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| Rev 1180 | Rev 1186 | ||
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| 302 | // copter should fly to west (positive roll). |
302 | // copter should fly to west (positive roll). |
| 303 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
303 | // The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
| 304 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
304 | // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
| 305 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
305 | // GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
| Line 306... | Line 306... | ||
| 306 | 306 | ||
| 307 | coscompass = (int32_t)c_cos_8192(YawGyroHeading / YAW_GyroDegFactor); |
307 | coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
| 308 | sincompass = (int32_t)c_sin_8192(YawGyroHeading / YAW_GyroDegFactor); |
308 | sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
| 309 | PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192; |
309 | PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192; |
| Line 310... | Line 310... | ||
| 310 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192; |
310 | PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192; |