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| Rev 251 | Rev 255 | ||
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| Line 108... | Line 108... | ||
| 108 | { |
108 | { |
| 109 | float sin_nick, cos_nick, sin_roll, cos_roll; |
109 | float sin_nick, cos_nick, sin_roll, cos_roll; |
| 110 | signed int x_corr, y_corr; |
110 | signed int x_corr, y_corr; |
| 111 | signed int heading; |
111 | signed int heading; |
| Line 112... | Line 112... | ||
| 112 | 112 | ||
| 113 | //Berechung von sinus und cosinus |
113 | // Berechung von sinus und cosinus |
| 114 | sin_nick = sin_f(MM3.NickGrad); |
114 | sin_nick = sin_f(MM3.NickGrad); |
| 115 | cos_nick = cos_f(MM3.NickGrad); |
115 | cos_nick = cos_f(MM3.NickGrad); |
| 116 | sin_roll = sin_f(MM3.RollGrad); |
116 | sin_roll = sin_f(MM3.RollGrad); |
| Line 117... | Line 117... | ||
| 117 | cos_roll = cos_f(MM3.RollGrad); |
117 | cos_roll = cos_f(MM3.RollGrad); |
| 118 | - | ||
| 119 | //Neigungskompensation |
118 | |
| 120 | //x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis); |
119 | // Neigungskompensation |
| Line 121... | Line 120... | ||
| 121 | x_corr = (cos_nick * MM3.x_axis) + (sin_roll * MM3.y_axis* sin_nick) - (cos_roll * MM3.z_axis * sin_nick); |
120 | x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| 122 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
121 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| Line 123... | Line 122... | ||
| 123 | 122 | ||
| 124 | //Winkelberechnung |
123 | // Winkelberechnung |