Rev 1978 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1978 | Rev 2045 | ||
|---|---|---|---|
| Line 16... | Line 16... | ||
| 16 | uint16_t AC_getThrottle(uint16_t throttle) { |
16 | uint16_t AC_getThrottle(uint16_t throttle) { |
| 17 | int32_t projection; |
17 | int32_t projection; |
| 18 | uint8_t effect = dynamicParams.attitudeControl; // Userparam 3 |
18 | uint8_t effect = dynamicParams.attitudeControl; // Userparam 3 |
| 19 | int16_t deltaThrottle, y; |
19 | int16_t deltaThrottle, y; |
| Line -... | Line 20... | ||
| - | 20 | ||
| - | 21 | int16_t rollAngleInDegrees = angle[ROLL] / GYRO_DEG_FACTOR_PITCHROLL; |
|
| - | 22 | int16_t pitchAngleInDegrees = angle[PITCH] / GYRO_DEG_FACTOR_PITCHROLL; |
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| 20 | 23 | ||
| 21 | projection = (int32_t) int_cos(angle[PITCH]) * (int32_t) int_cos(angle[ROLL]); |
24 | projection = (int32_t) cos_360(pitchAngleInDegrees) * (int32_t) cos_360(rollAngleInDegrees); |
| Line 22... | Line 25... | ||
| 22 | projection >>= 8; |
25 | projection >>= 8; |
| 23 | 26 | ||
| 24 | if (projection < 0) { |
27 | if (projection < 0) { |