Rev 838 | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 838 | Rev 966 | ||
|---|---|---|---|
| Line 414... | Line 414... | ||
| 414 | Hy_corr = (Hy * cos_roll + Hz * sin_roll) / 8192; |
414 | Hy_corr = (Hy * cos_roll + Hz * sin_roll) / 8192; |
| Line 415... | Line 415... | ||
| 415 | 415 | ||
| 416 | // calculate Heading |
416 | // calculate Heading |
| Line -... | Line 417... | ||
| - | 417 | heading = c_atan2(Hy_corr, Hx_corr); |
|
| - | 418 | ||
| - | 419 | #if 0 |
|
| - | 420 | DebugOut.Analog[3] = Hx; |
|
| - | 421 | DebugOut.Analog[4] = Hy; |
|
| - | 422 | DebugOut.Analog[5] = Hz; |
|
| 417 | heading = c_atan2(Hy_corr, Hx_corr); |
423 | #endif |
| 418 | 424 | ||
| 419 | // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
425 | // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
| 420 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
426 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
| 421 | if (heading < 0) heading = -heading; |
427 | if (heading < 0) heading = -heading; |