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• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/attitude.c @ 1989

  → /branches/dongfang_FC_rewrite/attitude.c @ 1990

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Ignore whitespace Rev 1989 → Rev 1990

/branches/dongfang_FC_rewrite/attitude.c
155,7 → 155,7
************************************************************************/
int32_t getAngleEstimateFromAcc(uint8_t axis) {
int16_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 512;
int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L;
return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis] + correctionTerm;
}