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| Rev 261 | Rev 272 | ||
|---|---|---|---|
| Line 122... | Line 122... | ||
| 122 | // Neigungskompensation |
122 | // Neigungskompensation |
| 123 | x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
123 | x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| 124 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
124 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| Line 125... | Line 125... | ||
| 125 | 125 | ||
| 126 | // Winkelberechnung |
126 | // Winkelberechnung |
| Line 127... | Line 127... | ||
| 127 | heading = arctan_i(x_corr, y_corr); |
127 | heading = atan2_i(x_corr, y_corr); |
| 128 | 128 | ||