Rev 838 | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 838 | Rev 966 | ||
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Line 414... | Line 414... | ||
414 | Hy_corr = (Hy * cos_roll + Hz * sin_roll) / 8192; |
414 | Hy_corr = (Hy * cos_roll + Hz * sin_roll) / 8192; |
Line 415... | Line 415... | ||
415 | 415 | ||
416 | // calculate Heading |
416 | // calculate Heading |
Line -... | Line 417... | ||
- | 417 | heading = c_atan2(Hy_corr, Hx_corr); |
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- | 418 | ||
- | 419 | #if 0 |
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- | 420 | DebugOut.Analog[3] = Hx; |
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- | 421 | DebugOut.Analog[4] = Hy; |
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- | 422 | DebugOut.Analog[5] = Hz; |
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417 | heading = c_atan2(Hy_corr, Hx_corr); |
423 | #endif |
418 | 424 | ||
419 | // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
425 | // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
420 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
426 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
421 | if (heading < 0) heading = -heading; |
427 | if (heading < 0) heading = -heading; |