Subversion Repositories FlightCtrl

  int16_t cospitch = cos_360(pitchAngleInDegrees);

  int16_t cospitch = cos_360(pitchAngleInDegrees);

  int16_t cosroll = cos_360(rollAngleInDegrees);

  int16_t cosroll = cos_360(rollAngleInDegrees);

  int16_t sinroll = sin_360(rollAngleInDegrees);

  int16_t sinroll = sin_360(rollAngleInDegrees);

      * sinroll) >> MATH_UNIT_FACTOR_LOG);

      * sinroll) >> LOG_MATH_UNIT_FACTOR);

  ACRate[ROLL] = rate_ATT[ROLL] + (((((int32_t)rate_ATT[PITCH] * sinroll

  ACRate[ROLL] = rate_ATT[ROLL] + (((((int32_t)rate_ATT[PITCH] * sinroll

      + (int32_t)yawRate * cosroll) >> MATH_UNIT_FACTOR_LOG) * tan_360(pitchAngleInDegrees)) >> MATH_UNIT_FACTOR_LOG);

      + (int32_t)yawRate * cosroll) >> LOG_MATH_UNIT_FACTOR) * tan_360(pitchAngleInDegrees)) >> LOG_MATH_UNIT_FACTOR);