Rev 1990 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1990 | Rev 1991 | ||
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153 | * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
153 | * constant speed, and 2) at small angles a, sin(a) ~= constant * a, |
154 | * it is hardly worth the trouble. |
154 | * it is hardly worth the trouble. |
155 | ************************************************************************/ |
155 | ************************************************************************/ |
Line 156... | Line 156... | ||
156 | 156 | ||
157 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
157 | int32_t getAngleEstimateFromAcc(uint8_t axis) { |
158 | int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L; |
158 | //int32_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256L; |
159 | return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis] + correctionTerm; |
159 | return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis];// + correctionTerm; |
Line 160... | Line 160... | ||
160 | } |
160 | } |
161 | 161 | ||
162 | void setStaticAttitudeAngles(void) { |
162 | void setStaticAttitudeAngles(void) { |