| /branches/V0.72p Code Redesign killagreg/gps.c |
|---|
| 304,8 → 304,8 |
| // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
| // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
| coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GyroDegFactor); |
| sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GyroDegFactor); |
| coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
| sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
| PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192; |
| PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192; |
| /branches/V0.72p Code Redesign killagreg/makefile |
|---|
| 16,8 → 16,8 |
| # Use one of the extensions for a gps solution |
| #EXT = KILLAGREG |
| EXT = NAVICTRL |
| #EXT = MK3MAG |
| #EXT = NAVICTRL |
| EXT = MK3MAG |
| # Use one of the motor setups |
| /branches/V0.72p Code Redesign killagreg/uart0.c |
|---|
| 669,8 → 669,8 |
| #ifdef USE_MK3MAG |
| if((CheckDelay(Compass_Timer)) && txd_complete) |
| { |
| ToMk3Mag.Attitude[0] = (int16_t) (IntegralNick / (GyroDegFactor/ 10)); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / (GyroDegFactor/ 10)); // approx. 0.1 deg |
| ToMk3Mag.Attitude[0] = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
| ToMk3Mag.Attitude[1] = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
| ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
| ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
| ToMk3Mag.CalState = CompassCalState; |