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| 71 | * In this explanation it is assumed that the ADC values are 0 based, and gravity is included. |
71 | * In this explanation it is assumed that the ADC values are 0 based, and gravity is included. |
| 72 | * The sine of v is the far side / the hypothenusis: |
72 | * The sine of v is the far side / the hypothenusis: |
| 73 | * sin v = acc / sqrt(acc^2 + acc_z^2) |
73 | * sin v = acc / sqrt(acc^2 + acc_z^2) |
| 74 | * Using that v is a small angle, and the near side is about equal to the the hypothenusis: |
74 | * Using that v is a small angle, and the near side is about equal to the the hypothenusis: |
| 75 | * sin v ~= acc / acc_z |
75 | * sin v ~= acc / acc_z |
| 76 | * Assuming that the helicopter is hovering at small pitch and roll angles, acc_z is about 410, |
76 | * Assuming that the multicopter is hovering at small pitch and roll angles, acc_z is about 410, |
| 77 | * and sin v ~= v (small angles, in radians): |
77 | * and sin v ~= v (small angles, in radians): |
| 78 | * sin v ~= acc / 410 |
78 | * sin v ~= acc / 410 |
| 79 | * v / 57.3 ~= acc / 410 |
79 | * v / 57.3 ~= acc / 410 |
| 80 | * v ~= acc * 57.3 / 410 |
80 | * v ~= acc * 57.3 / 410 |
| 81 | * acc / v ~= 410 / 57.3 ~= 7, that is: There are about 7 counts per degree. |
81 | * acc / v ~= 410 / 57.3 ~= 7, that is: There are about 7 counts per degree. |