Note: For basic usage look here: http://www.multiwii.com/forum/viewtopic.php?f=23&t=3524&p=54219#p54219
Note: The changes after commit 30 are mostly to get Gtune working. Testing on my 2 units suggests it is very well. Yaw tune is blocked for everything with less than 4 motors. Hex link below.
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A compiled (hex and bin) version including commit 79 is available here http://www.multiwii.com/forum/viewtopic.php?f=23&t=3524&p=55248#p55248
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A compiled (hex and bin) version including commit 73 is available here http://www.multiwii.com/forum/viewtopic.php?f=23&t=3524&p=55114#p55114
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A compiled (hex and bin) version including commit 30 is available here http://www.multiwii.com/forum/viewtopic.php?f=23&t=3524&p=54324#p54324
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A compiled (hex and bin) version including commit 26 is available here http://www.multiwii.com/forum/viewtopic.php?f=23&t=3524&p=54219#p54219