Hi, i found this code on the internet:

`#define Kp 2.0f // proportional gain governs rate of convergence to accelerometer/magnetometer`

#define Ki 0.005f // integral gain governs rate of convergence of gyroscope biases

#define halfT 0.5f // half the sample period

Wahat the mean of "f" at 2.0f, 0.005f, and 0.5f?