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Rev 391 | Rev 407 | ||
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199 | 199 | ||
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200 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
200 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
201 | 201 | ||
202 | // Berechung von sinus und cosinus |
202 | // Berechung von sinus und cosinus |
203 | MM3.NickGrad = (IntegralNick/div_faktor); |
203 | MM3.NickGrad = (IntegralNick/div_faktor); |
204 | MM3.NickGrad = asin_i(MM3.NickGrad); |
204 | //MM3.NickGrad = asin_i(MM3.NickGrad); |
Line 205... | Line 205... | ||
205 | sin_nick = sin_f(MM3.NickGrad); |
205 | sin_nick = sin_f(MM3.NickGrad); |
206 | cos_nick = cos_f(MM3.NickGrad); |
206 | cos_nick = cos_f(MM3.NickGrad); |
207 | 207 | ||
208 | MM3.RollGrad = (IntegralRoll/div_faktor); |
208 | MM3.RollGrad = (IntegralRoll/div_faktor); |
Line 209... | Line 209... | ||
209 | MM3.RollGrad = asin_i(MM3.RollGrad); |
209 | //MM3.RollGrad = asin_i(MM3.RollGrad); |
210 | sin_roll = sin_f(MM3.RollGrad); |
210 | sin_roll = sin_f(MM3.RollGrad); |