232,10 → 232,10 |
int16_t sinroll = sin_360(rollAngleInDegrees); |
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ACRate[PITCH] = (((int32_t)rate_ATT[PITCH] * cosroll - (int32_t)yawRate |
* sinroll) >> MATH_UNIT_FACTOR_LOG); |
* sinroll) >> LOG_MATH_UNIT_FACTOR); |
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ACRate[ROLL] = rate_ATT[ROLL] + (((((int32_t)rate_ATT[PITCH] * sinroll |
+ (int32_t)yawRate * cosroll) >> MATH_UNIT_FACTOR_LOG) * tan_360(pitchAngleInDegrees)) >> MATH_UNIT_FACTOR_LOG); |
+ (int32_t)yawRate * cosroll) >> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees)) >> LOG_MATH_UNIT_FACTOR); |
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ACYawRate = ((int32_t)rate_ATT[PITCH] * sinroll + (int32_t)yawRate * cosroll) / cospitch; |
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