         
@@ -243,12 +245,13 @@
     
         
         Meta+Shift
-        
+        [Platypus]pomme pour Mac ?
+        Win+Maj
     
     
         
         Ctrl+Shift
-        
+        Ctrl+Maj
     
     
         
@@ -258,7 +261,7 @@
     
         
         %1+Down
-        
+        %1+Fl^che du bas
     
     
         
@@ -268,17 +271,17 @@
     
         
         %1+Right
-        
+        %1+Flêche du haut
     
     
         
         Close Current View
-        Fermer Vue Actuelle
+        Fermer la Vue Actuelle
     
     
         
         %1+C
-        
+        %1+C
     
     
         
@@ -288,17 +291,17 @@
     
         
         %1+A
-        
+        %1+A
     
     
         
         Goto Next View
-        Aller Vue Suivante
+        Aller à laVue Suivante
     
     
         
         %1+N
-        
+        %1+N
     
     
         
@@ -308,7 +311,8 @@
     
         
         About &Plugins...
-        À propos des &Plugins...
+        [Platypus]Trop long ?
+        À propos des &Modules complémentaires...
     
     
         
@@ -349,18 +353,18 @@
     
         
         Installed Plugins
-        Plugins installés
+        Modules complémentaires installés
     
     
         
         Plugin Details of %1
         Détail sur le plugin %1 ?
-        Détails du plugin %1
+        Détails du module complémentaire %1
     
     
         
         Plugin Errors of %1
-        Erreurs du plugin %1
+        Erreurs du module complémentaire %1
     
 
 
@@ -378,7 +382,8 @@
     
         
         Import Keyboard Mapping Scheme
-        Importer le mapping clavier
+        [Platypus]Je pense qu'il y a meilleure traduction pour mapping
+        Importer le mapping clavier
     
     
         
@@ -415,7 +420,7 @@
     
         
         <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
-        <h3>Station de Contrôle au Sol (GCS)</h3>Révision GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
+        <h3>Station de Contrôle au Sol OpenPilot(GCS)</h3>Révision de GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. Tout droits réservés.<br/><br/><small>Ce programme est un logiciel libre; vous pouvez le redistribuer et/ou le modifier<br/>dans le cadre des termes de la license GNU General Public License publiée par<br/>the Free Software Foundation; soit à la version 3 de la License, ou<br/>(en option) à une version ultérieure.<br/><br/>Le programme est fourni EN L'ÉTAT sans GARANTIE DE QUELCONQUE TYPE, COMPRENANT LA GRARANTIE DE DESIGN, DE COMMERCIALISATION ET D'ERGONOMIE POUR UN USAGE PARTICULIER.</small>
     
 
 
@@ -436,7 +441,7 @@
     
         
         TextLabel
-        Label de texte
+        Étiquette de texte
     
     
         
@@ -449,7 +454,7 @@
     
         
         The class name must not contain namespace delimiters.
-        Le nom de classe ne doit pas contenir de délimiteur d'espace de nommage.
+        Le nom de laclasse ne doit pas contenir de délimiteur d'espace de nommage.
     
     
         
@@ -459,7 +464,7 @@
     
         
         The class name contains invalid characters.
-        Le nom de classe contient des caractères invalides.
+        Le nom de la classe contient des caractères invalides.
     
 
 
@@ -487,7 +492,8 @@
     
         
         Unexpected output from helper program.
-        Sortie imprévue du logiciel externe.
+        [Platypus]Helper = externe ?
+        Arrêt imprévu du logiciel externe.
     
     
         
@@ -502,7 +508,7 @@
     
         
         Cannot start the terminal emulator '%1'.
-        Impossible de démarrer l'émulateur de terminal '%1'.
+        Impossible de démarrer le terminal de l'émulateur '%1'.
     
     
         
@@ -522,7 +528,7 @@
     
         
         Cannot obtain exit status from inferior: %1
-        Impossible d'obtenir la valeur de retour du processus : %1
+        Impossible d'obtenir l'état de retour du processus : %1
     
 
 
@@ -530,22 +536,22 @@
     
         
         The name must not be empty
-        Le nom ne peut pas être vide
+        Le nom ne doit pas être vide
     
     
         
         The name must not contain any of the characters '%1'.
-        Le nom ne peut pas contenir un des caractères suivant : '%1'.
+        Le nom ne doit pas contenir un des caractères suivants : '%1'.
     
     
         
         The name must not contain '%1'.
-        Le nom ne peut pas contenir '%1'.
+        Le nom ne doit pas contenir '%1'.
     
     
         
         The name must not match that of a MS Windows device. (%1).
-        Le nom ne peut pas correspondre à un périphérique MS Windows. (%1).
+        Le nom ne doit pas correspondre à un périphérique MS Windows. (%1).
     
 
 
@@ -554,8 +560,8 @@
         
         %1: canceled. %n occurrences found in %2 files.
         
-            %1 : annulé. %n entrée trouvée dans %2 fichiers.
-            %1 : annulé. %n entrées trouvées dans %2 fichiers.
+            %1 : annulé. %n entrée trouvée dans %2 fichiers.
+            %1 : annulé. %n entrées trouvées dans %2 fichiers.
         
     
     
@@ -569,9 +575,9 @@
     
         
         %1: %n occurrences found in %2 of %3 files.
-        
-            %1 : %n occurence trouvé dans %2 de %3 fichiers.
-            %1 : %n occurences trouvés dans %2 de %3 fichiers.
+        
+            %1 : %n occurence trouvée dans %2 de %3 fichiers.
+            %1 : %n occurences trouvées dans %2 de %3 fichiers.
         
     
 
@@ -615,22 +621,22 @@
     
         
         Invalid base class name
-        Nom de la classe parente invalide
+        Nom de la classe parente incorrect
     
     
         
         Invalid header file name: '%1'
-        Nom du fichier d'en-tête invalide : '%1'
+        Nom du fichier d'en-tête incorrect : '%1'
     
     
         
         Invalid source file name: '%1'
-        Nom du fichier source invalide : '%1'
+        Nom du fichier source incorrect : '%1'
     
     
         
         Invalid form file name: '%1'
-        Nom du fichier d'interface invalide : '%1'
+        Nom du fichier d'interface incorrect : '%1'
     
     
         

From 6806e895cc611153873326bf6924c9258e2c1efe Mon Sep 17 00:00:00 2001
From: Cliff Geerdes 
Date: Wed, 30 Jan 2013 18:57:32 -0500
Subject: [PATCH 18/36] First version.  Passes simple tests.

---
 flight/Modules/Actuator/actuator.c            | 16 ++++---
 flight/Modules/CameraStab/camerastab.c        | 45 +++++++++++++++++--
 .../src/plugins/config/camerastabilization.ui |  4 +-
 .../configcamerastabilizationwidget.cpp       |  8 ++--
 shared/uavobjectdefinition/cameradesired.xml  |  4 +-
 .../camerastabsettings.xml                    |  4 +-
 shared/uavobjectdefinition/mixersettings.xml  |  4 +-
 7 files changed, 65 insertions(+), 20 deletions(-)

diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c
index 06d217770..f63c829b4 100644
--- a/flight/Modules/Actuator/actuator.c
+++ b/flight/Modules/Actuator/actuator.c
@@ -206,7 +206,11 @@ static void actuatorTask(void* parameters)
 
 		// Check how long since last update
 		thisSysTime = xTaskGetTickCount();
-		if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
+        // reuse dt in case of wraparound
+        // todo (theothercliff thinks this might be needed):
+        //  if dT actually matters...
+        //  fix it to know max value and subtract for currently correct dT on wrap
+		if(thisSysTime > lastSysTime)
 			dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
 		lastSysTime = thisSysTime;
 
@@ -328,17 +332,17 @@ static void actuatorTask(void* parameters)
 					status[ct] = -1;
 			}
 
-			if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLL) &&
+			if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLLORSERVO1) &&
 			   (mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW))
 			{
 				CameraDesiredData cameraDesired;
 				if( CameraDesiredGet(&cameraDesired) == 0 ) {
 					switch(mixers[ct].type) {
-						case MIXERSETTINGS_MIXER1TYPE_CAMERAROLL:
-							status[ct] = cameraDesired.Roll;
+						case MIXERSETTINGS_MIXER1TYPE_CAMERAROLLORSERVO1:
+							status[ct] = cameraDesired.RollOrServo1;
 							break;
-						case MIXERSETTINGS_MIXER1TYPE_CAMERAPITCH:
-							status[ct] = cameraDesired.Pitch;
+						case MIXERSETTINGS_MIXER1TYPE_CAMERAPITCHORSERVO2:
+							status[ct] = cameraDesired.PitchOrServo2;
 							break;
 						case MIXERSETTINGS_MIXER1TYPE_CAMERAYAW:
 							status[ct] = cameraDesired.Yaw;
diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index 23d283e9c..c2eeea647 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -161,6 +161,12 @@ static void attitudeUpdated(UAVObjEvent* ev)
 				(float)SAMPLE_PERIOD_MS;
 	csd->lastSysTime = thisSysTime;
 
+    // storage for elevon roll component before the pitch component has been generated
+    // we are guaranteed that the iteration order of i is roll pitch yaw
+    // that guarnteees this won't be used uninited, but the compiler doesn't know that
+    // so we init it or turn the warning/error off for each compiler
+    float elevon_roll = 0.0;
+
 	// process axes
 	for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
 
@@ -212,14 +218,47 @@ static void attitudeUpdated(UAVObjEvent* ev)
 			applyFeedForward(i, dT_millis, &attitude, &cameraStab);
 #endif
 
-		// set output channels
+        // bounding for elevon mixing occurs on the unmixed output
+        // to limit the range of the mixed output you must limit the range
+        // of both the unmixed pitch and unmixed roll
 		float output = bound((attitude + csd->inputs[i]) / cameraStab.OutputRange[i], 1.0f);
+
+		// set output channels
 		switch (i) {
 		case CAMERASTABSETTINGS_INPUT_ROLL:
-			CameraDesiredRollSet(&output);
+            // we are guaranteed that the iteration order of i is roll pitch yaw
+            // for elevon mixing we simply grab the value for later use
+            if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
+                elevon_roll = output;
+            }
+            else {
+    			CameraDesiredRollOrServo1Set(&output);
+            }
 			break;
 		case CAMERASTABSETTINGS_INPUT_PITCH:
-			CameraDesiredPitchSet(&output);
+            // we are guaranteed that the iteration order of i is roll pitch yaw
+            // for elevon mixing we use the value we previously grabbed and set both s1 and s2
+            if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
+                float elevon_pitch;
+                elevon_pitch = output;
+                output = (elevon_pitch + elevon_roll) / 2;
+    			CameraDesiredRollOrServo1Set(&output);
+                // elevon reversing works like this:
+                // first use the normal reversing facilities to get servo 1 working in the correct direction
+                //   for both roll and pitch
+                // then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
+                if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
+                    elevon_roll = 1.0 - elevon_roll;
+                }
+                if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
+                    elevon_pitch = 1.0 - elevon_pitch;
+                }
+                output = (elevon_pitch - elevon_roll) / 2;
+    			CameraDesiredPitchOrServo2Set(&output);
+            }
+            else {
+    			CameraDesiredPitchOrServo2Set(&output);
+            }
 			break;
 		case CAMERASTABSETTINGS_INPUT_YAW:
 			CameraDesiredYawSet(&output);
diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
index 91d6e15b7..3b6226c85 100755
--- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui
@@ -340,7 +340,7 @@ font: bold 12px;
 margin:1px;
                 
                 
-                 Pitch
+                 Pitch Or Servo2
                 
                 
                  Qt::AlignCenter
@@ -369,7 +369,7 @@ font: bold 12px;
 margin:1px;
                 
                 
-                 Roll
+                 Roll Or Servo1
                 
                 
                  Qt::AlignCenter
diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
index 06d742d28..621c5b032 100644
--- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
@@ -155,7 +155,7 @@ void ConfigCameraStabilizationWidget::refreshWidgetsValues(UAVObject *obj)
         // Then search for any mixer channels set to this
         outputs[i]->setCurrentIndex(0);
         for (int j = 0; j < NUM_MIXERS; j++)
-            if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i) &&
+            if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i) &&
                     outputs[i]->currentIndex() != (j + 1))
                 outputs[i]->setCurrentIndex(j + 1);
     }
@@ -219,7 +219,7 @@ void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
 
             if ((mixerNum >= 0) && // Short circuit in case of none
                 (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED) &&
-                (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i) ) {
+                (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i) ) {
                 // If the mixer channel already mapped to something, it should not be
                 // used for camera output, we reset it to none
                 outputs[i]->setCurrentIndex(0);
@@ -230,13 +230,13 @@ void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
             } else {
                 // Make sure no other channels have this output set
                 for (int j = 0; j < NUM_MIXERS; j++)
-                    if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i))
+                    if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i))
                         *mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;
 
                 // If this channel is assigned to one of the outputs that is not disabled
                 // set it
                 if ((mixerNum >= 0) && (mixerNum < NUM_MIXERS))
-                    *mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLL + i;
+                    *mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i;
             }
         }
     } while(widgetUpdated);
diff --git a/shared/uavobjectdefinition/cameradesired.xml b/shared/uavobjectdefinition/cameradesired.xml
index 7d9cdbe64..c842edf2a 100644
--- a/shared/uavobjectdefinition/cameradesired.xml
+++ b/shared/uavobjectdefinition/cameradesired.xml
@@ -1,8 +1,8 @@
 
     
         Desired camera outputs.  Comes from @ref CameraStabilization module.
-        
-        
+        
+        
         
         
         
diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml
index 478c74269..1fd8889c7 100644
--- a/shared/uavobjectdefinition/camerastabsettings.xml
+++ b/shared/uavobjectdefinition/camerastabsettings.xml
@@ -8,11 +8,13 @@
         
         
         
-        
+        
         
         
         
         
+        
+        
         
         
         
diff --git a/shared/uavobjectdefinition/mixersettings.xml b/shared/uavobjectdefinition/mixersettings.xml
index ffbc067f9..f5a114f95 100644
--- a/shared/uavobjectdefinition/mixersettings.xml
+++ b/shared/uavobjectdefinition/mixersettings.xml
@@ -27,8 +27,8 @@
 			
 			
 			
-			
-			
+			
+			
 			
 			
 			

From 3dd37e51b24ae1e51b877891792f3b4c81290874 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Thu, 31 Jan 2013 01:23:39 +0100
Subject: [PATCH 19/36] Small corrections, spaces.

---
 .../openpilotgcs/translations/openpilotgcs_fr.ts | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 7ebe9feae..7d03dc517 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -133,7 +133,7 @@
     
         
         &Tools
-        O&utils
+        O&utils
     
     
         
@@ -190,7 +190,7 @@
         
         
         &Redo
-        Réta&blir
+        Réta&blir
     
     
         
@@ -220,7 +220,7 @@
     
         
         Minimize
-        Réduire
+        Réduire
     
     
         
@@ -261,7 +261,7 @@
     
         
         %1+Down
-        %1+Fl^che du bas
+        %1+Flèche du bas
     
     
         
@@ -271,7 +271,7 @@
     
         
         %1+Right
-        %1+Flêche du haut
+        %1+Flèche du haut
     
     
         
@@ -296,7 +296,7 @@
     
         
         Goto Next View
-        Aller à laVue Suivante
+        Aller à la Vue Suivante
     
     
         
@@ -383,7 +383,7 @@
         
         Import Keyboard Mapping Scheme
         [Platypus]Je pense qu'il y a meilleure traduction pour mapping
-        Importer le mapping clavier
+        Importer le Mapping Clavier
     
     
         
@@ -420,7 +420,7 @@
     
         
         <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
-        <h3>Station de Contrôle au Sol OpenPilot(GCS)</h3>Révision de GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. Tout droits réservés.<br/><br/><small>Ce programme est un logiciel libre; vous pouvez le redistribuer et/ou le modifier<br/>dans le cadre des termes de la license GNU General Public License publiée par<br/>the Free Software Foundation; soit à la version 3 de la License, ou<br/>(en option) à une version ultérieure.<br/><br/>Le programme est fourni EN L'ÉTAT sans GARANTIE DE QUELCONQUE TYPE, COMPRENANT LA GRARANTIE DE DESIGN, DE COMMERCIALISATION ET D'ERGONOMIE POUR UN USAGE PARTICULIER.</small>
+        <h3>Station de Contrôle au Sol OpenPilot (GCS)</h3>Révision de GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. Tout droits réservés.<br/><br/><small>Ce programme est un logiciel libre ; vous pouvez le redistribuer et/ou le modifier<br/>dans le cadre des termes de la license GNU General Public License publiée par<br/>la Free Software Foundation; soit à la version 3 de la License, ou<br/>(en option) à une version ultérieure.<br/><br/>Le programme est fourni EN L'ÉTAT sans GARANTIE DE QUELCONQUE TYPE, COMPRENANT LA GARANTIE DE DESIGN, DE COMMERCIALISATION ET D'ERGONOMIE POUR UN USAGE PARTICULIER.</small>
     
 
 

From 21bb408c21c2bf49c59da2d212f6261eaecb4ebc Mon Sep 17 00:00:00 2001
From: Platypus 
Date: Thu, 31 Jan 2013 09:24:50 +0100
Subject: [PATCH 20/36] Quelques corrections et modifications - Any corrections
 and modifications

Signed-off-by: Platypus 
---
 .../translations/openpilotgcs_fr.ts           | 60 +++++++++++--------
 1 file changed, 34 insertions(+), 26 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 7d03dc517..ac8049f8e 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -664,7 +664,8 @@
     
         
         Choose...
-        Choisir...
+        [Platypus]On utilise plus sélectionner en français je crois
+        Sélectionner...
     
     
         
@@ -674,6 +675,7 @@
     
         
         Choose a directory
+        [Platypus]Comme là en fait
         Sélectionner un répertoire
     
     
@@ -684,7 +686,7 @@
     
         
         The path must not be empty.
-        Le chemin ne peut pas être vide.
+        Le chemin ne doit pas être vide.
     
     
         
@@ -727,7 +729,7 @@
     
         
         Clear
-        Effacer tout
+        Effacer
     
     
         
@@ -765,7 +767,7 @@
     
         
         A file with that name already exists.
-        Un fichier existe déjà avec ce nom.
+        Ce nom de fichier existe déjà.
     
 
 
@@ -773,7 +775,7 @@
     
         
         The name must not contain the '.'-character.
-        Le nom ne peut pas contenir le caractère '.'.
+        Le nom ne doit pas contenir le caractère '.'.
     
 
 
@@ -781,7 +783,7 @@
     
         
         Subversion Submit
-        Submit Subversion
+        Soumettre la Subversion
     
     
         
@@ -799,7 +801,7 @@
     
         
         Choose the location
-        Choisir l'emplacement
+        Sélectionner l'emplacement
     
     
         
@@ -817,12 +819,13 @@
     
         
         File Changed
-        Fichier modifié
+        Fichier Modifié
     
     
         
         The unsaved file %1 has been changed outside Qt Creator. Do you want to reload it and discard your changes?
-        Le fichier %1 n'est pas enregistré et a été modifé en dehors de Qt Creator. Voulez-vous le recharger et ignorer vos changements ?
+        [Platypus]Recharger -> ouvrir cette version ?
+        Le fichier %1 n'est pas enregistré et a été modifé en dehors de Qt Creator. Voulez-vous le charger à nouveau et ignorer vos changements ?
     
     
         
@@ -865,13 +868,13 @@
     
         
         Copyright:
-        Droit d'auteur ?
+        Droit d'auteur ? [Platypus]oui pour moi même si peu utilisé
         Copyright :
     
     
         
         License:
-        Licence :
+        License :
     
     
         
@@ -912,7 +915,7 @@
     
         
         Error parsing file %1: %2, at line %3, column %4
-        Erreur pendant l'analyse du fichier %1 : %2, ligne %3, colonne %4
+        Erreur pendant l'analyse du fichier %1 : %2, à la ligne %3, et la colonne %4
     
 
 
@@ -953,7 +956,7 @@
     
         
         Description file found, but error on read
-        Fichier de description trouvé, mais erreur de lecture
+        Fichier de description trouvé, mais il y a des erreurs à la lecture
     
     
         
@@ -968,6 +971,7 @@
     
         
         Resolved
+        [Platypus]Féminin peut-être ?
         Résolu
     
     
@@ -978,6 +982,7 @@
     
         
         Loaded
+        [Platypus]Féminin peut-être ?
         Chargé
     
     
@@ -988,12 +993,13 @@
     
         
         Initialized
+        [Platypus]Féminin peut-être ?
         Initialisé
     
     
         
         Plugin's initialization method succeeded
-        Méthode d'initialisation du plugin réussie
+        Méthode d'initialisation du module complémentaire réussie
     
     
         
@@ -1003,7 +1009,7 @@
     
         
         Plugin successfully loaded and running
-        Plugin correctement chargé et démarré
+        Module complémentaire correctement chargé et démarré
     
     
         
@@ -1013,7 +1019,7 @@
     
         
         Plugin was shut down
-        Plugin arrêté
+        Module complémentaire arrêté
     
     
         
@@ -1023,7 +1029,8 @@
     
         
         Plugin ended its life cycle and was deleted
-        Le plugin a terminé son cycle de vie et a été supprimé
+        [Platypus]Je pense qu'il existe une meilleur traduction de cycle de vie
+        Le module complémentaire a terminé son cycle de vie et a été supprimé
     
 
 
@@ -1032,7 +1039,7 @@
         
         Circular dependency detected:
 
-        Dépendance circulaire détecté :
+        Dépendance circulaire détectée :
 
     
     
@@ -1050,15 +1057,15 @@
     
         
         Cannot load plugin because dependencies are not resolved
-        Impossible de charger le plugin car les dépendances ne sont pas résolues
+        Impossible de charger le module complémentaire car les dépendances ne sont pas résolues
     
     
         
         
         Cannot load plugin because dependency failed to load: %1(%2)
 Reason: %3
-        Impossible de charger le plugin car une des dépendances n'a pas pu être chargé : %1(%2)
-Raison : %3
+        Impossible de charger le module complémentaire car une des dépendances n'a pas pu être chargée : %1(%2)
+Raison : %3
     
 
 
@@ -1068,27 +1075,28 @@ Raison : %3
         
         
         MainWindow
-        
+        FenêtrePrincipale
     
     
         
         Go
-        
+        [Platypus]Féminin peut-être ?
+        Y aller
     
     
         
         Current File:
-        
+        Fichier en cours :
     
     
         
         Current Path:
-        
+        Emplacement en cours :
     
     
         
         Choose Path
-        
+        Sélectionnez un empplacement
     
     
         

From 5e2aeeea76658b14f79cc6623540043f46904de8 Mon Sep 17 00:00:00 2001
From: Cliff Geerdes 
Date: Thu, 31 Jan 2013 05:38:10 -0500
Subject: [PATCH 21/36] Fixed tab stops in two c files.

---
 flight/Modules/Actuator/actuator.c     |  8 +--
 flight/Modules/CameraStab/camerastab.c | 78 +++++++++++++-------------
 2 files changed, 43 insertions(+), 43 deletions(-)

diff --git a/flight/Modules/Actuator/actuator.c b/flight/Modules/Actuator/actuator.c
index f63c829b4..4f341d936 100644
--- a/flight/Modules/Actuator/actuator.c
+++ b/flight/Modules/Actuator/actuator.c
@@ -206,10 +206,10 @@ static void actuatorTask(void* parameters)
 
 		// Check how long since last update
 		thisSysTime = xTaskGetTickCount();
-        // reuse dt in case of wraparound
-        // todo (theothercliff thinks this might be needed):
-        //  if dT actually matters...
-        //  fix it to know max value and subtract for currently correct dT on wrap
+		// reuse dt in case of wraparound
+		// todo:
+		//  if dT actually matters...
+		//  fix it to know max value and subtract for currently correct dT on wrap
 		if(thisSysTime > lastSysTime)
 			dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
 		lastSysTime = thisSysTime;
diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index c2eeea647..5bff857ef 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -161,11 +161,11 @@ static void attitudeUpdated(UAVObjEvent* ev)
 				(float)SAMPLE_PERIOD_MS;
 	csd->lastSysTime = thisSysTime;
 
-    // storage for elevon roll component before the pitch component has been generated
-    // we are guaranteed that the iteration order of i is roll pitch yaw
-    // that guarnteees this won't be used uninited, but the compiler doesn't know that
-    // so we init it or turn the warning/error off for each compiler
-    float elevon_roll = 0.0;
+	// storage for elevon roll component before the pitch component has been generated
+	// we are guaranteed that the iteration order of i is roll pitch yaw
+	// that guarnteees this won't be used uninited, but the compiler doesn't know that
+	// so we init it or turn the warning/error off for each compiler
+	float elevon_roll = 0.0;
 
 	// process axes
 	for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
@@ -218,47 +218,47 @@ static void attitudeUpdated(UAVObjEvent* ev)
 			applyFeedForward(i, dT_millis, &attitude, &cameraStab);
 #endif
 
-        // bounding for elevon mixing occurs on the unmixed output
-        // to limit the range of the mixed output you must limit the range
-        // of both the unmixed pitch and unmixed roll
+		// bounding for elevon mixing occurs on the unmixed output
+		// to limit the range of the mixed output you must limit the range
+		// of both the unmixed pitch and unmixed roll
 		float output = bound((attitude + csd->inputs[i]) / cameraStab.OutputRange[i], 1.0f);
 
 		// set output channels
 		switch (i) {
 		case CAMERASTABSETTINGS_INPUT_ROLL:
-            // we are guaranteed that the iteration order of i is roll pitch yaw
-            // for elevon mixing we simply grab the value for later use
-            if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
-                elevon_roll = output;
-            }
-            else {
-    			CameraDesiredRollOrServo1Set(&output);
-            }
+			// we are guaranteed that the iteration order of i is roll pitch yaw
+			// for elevon mixing we simply grab the value for later use
+			if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
+				elevon_roll = output;
+			}
+			else {
+				CameraDesiredRollOrServo1Set(&output);
+			}
 			break;
 		case CAMERASTABSETTINGS_INPUT_PITCH:
-            // we are guaranteed that the iteration order of i is roll pitch yaw
-            // for elevon mixing we use the value we previously grabbed and set both s1 and s2
-            if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
-                float elevon_pitch;
-                elevon_pitch = output;
-                output = (elevon_pitch + elevon_roll) / 2;
-    			CameraDesiredRollOrServo1Set(&output);
-                // elevon reversing works like this:
-                // first use the normal reversing facilities to get servo 1 working in the correct direction
-                //   for both roll and pitch
-                // then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
-                if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
-                    elevon_roll = 1.0 - elevon_roll;
-                }
-                if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
-                    elevon_pitch = 1.0 - elevon_pitch;
-                }
-                output = (elevon_pitch - elevon_roll) / 2;
-    			CameraDesiredPitchOrServo2Set(&output);
-            }
-            else {
-    			CameraDesiredPitchOrServo2Set(&output);
-            }
+			// we are guaranteed that the iteration order of i is roll pitch yaw
+			// for elevon mixing we use the value we previously grabbed and set both s1 and s2
+			if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
+				float elevon_pitch;
+				elevon_pitch = output;
+				output = (elevon_pitch + elevon_roll) / 2;
+				CameraDesiredRollOrServo1Set(&output);
+				// elevon reversing works like this:
+				// first use the normal reversing facilities to get servo 1 working in the correct direction
+				//   for both roll and pitch
+				// then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
+				if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
+					elevon_roll = 1.0 - elevon_roll;
+				}
+				if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
+					elevon_pitch = 1.0 - elevon_pitch;
+				}
+				output = (elevon_pitch - elevon_roll) / 2;
+				CameraDesiredPitchOrServo2Set(&output);
+			}
+			else {
+				CameraDesiredPitchOrServo2Set(&output);
+			}
 			break;
 		case CAMERASTABSETTINGS_INPUT_YAW:
 			CameraDesiredYawSet(&output);

From cc8bb5dc5e413c96e12449aee54df2f6e55502df Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Thu, 31 Jan 2013 11:51:03 +0100
Subject: [PATCH 22/36] Erreur de frappe

---
 .../openpilotgcs/translations/openpilotgcs_fr.ts      | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index ac8049f8e..cc6814583 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -971,7 +971,7 @@
     
         
         Resolved
-        [Platypus]Féminin peut-être ?
+        [Platypus]Féminin peut-être ? [soh]Concerne les plugins > masculin
         Résolu
     
     
@@ -982,7 +982,7 @@
     
         
         Loaded
-        [Platypus]Féminin peut-être ?
+        [Platypus]Féminin peut-être ? [soh]Concerne les plugins > masculin
         Chargé
     
     
@@ -993,7 +993,7 @@
     
         
         Initialized
-        [Platypus]Féminin peut-être ?
+        [Platypus]Féminin peut-être ? [soh]Concerne les plugins > masculin
         Initialisé
     
     
@@ -1075,7 +1075,7 @@ Raison : %3
         
         
         MainWindow
-        FenêtrePrincipale
+        Fenêtre Principale
     
     
         
@@ -1096,7 +1096,8 @@ Raison : %3
     
         
         Choose Path
-        Sélectionnez un empplacement
+        Bouton dans formulaire > taille. Par certain que ce soit utiisé par Gcs : form. QT
+        Chemin
     
     
         

From dfdd074997005726ad00923827627903f03131c7 Mon Sep 17 00:00:00 2001
From: Platypus 
Date: Fri, 1 Feb 2013 17:55:13 +0100
Subject: [PATCH 23/36] Working progress...

Signed-off-by: Platypus 
---
 .../share/openpilotgcs/translations/openpilotgcs_fr.ts        | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index ac8049f8e..eb9dedfd7 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -1101,12 +1101,12 @@ Raison : %3
     
         
         Created #IF statements
-        
+        Créer #IF statements
     
     
         
         Create NameSpace
-        
+        Créer un NomEspace
     
     
         

From 8104ae25dda7a0cc41f11bef115eef43f111b732 Mon Sep 17 00:00:00 2001
From: Cliff Geerdes 
Date: Sun, 3 Feb 2013 19:02:34 -0500
Subject: [PATCH 24/36] OP-824 Add CameraStab Elevon-type mixing. Redo servo
 reversing.

---
 flight/Modules/CameraStab/camerastab.c        | 28 +++++++++++++------
 .../camerastabsettings.xml                    |  2 +-
 2 files changed, 20 insertions(+), 10 deletions(-)

diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index 5bff857ef..51d6c2561 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -241,19 +241,29 @@ static void attitudeUpdated(UAVObjEvent* ev)
 			if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
 				float elevon_pitch;
 				elevon_pitch = output;
-				output = (elevon_pitch + elevon_roll) / 2;
-				CameraDesiredRollOrServo1Set(&output);
 				// elevon reversing works like this:
-				// first use the normal reversing facilities to get servo 1 working in the correct direction
-				//   for both roll and pitch
-				// then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
-				if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
-					elevon_roll = 1.0 - elevon_roll;
+				//   first use the normal reversing facilities to get servo 1 roll working in the correct direction
+				//   then use the normal reversing facilities to get servo 2 roll working in the correct direction
+				//   then use these new reversing switches to reverse servo 1 and/or 2 pitch as needed
+				// if servo 1 pitch is reversed 
+				if (cameraStab.ElevonSSGServo1PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO1PITCHREVERSE_TRUE) {
+					// use (reversed pitch) + roll
+					output = ((1.0 - elevon_pitch) + elevon_roll) / 2;
 				}
+				else {
+					// use pitch + roll
+					output = (elevon_pitch + elevon_roll) / 2;
+				}
+				CameraDesiredRollOrServo1Set(&output);
+				// if servo 2 pitch is reversed 
 				if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
-					elevon_pitch = 1.0 - elevon_pitch;
+					// use (reversed pitch) - roll
+					output = ((1.0 - elevon_pitch) - elevon_roll) / 2;
+				}
+				else {
+					// use pitch - roll
+					output = (elevon_pitch - elevon_roll) / 2;
 				}
-				output = (elevon_pitch - elevon_roll) / 2;
 				CameraDesiredPitchOrServo2Set(&output);
 			}
 			else {
diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml
index 1fd8889c7..6cc387e5c 100644
--- a/shared/uavobjectdefinition/camerastabsettings.xml
+++ b/shared/uavobjectdefinition/camerastabsettings.xml
@@ -13,7 +13,7 @@
         
         
         
-        
+        
         
         
         

From 866f6359a61dc6ed40f01fa9b7107aecab9493ab Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Thu, 7 Feb 2013 18:33:25 +0100
Subject: [PATCH 25/36] =?UTF-8?q?Errors=20corrected,=20thanks=20to=20Jo?=
 =?UTF-8?q?=C3=ABl=20(eyesonsky)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../translations/openpilotgcs_fr.ts           | 60 +++++++++----------
 1 file changed, 30 insertions(+), 30 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index cc6814583..5c79eb936 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -819,13 +819,13 @@
     
         
         File Changed
-        Fichier Modifié
+        Fichier Modifié
     
     
         
         The unsaved file %1 has been changed outside Qt Creator. Do you want to reload it and discard your changes?
         [Platypus]Recharger -> ouvrir cette version ?
-        Le fichier %1 n'est pas enregistré et a été modifé en dehors de Qt Creator. Voulez-vous le charger à nouveau et ignorer vos changements ?
+        Le fichier %1 n'est pas enregistré et a été modifié en dehors de Qt Creator. Voulez-vous le charger à nouveau et ignorer vos changements ?
     
     
         
@@ -1316,7 +1316,7 @@ Raison : %3
     
         
         '%1' misses attribute '%2'
-        L'attribute '%1' est manquant pour '%2'
+        L'attribut '%1' est manquant pour '%2'
     
     
         
@@ -1386,7 +1386,7 @@ Raison : %3
     
         
         Internal error: have no plugin instance to perform extensionsInitialized
-        Erreur interne: aucune instance de l'extention sur laquelle exécuter extensionsInitialized
+        Erreur interne : aucune instance de l'extension sur laquelle exécuter extensionsInitialized
     
 
 
@@ -1407,7 +1407,7 @@ Raison : %3
     
         
         Keyboard Shortcuts
-        Rarccourcis clavier
+        Raccourcis clavier
     
     
         
@@ -1779,7 +1779,7 @@ p, li { white-space: pre-wrap; }
     
         
         Refresh rate
-        Fréquence de raffraichissement
+        Fréquence de rafraîchissement
     
     
         
@@ -2615,7 +2615,7 @@ p, li { white-space: pre-wrap; }
     
         
         Update Interval:
-        Intervale de MAJ :
+        Intervalle de MAJ :
     
     
         
@@ -6171,7 +6171,7 @@ Mise à Jour
     
         
         Reload the map tiles
-        Recherger les dalles de la carte
+        Recharger les dalles de la carte
     
     
         
@@ -6192,7 +6192,7 @@ Mise à Jour
     
         
         Copy the mouse latitude to the clipboard
-        Copier la latitude de saouris dans le presse-papier
+        Copier la latitude de la souris dans le presse-papier
     
     
         
@@ -7502,12 +7502,12 @@ Le SNR du satellite est affiche au-dessus (en dBHz)
     
         
         Frame Type
-        Type de Chassis
+        Type de Châssis
     
     
         
         Select the Multirotor frame type here.
-        Sélectionner ici le type de chassis de Multirotor.
+        Sélectionner ici le type de châssis de Multirotor.
     
     
         
@@ -9538,7 +9538,7 @@ p, li { white-space: pre-wrap; }
 on your remote. It shows currently active flight mode.
 
 Setup the flight mode channel on the RC Input tab if you have not done so already.
-        Le curseur se déplace lorque vous bougez l'inter de mode de vol sur votre radiocommande.
+        Le curseur se déplace lorsque vous bougez l'inter de mode de vol sur votre radiocommande.
 Il affiche le mode actif actuellement.
 
 Configurez le canal de mode de vol dans l'onglet Entrées RC si vous ne l'avez pas déjà fait.
@@ -9564,13 +9564,13 @@ It will be 2 or 3 for most of setups, but it also can be up to 6.
 In that case you have to configure your radio mixers so the whole range
 from min to max is split into N equal intervals, and you may set arbitrary
 channel value for each flight mode.
-        Nombre de positions de votre interrupteur Mode de Vol.
+        Nombre de positions de votre interrupteur Mode de Vol.
 
 La valeur par défaut est 3.
 
 Cela peut être 2 ou 3 dans la plupart des configurations, mais cela peut aller jusqu'à 6.
 Dans ce cas vous devez configurer les mixages de votre radio pour que la plage mini à 
-maxi soit divisée en N intervales égaux et ainsi vous pouvez définir une valeur arbitraire 
+maxi soit divisée en N intervalles égaux et ainsi vous pouvez définir une valeur arbitraire 
 du canal de sortie pour chaque mode de vol.
     
     
@@ -9844,7 +9844,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Update rate:
-        Fréquence de raffraichissement :
+        Fréquence de rafraîchissement :
     
     
         
@@ -9898,8 +9898,8 @@ Laisser à 50Hz pour une aile volante.
         Move the servos using the sliders. Two important things:
 - Take extra care if the output is connected to an motor controller!
 - Will only work if the RC receiver is working (failsafe)
-        Déplacer les servos en utilisant les curseurs. Deux choses importantes :
-- Faire très attention si la sortie est branchée sur un controleur de moteur !
+        Déplacer les servos en utilisant les curseurs. Deux choses importantes :
+- Faire très attention si la sortie est branchée sur un contrôleur de moteur !
 - Marche seulement si le récepteur RC est en fonctionnement (par sécurité)
     
     
@@ -10870,7 +10870,7 @@ value as the Kp.
     
         
         When the throttle is low, zero the intergral term to prevent intergral wind-up
-        Quand les gaz sont faibles, mettre à zero le terme intégral pour éviter les secousses
+        Quand les gaz sont faibles, mettre à zéro le terme intégral pour éviter les secousses
     
     
         
@@ -11606,7 +11606,7 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         Available controllers
-        Controleurs disponibles
+        Contrôleurs disponibles
     
     
         
@@ -12258,15 +12258,15 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">The OpenPilot controller supports many different types of input signals. Please select the type of input that matches your receiver configuration. If you are unsure, just leave the default option selected and continue the wizard.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Some input options require the OpenPilot controller to be rebooted before the changes can take place. If an option that requires a reboot is selected, you will be instructed to do so on the next page of this wizard.</span></p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:12pt; font-weight:600;">Configuration de base du signal d'entrée</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;"><br /></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">La carte controleur OpenPilot supporte plusieurs types de signaux d'entrée. Veuillez sélectionner le type d'entrée qui correspond à votre configuration de récepteur. Si vous n'êtes pas certain, laissez juste l'option par défaut sélectionnée et continuez l'assistant.</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">La carte contrôleur OpenPilot supporte plusieurs types de signaux d'entrée. Veuillez sélectionner le type d'entrée qui correspond à votre configuration de récepteur. Si vous n'êtes pas certain, laissez juste l'option par défaut sélectionnée et continuez l'assistant.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Quelques options requièrent un redémarrage du controleur OpenPilot avant que les changements ne prennent effet. Si une option demandant un redémarrage est sélectionnée, cela vous sera demandé de le faire dans la prochaine page de l'assistant.</span></p></body></html>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">Quelques options requièrent un redémarrage du contrôleur OpenPilot avant que les changements ne prennent effet. Si une option demandant un redémarrage est sélectionnée, cela vous sera demandé de le faire dans la prochaine page de l'assistant.</span></p></body></html>
     
     
         
@@ -12351,7 +12351,7 @@ p, li { white-space: pre-wrap; }
         
         An OpenPilot controller must be connected to your computer to perform bias calculations.
 Please connect your OpenPilot controller to your computer and try again.
-        Un controleur OpenPilot doit être connecté à votre PC pour calculer l'ajustement du niveau.
+        Un contrôleur OpenPilot doit être connecté à votre PC pour calculer l'ajustement du niveau.
 Connectez votre carte OpenPilot et essayez à nouveau.
     
     
@@ -12418,7 +12418,7 @@ p, li { white-space: pre-wrap; }
     
         
         The Plus(+) Quadcopter uses four motors and is similar to the X Quadcopter but the forward direction is offset by 45 degrees. The motors front and rear rotate in clockwise and the motors right and left rotate counter-clockwise. This setup was one of the first to be used and is still used for sport flying. This configuration is not that well suited for FPV since the fore rotor tend to be in the way of the camera.
-        Le Quadricoptère (+) utilise quatres moteurs et il est similaire au Quadricoptère X mais la direction de déplacement est décalée de 45 degrés. Les moteurs avant et arrière tournent dans le sens horaire et les moteurs gauche et droit tournent dans le sens anti-horaire. Cette configuration a été l'une des premières à être utilisée et est encore utilisée pour le vol sportif. Cette agencement n'est pas bien adapté pour que FPV car le moteur de devant a tendance à être dans le champ de vision de la caméra.
+        Le Quadricoptère (+) utilise quatre moteurs et il est similaire au Quadricoptère X mais la direction de déplacement est décalée de 45 degrés. Les moteurs avant et arrière tournent dans le sens horaire et les moteurs gauche et droit tournent dans le sens anti-horaire. Cette configuration a été l'une des premières à être utilisée et est encore utilisée pour le vol sportif. Cette agencement n'est pas bien adapté pour que FPV car le moteur de devant a tendance à être dans le champ de vision de la caméra.
     
     
         
@@ -12566,7 +12566,7 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Please select one of the options below. If you are unsure about the capabilities of your ESCs, just leave the default option selected and continue the wizard.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">To read more regarding ESC refresh rates, please see </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">this article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> in the OpenPilot Wiki</span></p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;">
@@ -12576,7 +12576,7 @@ p, li { white-space: pre-wrap; }
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Veuillez sélectionner une des options ci-dessous. Si vous n'êtes pas certain des capacités de vos variateurs laissez juste l'option par défaut sélectionnée et continuez l'assistant.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;"></p>
-<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Pour en savoir plus à propos des fréquences de raffraichissement des variateurs, veuillez consulter </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">cet article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> sur le Wiki OpenPilot (en anglais)</span></p></body></html>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;">Pour en savoir plus à propos des fréquences de rafraîchissement des variateurs, veuillez consulter </span><a href="http://wiki.openpilot.org/x/HIEu"><span style=" text-decoration: underline; color:#0000ff;">cet article</span></a><span style=" font-family:'MS Shell Dlg 2'; font-size:10pt;"> sur le Wiki OpenPilot (en anglais)</span></p></body></html>
     
     
         
@@ -12689,7 +12689,7 @@ p, li { white-space: pre-wrap; }
     
         
         Write configuration to controller
-        Ecrire la configuration dans le controleur
+        Ecrire la configuration dans le contrôleur
     
     
         
@@ -12705,7 +12705,7 @@ p, li { white-space: pre-wrap; }
         
         An OpenPilot controller must be connected to your computer to save the configuration.
 Please connect your OpenPilot controller to your computer and try again.
-        Un controleur OpenPilot doit être connecté à votre PC pour enregistrer la configuration.
+        Un contrôleur OpenPilot doit être connecté à votre PC pour enregistrer la configuration.
 Connectez votre carte OpenPilot et essayez à nouveau.
     
 
@@ -13180,7 +13180,7 @@ vous l'avez reçue d'une source sûre (site web officiel ou votre prop
     
         
         WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing
-        ATTENTION : le firmware chargé n'est pas empaquetté avec le format OpenPilot. Ne le mettez pas à jour, à moins de savoir ce que vous faites
+        ATTENTION : le firmware chargé n'est pas empaqueté avec le format OpenPilot. Ne le mettez pas à jour, à moins de savoir ce que vous faites
     
     
         
@@ -13754,7 +13754,7 @@ Move the %1 stick.
     
         
         Controller
-        Controleur
+        Contrôleur
     
 
 

From 6d4e8e465701bfd2ac85603fbd45de79be8f86c1 Mon Sep 17 00:00:00 2001
From: Cliff Geerdes 
Date: Thu, 7 Feb 2013 18:27:59 -0500
Subject: [PATCH 26/36] OP-824 Feedforward fix, 0.0f, coding style, and var
 name changes.

---
 flight/Modules/CameraStab/camerastab.c        | 35 ++++++++-----------
 .../camerastabsettings.xml                    |  6 ++--
 2 files changed, 18 insertions(+), 23 deletions(-)

diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c
index 51d6c2561..12915be68 100644
--- a/flight/Modules/CameraStab/camerastab.c
+++ b/flight/Modules/CameraStab/camerastab.c
@@ -165,7 +165,7 @@ static void attitudeUpdated(UAVObjEvent* ev)
 	// we are guaranteed that the iteration order of i is roll pitch yaw
 	// that guarnteees this won't be used uninited, but the compiler doesn't know that
 	// so we init it or turn the warning/error off for each compiler
-	float elevon_roll = 0.0;
+	float elevon_roll = 0.0f;
 
 	// process axes
 	for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
@@ -228,45 +228,39 @@ static void attitudeUpdated(UAVObjEvent* ev)
 		case CAMERASTABSETTINGS_INPUT_ROLL:
 			// we are guaranteed that the iteration order of i is roll pitch yaw
 			// for elevon mixing we simply grab the value for later use
-			if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
+			if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ROLLPITCHMIXED)
 				elevon_roll = output;
-			}
-			else {
+			else
 				CameraDesiredRollOrServo1Set(&output);
-			}
 			break;
 		case CAMERASTABSETTINGS_INPUT_PITCH:
 			// we are guaranteed that the iteration order of i is roll pitch yaw
 			// for elevon mixing we use the value we previously grabbed and set both s1 and s2
-			if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
-				float elevon_pitch;
-				elevon_pitch = output;
+			if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ROLLPITCHMIXED) {
+				float elevon_pitch = output;
 				// elevon reversing works like this:
 				//   first use the normal reversing facilities to get servo 1 roll working in the correct direction
 				//   then use the normal reversing facilities to get servo 2 roll working in the correct direction
 				//   then use these new reversing switches to reverse servo 1 and/or 2 pitch as needed
 				// if servo 1 pitch is reversed 
-				if (cameraStab.ElevonSSGServo1PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO1PITCHREVERSE_TRUE) {
+				if (cameraStab.Servo1PitchReverse == CAMERASTABSETTINGS_SERVO1PITCHREVERSE_TRUE) {
 					// use (reversed pitch) + roll
-					output = ((1.0 - elevon_pitch) + elevon_roll) / 2;
-				}
-				else {
+					output = ((1.0f - elevon_pitch) + elevon_roll) / 2.0f;
+				} else {
 					// use pitch + roll
-					output = (elevon_pitch + elevon_roll) / 2;
+					output = (elevon_pitch + elevon_roll) / 2.0f;
 				}
 				CameraDesiredRollOrServo1Set(&output);
 				// if servo 2 pitch is reversed 
-				if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
+				if (cameraStab.Servo2PitchReverse == CAMERASTABSETTINGS_SERVO2PITCHREVERSE_TRUE) {
 					// use (reversed pitch) - roll
-					output = ((1.0 - elevon_pitch) - elevon_roll) / 2;
-				}
-				else {
+					output = ((1.0f - elevon_pitch) - elevon_roll) / 2.0f;
+				} else {
 					// use pitch - roll
-					output = (elevon_pitch - elevon_roll) / 2;
+					output = (elevon_pitch - elevon_roll) / 2.0f;
 				}
 				CameraDesiredPitchOrServo2Set(&output);
-			}
-			else {
+			} else {
 				CameraDesiredPitchOrServo2Set(&output);
 			}
 			break;
@@ -294,6 +288,7 @@ void applyFeedForward(uint8_t index, float dT_millis, float *attitude, CameraSta
 
 	switch (cameraStab->GimbalType) {
 	case CAMERASTABSETTINGS_GIMBALTYPE_GENERIC:
+	case CAMERASTABSETTINGS_GIMBALTYPE_ROLLPITCHMIXED:
 		// no correction
 		break;
 	case CAMERASTABSETTINGS_GIMBALTYPE_YAWROLLPITCH:
diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml
index 6cc387e5c..0a3626183 100644
--- a/shared/uavobjectdefinition/camerastabsettings.xml
+++ b/shared/uavobjectdefinition/camerastabsettings.xml
@@ -8,13 +8,13 @@
         
         
         
-        
+        
         
         
         
         
-        
-        
+        
+        
         
         
         

From b5af81c8bf3e11225d2e856d00b45a9894bba405 Mon Sep 17 00:00:00 2001
From: Platypus 
Date: Fri, 8 Feb 2013 10:50:24 +0100
Subject: [PATCH 27/36] Apport de traduction sur ConfigInputWidget

Signed-off-by: Platypus 
---
 .../translations/openpilotgcs_fr.ts           | 54 +++++++++++--------
 1 file changed, 31 insertions(+), 23 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index f02e4946d..920f73955 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -13461,12 +13461,12 @@ p, li { white-space: pre-wrap; }
         
         
         Arming Settings are now set to 'Always Disarmed' for your safety.
-        Les Paramètres d'Armement sont à présent réglés à 'Toujours Désarmé' pour votre sécurité.
+        Pour des raisons de sécurité le Réglage de l'Armement a été modifié à  'Toujours Désarmé'.
     
     
         
         You will have to reconfigure the arming settings manually when the wizard is finished. After the last step of the wizard you will be taken to the Arming Settings screen.
-        Vous devrez reconfigurer manuellement les paramètres d'armement lorsque l'assistant sera terminé. Après la dernière étape vous serez dirigé sur l'écran Paramètres d'Armement.
+        Vous devrez reconfigurer manuellement les paramètres d'armement lorsque l'assistant sera terminé. Après la dernière étape de l'assistant, vous serez redirigé sur l'écran des Paramètres d'Armement.
     
     
         
@@ -13477,10 +13477,10 @@ Make sure you already configured your hardware settings on the proper tab and re
 
 You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.
 
-        Bienvenue sur l'assistant de configuration des entrées.
+        Bienvenu(e) dans l'assistant de configuration des entrées.
 
-Veuillez suivre les instructions à l'écran et uniquement bouger les commandes lorsque on vous le demande.
-Soyez certain d'avoir déjà configuré vos paramètres matériels dans l'onglet approprié et redémarré votre carte.
+Veuillez suivre les instructions à l'écran et bouger les commandes uniquement lorsque demandé.
+Vérifiez que vous avez déjà bien configuré vos paramètres matériels dans l'onglet correspondant et redémarré votre carte.
 
 Vous pouvez appuyer à tout moment sur 'Précédent' pour revenir à l'écran précédent ou appuyer sur 'Annuler' pour quitter l'assistant.
     
@@ -13492,6 +13492,7 @@ Vous pouvez appuyer à tout moment sur 'Précédent' pour revenir à l
     
         
         Acro: normal transmitter for fixed-wing or quad
+        [Platypus]mettre quadicopter ?
         Acro : émetteur normal pour une aile ou un quad
     
     
@@ -13502,65 +13503,66 @@ Vous pouvez appuyer à tout moment sur 'Précédent' pour revenir à l
     
         
         If selecting the Helicopter option, please engage throttle hold now.
-        please engage throttle hold now... à confirmer !
+        please engage throttle hold now... à confirmer ! [Platypus] Ca me semble bien
         Si vous avez sélectionné l'option Hélicoptère, veuillez enclencher et maintenir les gaz.
     
     
         
         Please choose your transmitter mode:
-        Veuillez choisir votre mode de pilotage :
+        [Platypus] Préférence sur le mot sélectionner
+        Veuillez sélectionner votre mode de pilotage :
     
     
         
         Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right
-        
+        Mode 1 : Rotation Avant/Arrière et Lacet à gauche, Gaz/Collectif et Rotation Droite/Gauche à droite
     
     
         
         Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right
-        
+        Mode 2 : Gaz/Collectif et Lacet à gauche, Rotations à droite
     
     
         
         Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right
-        
+        Mode 3 : Rotations à gauche, Gaz/Collectif et Lacet à droite
     
     
         
         Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right
-        
+        Mode 4 : Gaz/Collectif et Rotation Droite/Gauche, Rotation Avant/Arrière et Lacet à droite
     
     
         
         Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right
-        
+        Mde 1 : Élevation et Gouvernail, Gaz et Ailerons à droite
     
     
         
         Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right
-        
+        Mode 2 : Gaz et Gouvernail à gauche, Élévation et Ailerons à la droite
     
     
         
         Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right
-        
+        Mode 3 : Élevation et Ailerons à gauche, Gaz et Gouvernail à droite
     
     
         
         Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right
-        
+        Mode 4 : Gaz et Ailerons à gauche, Élevation et Gouvernail à droite
     
     
         
         For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw.
-        Pour un Quad : Profondeur correspond à Pitch, Ailerons à Roll et Dérive correspond à Yaw.
+        Pour un Quadricopter : Profondeur correspond à la ROtation Avant, Ailerons à Roulis et Gouvernail correspond à Lacet.
     
     
         
         Please center all controls and trims and press Next when ready.
 
 If your FlightMode switch has only two positions, leave it in either position.
-        Veuillez centrer tous les manches et trims et appuyer sur Suivant lorsque vous êtes prêt.
+        Veuillez positionner tous les manches et compensateurs en position centrale et appuyer sur Suivant lorsque vous êtes prêt.
 
 Si votre interrupteur de Mode de Vol a seulement deux positions, laissez-le dans n'importe quelle position. 
     
@@ -13592,15 +13594,17 @@ IMPORTANT : Ces nouveaux paramètres ne sont pas encore enregistrés sur la cart
         Please enable throttle hold mode.
 
 Move the Collective Pitch stick.
-        hélico ? à traduire
-        
+        hélico ? à traduire [Platypus] Ca convient ?
+        Veuillez activer les gaz en position maintenue.
+
+Bouger le manche du Collectif de tangage
     
     
         
         Please toggle the Flight Mode switch.
 
 For switches you may have to repeat this rapidly.
-        Veuillez activer l'interrupteur Mode de Vol.
+        Veuillez activer l'interrupteur de Mode de Vol.
 
 Pour les interrupteurs vous pourriez avoir à répéter l'opération rapidement.
     
@@ -13610,19 +13614,23 @@ Pour les interrupteurs vous pourriez avoir à répéter l'opération rapide
 
 Move the Throttle stick.
         hélico ? à traduire
-        
+        Veuillez désactiver les gaz en position maintenue.
+
+Bouger le manche des Gaz.
     
     
         
         Please move each control one at a time according to the instructions and picture below.
 
 Move the %1 stick.
-        Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l'image ci-dessous. Bougez le manche %1.
+        Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l'image ci-dessous
+
+ Bougez le manche %1.
     
     
         
          Alternatively, click Next to skip this channel.
-         Vous avez la possibilité d'appuyer sur Suivant pour ignorer cette voie.
+         Vous avez la possibilité d'appuyer sur Suivant pour ignorer ce canal.
     
     
         

From 24fcc03007a7af78c11d777dc6196d055f9dc066 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Fri, 8 Feb 2013 19:36:15 +0100
Subject: [PATCH 28/36] Minors corrections, improved translations for radio
 mods.

---
 .../translations/openpilotgcs_fr.ts           | 65 +++++++++++++------
 1 file changed, 46 insertions(+), 19 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 920f73955..4604fcb6d 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -1102,7 +1102,8 @@ Raison : %3
     
         
         Created #IF statements
-        Créer #IF statements
+        Created = Créé ?
+        #IF statements créés
     
     
         
@@ -13461,12 +13462,14 @@ p, li { white-space: pre-wrap; }
         
         
         Arming Settings are now set to 'Always Disarmed' for your safety.
-        Pour des raisons de sécurité le Réglage de l'Armement a été modifié à  'Toujours Désarmé'.
+        Contexte : Onglet "Paramètres d'Armement"
+        Pour des raisons de sécurité les Paramètres d'Armement ont été modifiés à 'Toujours Désarmé'.
     
     
         
         You will have to reconfigure the arming settings manually when the wizard is finished. After the last step of the wizard you will be taken to the Arming Settings screen.
-        Vous devrez reconfigurer manuellement les paramètres d'armement lorsque l'assistant sera terminé. Après la dernière étape de l'assistant, vous serez redirigé sur l'écran des Paramètres d'Armement.
+        redirigé vers / sur ?
+        Vous devrez reconfigurer manuellement les paramètres d'armement lorsque l'assistant sera terminé. Après la dernière étape de l'assistant, vous serez redirigé vers l'écran des Paramètres d'Armement.
     
     
         
@@ -13515,56 +13518,80 @@ Vous pouvez appuyer à tout moment sur 'Précédent' pour revenir à l
     
         
         Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right
-        Mode 1 : Rotation Avant/Arrière et Lacet à gauche, Gaz/Collectif et Rotation Droite/Gauche à droite
+        Mode pilotage Hélicoptères: (Notice Graupner)
+1: Longitudinal, Anti-couple, à gauche et Moteur/Pas, Latéral, à droite
+2: Moteur/Pas, Anti-couple, à gauche et Longitufinal, Latéral, à doite
+3: Longitudinal, Latéral, à gauche et Moteur/Pas, Anti-couple, à droite
+4: Moteur/Pas, Latéral, à gauche et Longitudinal, Anti-couple, à droite
+
+        Mode 1 : Rotation Avant/Arrière et Anti-Couple à gauche, Gaz/Collectif et Rotation Droite/Gauche à droite
     
     
         
         Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right
-        Mode 2 : Gaz/Collectif et Lacet à gauche, Rotations à droite
+        Mode pilotage Hélicoptères: (Notice Graupner)
+1: Longitudinal, Anti-couple, à gauche et Moteur/Pas, Latéral, à droite
+2: Moteur/Pas, Anti-couple, à gauche et Longitufinal, Latéral, à doite
+3: Longitudinal, Latéral, à gauche et Moteur/Pas, Anti-couple, à droite
+4: Moteur/Pas, Latéral, à gauche et Longitudinal, Anti-couple, à droite
+
+        Mode 2 : Gaz/Collectif et Anti-Couple à gauche, Rotations à droite
     
     
         
         Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right
-        Mode 3 : Rotations à gauche, Gaz/Collectif et Lacet à droite
+        Mode 3 : Rotations à gauche, Gaz/Collectif et Anti-couple à droite
     
     
         
         Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right
-        Mode 4 : Gaz/Collectif et Rotation Droite/Gauche, Rotation Avant/Arrière et Lacet à droite
+        Mode pilotage Hélicoptères: (Notice Graupner)
+1: Longitudinal, Anti-couple, à gauche et Moteur/Pas, Latéral, à droite
+2: Moteur/Pas, Anti-couple, à gauche et Longitufinal, Latéral, à doite
+3: Longitudinal, Latéral, à gauche et Moteur/Pas, Anti-couple, à droite
+4: Moteur/Pas, Latéral, à gauche et Longitudinal, Anti-couple, à droite
+
+        Mode 4 : Gaz/Collectif et Rotation Droite/Gauche, Rotation Avant/Arrière et Anti-couple à droite
     
     
         
         Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right
-        Mde 1 : Élevation et Gouvernail, Gaz et Ailerons à droite
+        Profondeur - Dérive - Gaz - ailerons : mode avion
+        Mode 1 : Profondeur et Dérive à gauche, Gaz et Ailerons à droite
     
     
         
         Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right
-        Mode 2 : Gaz et Gouvernail à gauche, Élévation et Ailerons à la droite
+        Profondeur - Dérive - Gaz - ailerons : mode avion
+        Mode 2 : Gaz et Dérive à gauche, Profondeur et Ailerons à la droite
     
     
         
         Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right
-        Mode 3 : Élevation et Ailerons à gauche, Gaz et Gouvernail à droite
+        Profondeur - Dérive - Gaz - ailerons : mode avion
+        Mode 3 : Profondeur et Ailerons à gauche, Gaz et Dérive à droite
     
     
         
         Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right
-        Mode 4 : Gaz et Ailerons à gauche, Élevation et Gouvernail à droite
+        Profondeur - Dérive - Gaz - ailerons : mode avion
+        Mode 4 : Gaz et Ailerons à gauche, Profondeur et Dérive à droite
     
     
         
         For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw.
-        Pour un Quadricopter : Profondeur correspond à la ROtation Avant, Ailerons à Roulis et Gouvernail correspond à Lacet.
+        Dérive / gouvernail ?
+        Pour un Quadricopter : Profondeur correspond à la Rotation Avant, Ailerons à Roulis et Dérive correspond à Lacet.
     
     
         
         Please center all controls and trims and press Next when ready.
 
 If your FlightMode switch has only two positions, leave it in either position.
-        Veuillez positionner tous les manches et compensateurs en position centrale et appuyer sur Suivant lorsque vous êtes prêt.
+        compensateur (me parle pas bcp) Laisser Trim ? Répétition 'et'.
+        Veuillez positionner tous les manches/trims en position centrale et appuyer sur Suivant lorsque vous êtes prêt.
 
-Si votre interrupteur de Mode de Vol a seulement deux positions, laissez-le dans n'importe quelle position. 
+Si votre interrupteur de Mode de Vol a seulement deux positions, laissez-le dans n'importe quelle position.
     
     
         
@@ -13594,10 +13621,10 @@ IMPORTANT : Ces nouveaux paramètres ne sont pas encore enregistrés sur la cart
         Please enable throttle hold mode.
 
 Move the Collective Pitch stick.
-        hélico ? à traduire [Platypus] Ca convient ?
+        hélico ? à traduire [Platypus] Ca convient ? [soh] A confirmer par un héliqueux.
         Veuillez activer les gaz en position maintenue.
 
-Bouger le manche du Collectif de tangage
+Bougez le manche du Collectif de tangage.
     
     
         
@@ -13616,16 +13643,16 @@ Move the Throttle stick.
         hélico ? à traduire
         Veuillez désactiver les gaz en position maintenue.
 
-Bouger le manche des Gaz.
+Bougez le manche des Gaz.
     
     
         
         Please move each control one at a time according to the instructions and picture below.
 
 Move the %1 stick.
-        Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l'image ci-dessous
+        Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l'image ci-dessous.
 
- Bougez le manche %1.
+Bougez le manche %1.
     
     
         

From b8a6358785dafd38c7d124926699aeb5bf29ef0a Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Fri, 8 Feb 2013 20:01:57 +0100
Subject: [PATCH 29/36] =?UTF-8?q?Corrections=20from=20Jo=C3=ABl=20(Eyesons?=
 =?UTF-8?q?ky)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../translations/openpilotgcs_fr.ts           | 33 ++++++++++---------
 1 file changed, 17 insertions(+), 16 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index 4604fcb6d..a9c783d09 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -105,7 +105,7 @@
     
         
         Use UDP Mirror
-        Utiliser Mirroir UDP
+        Utiliser Miroir UDP
     
     
         
@@ -420,7 +420,7 @@
     
         
         <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
-        <h3>Station de Contrôle au Sol OpenPilot (GCS)</h3>Révision de GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. Tout droits réservés.<br/><br/><small>Ce programme est un logiciel libre ; vous pouvez le redistribuer et/ou le modifier<br/>dans le cadre des termes de la license GNU General Public License publiée par<br/>la Free Software Foundation; soit à la version 3 de la License, ou<br/>(en option) à une version ultérieure.<br/><br/>Le programme est fourni EN L'ÉTAT sans GARANTIE DE QUELCONQUE TYPE, COMPRENANT LA GARANTIE DE DESIGN, DE COMMERCIALISATION ET D'ERGONOMIE POUR UN USAGE PARTICULIER.</small>
+        <h3>Station de Contrôle au Sol OpenPilot (GCS)</h3>Révision de GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. Tout droits réservés.<br/><br/><small>Ce programme est un logiciel libre ; vous pouvez le redistribuer et/ou le modifier<br/>dans le cadre des termes de la licence GNU General Public License publiée par<br/>la Free Software Foundation; soit à la version 3 de la License, ou<br/>(en option) à une version ultérieure.<br/><br/>Le programme est fourni EN L'ÉTAT sans GARANTIE DE QUELCONQUE TYPE, COMPRENANT LA GARANTIE DE DESIGN, DE COMMERCIALISATION ET D'ERGONOMIE POUR UN USAGE PARTICULIER.</small>
     
 
 
@@ -454,7 +454,7 @@
     
         
         The class name must not contain namespace delimiters.
-        Le nom de laclasse ne doit pas contenir de délimiteur d'espace de nommage.
+        Le nom de la classe ne doit pas contenir de délimiteur d'espace de nommage.
     
     
         
@@ -503,7 +503,7 @@
     
         
         Cannot execute '%1': %2
-        Impossible d'éxecuter '%1': %2
+        Impossible d'exécuter '%1': %2
     
     
         
@@ -874,7 +874,7 @@
     
         
         License:
-        License :
+        Licence :
     
     
         
@@ -1725,7 +1725,7 @@ p, li { white-space: pre-wrap; }
         
         
         For receiving data from sim
-        Pour reçevoir les données du simulateur
+        Pour recevoir les données du simulateur
     
     
         
@@ -1747,7 +1747,7 @@ p, li { white-space: pre-wrap; }
         
         
         For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.
-        Pour la communication avec l'ordinateur de simulation via le réseau. Doit-être l'adresse IP d'une des interfaces de l'ordinateur avec GCS.
+        Pour la communication avec l'ordinateur de simulation via le réseau. Doit être l'adresse IP d'une des interfaces de l'ordinateur avec GCS.
     
     
         
@@ -1820,7 +1820,7 @@ p, li { white-space: pre-wrap; }
     
         
         0 - update once, or every N seconds
-        0 - MàJ unique, ou chaque N secondes
+        0 - Mise à jour unique, ou chaque N secondes
     
     
         
@@ -2041,7 +2041,7 @@ p, li { white-space: pre-wrap; }
         
         VBO allow for performance gains for GPUs that support it (most cards).  This may cause cards with faulty drivers to crash.
         Les VBOs (de l'anglais Vertex Buffer Object dont une traduction pourrait être objet tampon de vertex) @Wikipedia
-        VBO permet des gains de performance avec les cartes graphiques le supportant (la plupart). Cela peut entrainer des plantages avec des pilotes défectueux.
+        VBO permet des gains de performance avec les cartes graphiques le supportant (la plupart). Cela peut entraîner des plantages avec des pilotes défectueux.
     
     
         
@@ -10297,7 +10297,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         Set the maximum RF datarate/channel bandwidth the modem will use
-        Régler le débit de données HF maxi / canal bande-passante utilisée par le modem
+        Régler le débit de données HF maxi / canal bande-passante utilisée par le modem
     
     
         
@@ -11212,7 +11212,7 @@ oscillations claires en vol. Baissez ensuite la valeur de 20% ou plus.
         
         Real Time Updates
-        MàJ Temps Réel
+        MAJ Temps Réel
     
     
         
@@ -11368,6 +11368,7 @@ Jusqu'à 3 options distinctes (PID ou paires d'options) peuvent être
         
         Select PID option or option pair to update.
 Set to Disabled if not used.
+        Disabled : dépend d'une liste d'options pas encore traduites.
         Sélectionner l'option PID ou une paire d'options PID à actualiser.
 Réglé à Disabled si non utilisé.
     
@@ -12490,11 +12491,11 @@ p, li { white-space: pre-wrap; }
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Connect all components according to the illustration on the summary page, and provide power using an external power supply such as a battery before continuing.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Depending on what vehicle you have selected, both the motors controlled by ESCs and/or servos controlled directly by the OpenPilot controller may have to be calibrated. The following steps will guide you safely through this process. </span></p></body></html>
-        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+        <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
 <html><head><meta name="qrichtext" content="1" /><style type="text/css">
 p, li { white-space: pre-wrap; }
 </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;">
-<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Il est à présent temps de calibrer les niveaux de sortie des signaux controlant votre véhicule. </span></p>
+<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Il est à présent temps de calibrer les niveaux de sortie des signaux contrôlant votre véhicule. </span></p>
 <p align="center" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">TRES IMPORTANT !</span><span style=" font-family:'Lucida Grande'; font-size:10pt;"><br /></span><span style=" font-family:'Lucida Grande'; font-size:10pt; font-weight:600; color:#ff0000;">ENLEVER TOUTES LES HELICES DE VOTRE VEHICULE AVANT DE CONTINUER !</span></p>
 <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:10pt;">Branchez tous les composants comme sur l'illustration dans la page de résumé et alimentez avec une source externe comme une batterie avant de continuer.</span></p>
 <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:10pt;"><br /></p>
@@ -13139,7 +13140,7 @@ persistant de la carte, et ensuite ferme la boite de dialogue.
         
         
         Tagged officially released firmware build
-        Firmware certifié OpenPilot, publié officellement
+        Firmware certifié OpenPilot, publié officiellement
     
     
         
@@ -13688,7 +13689,7 @@ Bougez le manche %1.
     
         
         Are you sure you want to erase all board settings?.
-        Êtes-vous certain de vouloir supprimer tous les paramètres sur la carte ?. 
+        Êtes-vous certain de vouloir supprimer tous les paramètres sur la carte ?
     
     
         
@@ -13705,7 +13706,7 @@ Bougez le manche %1.
         
         
         Power-cycle your board after removing all blades. Settings might be inconsistent.
-        Eteindre / Allumer votre carte après avoir enlevé toutes les hélices. Les paramètres peuvent-être incorrects. 
+        Eteindre / Allumer votre carte après avoir enlevé toutes les hélices. Les paramètres peuvent-être incorrects.
     
     
         

From 518182ac0b02f0e93068a5ab966417b2d75fefa3 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Sat, 9 Feb 2013 17:24:32 +0100
Subject: [PATCH 30/36] For now all languages files (*.pm) are build and
 included in release package. Outdated translations are commented and not
 included in package.

Allow to remove C line in default config
files loaded on first GCS start and language is set to OS Lang if found
in translations directory.
---
 .../share/openpilotgcs/translations/translations.pro         | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/translations.pro b/ground/openpilotgcs/share/openpilotgcs/translations/translations.pro
index a9fa6e963..2ebd0d4a5 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/translations.pro
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/translations.pro
@@ -1,6 +1,9 @@
 include(../../../openpilotgcs.pri)
 
-LANGUAGES = de es fr ru zh_CN
+# Commented languages with outdated translations
+# Allow removing the 'C' language in default config files at first start.
+# Need to be uncommented for update in all languages files (make ts)
+LANGUAGES = fr # de es ru zh_CN
 
 # var, prepend, append
 defineReplace(prependAll) {

From e9c0f9462806b01790ed61395bf16fe190768c4c Mon Sep 17 00:00:00 2001
From: Oleg Semyonov 
Date: Mon, 11 Feb 2013 22:13:57 +0200
Subject: [PATCH 31/36] translations: remove language override in default GCS
 configurations

Since in commit 518182a all outdated languages were commented out
to avoid *.pm builds, it is ok to remove language override here and
use system language by default.

Related issues: OP-231, OP-723, OP-843
---
 .../share/openpilotgcs/default_configurations/Developer.xml      | 1 -
 .../share/openpilotgcs/default_configurations/OpenPilotGCS.xml   | 1 -
 .../openpilotgcs/default_configurations/OpenPilotGCS_wide.xml    | 1 -
 3 files changed, 3 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
index cc57ea641..651a2f025 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
@@ -7,7 +7,6 @@
     true
     OPMapGadget
     default
-    en_US
     true
     628
     697
diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
index 7dbaa53c6..b7883d423 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
@@ -6,7 +6,6 @@
     Default configuration
     
    Default configuration built to work on all screen sizes
    
     false
-    C
     true
     700
     800
diff --git a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
index 0f9405f36..e5ebe0b44 100644
--- a/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
+++ b/ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
@@ -8,7 +8,6 @@
     true
     700
     800
-    C
     false
     Wide configuration
     
    Default configuration built for wide screens (17"up)
    

From 5b8b38ad7b41273a0d171c8278e72c05c58a5bbc Mon Sep 17 00:00:00 2001
From: Laurent Lalanne 
Date: Mon, 11 Feb 2013 22:16:57 +0100
Subject: [PATCH 32/36] =?UTF-8?q?Minors=20changes,=20Errors.=20Thx=20Jo?=
 =?UTF-8?q?=C3=ABl?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../openpilotgcs/translations/openpilotgcs_fr.ts | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
index a9c783d09..529fd4f7a 100644
--- a/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
+++ b/ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
@@ -12,7 +12,7 @@
     
         
         Unable to send command line arguments to the already running instance. It appears to be not responding.
-        Impossible de passer les arguments de la ligne de commande à l'instance en cours d'execution. Elle semble ne pas répondre.
+        Impossible de passer les arguments de la ligne de commande à l'instance en cours d'exécution. Elle semble ne pas répondre.
     
     
         
@@ -420,7 +420,7 @@
     
         
         <h3>OpenPilot Ground Control Station</h3>GCS Revision: <b>%1</b><br/>UAVO Hash: %2<br/><br/>Built from %3<br/>Built on %4 at %5<br/>Based on Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. All rights reserved.<br/><br/><small>This program is free software; you can redistribute it and/or modify<br/>it under the terms of the GNU General Public License as published by<br/>the Free Software Foundation; either version 3 of the License, or<br/>(at your option) any later version.<br/><br/>The program is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.</small>
-        <h3>Station de Contrôle au Sol OpenPilot (GCS)</h3>Révision de GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. Tout droits réservés.<br/><br/><small>Ce programme est un logiciel libre ; vous pouvez le redistribuer et/ou le modifier<br/>dans le cadre des termes de la licence GNU General Public License publiée par<br/>la Free Software Foundation; soit à la version 3 de la License, ou<br/>(en option) à une version ultérieure.<br/><br/>Le programme est fourni EN L'ÉTAT sans GARANTIE DE QUELCONQUE TYPE, COMPRENANT LA GARANTIE DE DESIGN, DE COMMERCIALISATION ET D'ERGONOMIE POUR UN USAGE PARTICULIER.</small>
+        <h3>Station de Contrôle au Sol OpenPilot (GCS)</h3>Révision de GCS : <b>%1</b><br/>Hash UAVO : %2<br/><br/>Compilé depuis %3<br/>Compilé le %4 à  %5<br/>Basé sur Qt %6 (%7 bit)<br/><br/>&copy; %8, 2010-%9. Tout droits réservés.<br/><br/><small>Ce programme est un logiciel libre ; vous pouvez le redistribuer et/ou le modifier<br/>dans le cadre des termes de la licence GNU General Public Licence publiée par<br/>la Free Software Foundation; soit à la version 3 de la Licence, ou<br/>(en option) à une version ultérieure.<br/><br/>Le programme est fourni EN L'ÉTAT sans GARANTIE DE QUELCONQUE TYPE, COMPRENANT LA GARANTIE DE DESIGN, DE COMMERCIALISATION ET D'ERGONOMIE POUR UN USAGE PARTICULIER.</small>
     
     
 
@@ -441,7 +441,7 @@
     
         
         TextLabel
-        Étiquette de texte
+        Étiquette de texte
     
     
         
@@ -2456,7 +2456,7 @@ p, li { white-space: pre-wrap; }
         
         
         Move to WP
-        Dépacer au Waypoint
+        Déplacer au Waypoint
     
     
         
@@ -10152,7 +10152,7 @@ Applique et Enregistre tous les paramètres sur la SD
     
         
         The modems minimum frequency step size
-        La taille minimale du saut de fréauence du modem
+        La taille minimale du saut de fréquence du modem
     
     
         
@@ -11593,7 +11593,7 @@ Veuillez en choisir un dans les configurations par défaut
     
         
         Only joystick is implemented at this stage, so this control is disabled.
-        Actuellement seulement le joystick est implémenté , donc ce contôle est désactivé.
+        Actuellement seulement le joystick est implémenté , donc ce contrôle est désactivé.
     
     
         
@@ -13177,7 +13177,7 @@ vous l'avez reçue d'une source sûre (site web officiel ou votre prop
     
         
         This is the tagged officially released OpenPilot firmware
-        Ceci est un firmware certifié OpenPilot, publié officellement
+        Ceci est un firmware certifié OpenPilot, publié officiellement
     
     
         
@@ -13241,7 +13241,7 @@ vous l'avez reçue d'une source sûre (site web officiel ou votre prop
     
         
         Tagged officially released firmware build
-        Firmware certifié OpenPilot, publié officellement
+        Firmware certifié OpenPilot, publié officiellement
     
     
         

From 427bbd0a802285d6b0984c27bdc42998bfc0ac2a Mon Sep 17 00:00:00 2001
From: Voha 
Date: Mon, 24 Dec 2012 01:57:48 +0200
Subject: [PATCH 33/36] fixed reading serial number from USB device on mac
 platform

---
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 20 ++++++++++++++-----
 1 file changed, 15 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index f5fc3eb4a..f675d47ed 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -274,11 +274,21 @@ QString pjrc_rawhid::getserial(int num) {
     CFTypeRef serialnum = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDSerialNumberKey));
     if(serialnum && CFGetTypeID(serialnum) == CFStringGetTypeID())
     {
-        //Note: I'm not sure it will always succeed if encoded as MacRoman but that
-        //is a superset of UTF8 so I think this is fine
-        CFStringRef str = (CFStringRef)serialnum;
-        const char * buf = CFStringGetCStringPtr(str, kCFStringEncodingMacRoman);
-        return QString(buf);
+		//Note: I'm not sure it will always succeed if encoded as MacRoman but that
+		//is a superset of UTF8 so I think this is fine
+		CFStringRef str = (CFStringRef)serialnum;
+//        const char * buf = CFStringGetCStringPtr(str, kCFStringEncodingMacRoman);
+		//return QString(buf);
+		int length = CFStringGetLength(str);
+		if( length == 0 )
+			return "";
+		char* ptr = (char*)malloc( length+1 );
+		Boolean ret = CFStringGetCString( str, ptr, length+1, kCFStringEncodingMacRoman );
+		QString strResult;
+		if( ret == true )
+		strResult = ptr;
+		free( ptr );
+		return strResult;
     }
 
     return QString("Error");

From e4f98b31c63d2e9ff7fde59db7081b8017eb02b9 Mon Sep 17 00:00:00 2001
From: Voha 
Date: Mon, 24 Dec 2012 02:31:14 +0200
Subject: [PATCH 34/36] fix code style

---
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp    | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index f675d47ed..cc13ec382 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -274,21 +274,21 @@ QString pjrc_rawhid::getserial(int num) {
     CFTypeRef serialnum = IOHIDDeviceGetProperty(dev, CFSTR(kIOHIDSerialNumberKey));
     if(serialnum && CFGetTypeID(serialnum) == CFStringGetTypeID())
     {
-		//Note: I'm not sure it will always succeed if encoded as MacRoman but that
-		//is a superset of UTF8 so I think this is fine
-		CFStringRef str = (CFStringRef)serialnum;
+        //Note: I'm not sure it will always succeed if encoded as MacRoman but that
+        //is a superset of UTF8 so I think this is fine
+        CFStringRef str = (CFStringRef)serialnum;
 //        const char * buf = CFStringGetCStringPtr(str, kCFStringEncodingMacRoman);
-		//return QString(buf);
-		int length = CFStringGetLength(str);
-		if( length == 0 )
-			return "";
-		char* ptr = (char*)malloc( length+1 );
-		Boolean ret = CFStringGetCString( str, ptr, length+1, kCFStringEncodingMacRoman );
-		QString strResult;
-		if( ret == true )
-		strResult = ptr;
-		free( ptr );
-		return strResult;
+        //return QString(buf);
+        int length = CFStringGetLength(str);
+        if( length == 0 )
+            return "";
+        char* ptr = (char*)malloc( length+1 );
+        Boolean ret = CFStringGetCString( str, ptr, length+1, kCFStringEncodingMacRoman );
+        QString strResult;
+        if( ret == true )
+          strResult = ptr;
+        free( ptr );
+        return strResult;
     }
 
     return QString("Error");

From 8c5cded61a25a8e59b008ce4f9a1157064b3b83f Mon Sep 17 00:00:00 2001
From: Voha 
Date: Sat, 9 Feb 2013 00:51:02 +0200
Subject: [PATCH 35/36] OP-845: *fix code style

---
 .../src/plugins/rawhid/pjrc_rawhid_mac.cpp       | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index cc13ec382..6773693b7 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -276,18 +276,18 @@ QString pjrc_rawhid::getserial(int num) {
     {
         //Note: I'm not sure it will always succeed if encoded as MacRoman but that
         //is a superset of UTF8 so I think this is fine
-        CFStringRef str = (CFStringRef)serialnum;
-//        const char * buf = CFStringGetCStringPtr(str, kCFStringEncodingMacRoman);
-        //return QString(buf);
+        CFStringRef str = static_cast(serialnum);
         int length = CFStringGetLength(str);
-        if( length == 0 )
+        if (length == 0) {
             return "";
-        char* ptr = (char*)malloc( length+1 );
-        Boolean ret = CFStringGetCString( str, ptr, length+1, kCFStringEncodingMacRoman );
+        }
+        char* ptr = (char*)malloc(length+1);
+        Boolean ret = CFStringGetCString(str, ptr, length+1, kCFStringEncodingMacRoman);
         QString strResult;
-        if( ret == true )
+        if (ret == true) {
           strResult = ptr;
-        free( ptr );
+        }
+        free(ptr);
         return strResult;
     }
 

From 6c24561ec40ec01895d9ad27424a2cc01ebae6dc Mon Sep 17 00:00:00 2001
From: Voha 
Date: Tue, 12 Feb 2013 20:27:33 +0200
Subject: [PATCH 36/36] * fix build error

---
 ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 6773693b7..80d5deda5 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -276,7 +276,7 @@ QString pjrc_rawhid::getserial(int num) {
     {
         //Note: I'm not sure it will always succeed if encoded as MacRoman but that
         //is a superset of UTF8 so I think this is fine
-        CFStringRef str = static_cast(serialnum);
+		CFStringRef str = static_cast(serialnum);
         int length = CFStringGetLength(str);
         if (length == 0) {
             return "";

      
+  
    1. About
      2. 
+  
    2. Motivation
      3. 
+  
    3. Requirements
      4. 
+  
    4. Format
      5. 
+  
    5. Example
      6. 
+  
    6. Questions & Answers
      7. 
+