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198 | unsigned int div_faktor; |
198 | unsigned int div_faktor; |
Line 199... | Line 199... | ||
199 | 199 | ||
Line 200... | Line 200... | ||
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); |
Line 204... | Line 204... | ||
204 | sin_nick = sin_f(MM3.NickGrad); |
204 | sin_nick = sin_f(MM3.NickGrad); |
205 | cos_nick = cos_f(MM3.NickGrad); |
205 | cos_nick = cos_f(MM3.NickGrad); |
206 | 206 | ||
Line 207... | Line 207... | ||
207 | MM3.RollGrad = -(IntegralRoll/div_faktor); |
207 | MM3.RollGrad = (IntegralRoll/div_faktor); |
208 | sin_roll = sin_f(MM3.RollGrad); |
208 | sin_roll = sin_f(MM3.RollGrad); |