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