| 176,21 → 176,19 |
|---|
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| float x_corr, y_corr; |
| signed int x_axis,y_axis,z_axis, heading; |
| signed int x_axis,y_axis,z_axis,nicktilt,rolltilt,heading; |
| unsigned int div_faktor; |
| |
| div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
| |
| // Berechung von sinus und cosinus |
| MM3.NickGrad = (IntegralNick/div_faktor); |
| //MM3.NickGrad = asin_i(MM3.NickGrad); |
| sin_nick = sin_f(MM3.NickGrad); |
| cos_nick = cos_f(MM3.NickGrad); |
| nicktilt = (IntegralNick/div_faktor); |
| sin_nick = sin_f(nicktilt); |
| cos_nick = cos_f(nicktilt); |
| |
| MM3.RollGrad = (IntegralRoll/div_faktor); |
| //MM3.RollGrad = asin_i(MM3.RollGrad); |
| sin_roll = sin_f(MM3.RollGrad); |
| cos_roll = cos_f(MM3.RollGrad); |
| rolltilt = (IntegralRoll/div_faktor); |
| sin_roll = sin_f(rolltilt); |
| cos_roll = cos_f(rolltilt); |
| |
| // Offset |
| x_axis = (MM3.x_axis - MM3_calib.X_off); |