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Rev 378 | Rev 386 | ||
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Line 243... | Line 243... | ||
243 | y_corr += z_axis * sin_roll; |
243 | y_corr += z_axis * sin_roll; |
Line 244... | Line 244... | ||
244 | 244 | ||
245 | // Winkelberechnung |
245 | // Winkelberechnung |
Line -... | Line 246... | ||
- | 246 | heading = atan2_i(x_corr, y_corr); |
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- | 247 | ||
- | 248 | /* |
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- | 249 | if (!x_corr && y_corr <0) return (90); |
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- | 250 | if (!x_corr && y_corr >0) return (270); |
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- | 251 | |
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- | 252 | heading = atan(y_corr/x_corr)*57.29578; |
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- | 253 | if (x_corr < 0) heading = 180-heading; |
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- | 254 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
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- | 255 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
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246 | heading = atan2_i(x_corr, y_corr); |
256 | */ |
247 | 257 |