/branches/V0.72p Code Redesign killagreg/gps.c |
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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 |
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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 |
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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; |