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signed int heading_MM3(void)
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signed int heading_MM3(void)
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//############################################################################
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//############################################################################
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{
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{
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        float sin_nick, cos_nick, sin_roll, cos_roll;
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        float sin_nick, cos_nick, sin_roll, cos_roll;
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        float x_corr, y_corr;
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        float x_corr, y_corr;
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        signed int x_axis,y_axis,z_axis, heading;
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        signed int x_axis,y_axis,z_axis,nicktilt,rolltilt,heading;
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        unsigned int div_faktor;
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        unsigned int div_faktor;
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        div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8;
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        div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8;
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        // Berechung von sinus und cosinus
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        MM3.NickGrad = (IntegralNick/div_faktor);
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        // Berechung von sinus und cosinus
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        //MM3.NickGrad = asin_i(MM3.NickGrad);
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        nicktilt = (IntegralNick/div_faktor);
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        sin_nick = sin_f(MM3.NickGrad);
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        sin_nick = sin_f(nicktilt);
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        cos_nick = cos_f(MM3.NickGrad);
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        cos_nick = cos_f(nicktilt);
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        MM3.RollGrad = (IntegralRoll/div_faktor);
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        //MM3.RollGrad = asin_i(MM3.RollGrad);
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        rolltilt = (IntegralRoll/div_faktor);
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        sin_roll = sin_f(MM3.RollGrad);
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        sin_roll = sin_f(rolltilt);
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        cos_roll = cos_f(MM3.RollGrad);
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        cos_roll = cos_f(rolltilt);
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