Rev 281 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 281 | Rev 282 | ||
|---|---|---|---|
| Line 142... | Line 142... | ||
| 142 | // Neigungskompensation |
142 | // Neigungskompensation |
| 143 | x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
143 | x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| 144 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
144 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| Line 145... | Line 145... | ||
| 145 | 145 | ||
| 146 | // Winkelberechnung |
146 | // Winkelberechnung |
| Line 147... | Line 147... | ||
| 147 | heading = arctan_i(x_corr, y_corr); |
147 | heading = atan2_i(x_corr, y_corr); |
| 148 | 148 | ||