| 230,6 → 230,10 |
|---|
| int16_t cosroll = int_cos(angle[ROLL]); |
| int16_t sinroll = int_sin(angle[ROLL]); |
| int16_t tanpitch = int_tan(angle[PITCH]); |
| |
| int16_t test; |
| |
| |
| #define ANTIOVF 512 |
| ACRate[PITCH] = ((int32_t) rate_ATT[PITCH] * cosroll - (int32_t) yawRate |
| * sinroll) / (int32_t) MATH_UNIT_FACTOR; |
| 236,6 → 240,13 |
|---|
| ACRate[ROLL] = rate_ATT[ROLL] + (((int32_t) rate_ATT[PITCH] * sinroll |
| / ANTIOVF * tanpitch + (int32_t) yawRate * int_cos(angle[ROLL]) / ANTIOVF |
| * tanpitch) / ((int32_t) MATH_UNIT_FACTOR / ANTIOVF * MATH_UNIT_FACTOR)); |
| |
| test = rate_ATT[ROLL] + |
| (((rate_ATT[PITCH] * sinroll + yawRate * cosroll) >> 14) * tanpitch) >> 14; |
| |
| DebugOut.Analog[20] = ACRate[ROLL]; |
| DebugOut.Analog[21] = test; |
| |
| ACYawRate = ((int32_t) rate_ATT[PITCH] * sinroll) / cospitch |
| + ((int32_t) yawRate * cosroll) / cospitch; |
| } |