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| Rev 378 | Rev 386 | ||
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| Line 242... | Line 242... | ||
| 242 | y_corr = y_axis * cos_roll; |
242 | y_corr = y_axis * cos_roll; |
| 243 | y_corr += z_axis * sin_roll; |
243 | y_corr += z_axis * sin_roll; |
| Line 244... | Line 244... | ||
| 244 | 244 | ||
| 245 | // Winkelberechnung |
245 | // Winkelberechnung |
| - | 246 | heading = atan2_i(x_corr, y_corr); |
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| - | 247 | ||
| - | 248 | /* |
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| - | 249 | if (!x_corr && y_corr <0) return (90); |
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| - | 250 | if (!x_corr && y_corr >0) return (270); |
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| - | 251 | |
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| - | 252 | heading = atan(y_corr/x_corr)*57.29578; |
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| - | 253 | if (x_corr < 0) heading = 180-heading; |
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| - | 254 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
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| - | 255 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
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| Line 246... | Line 256... | ||
| 246 | heading = atan2_i(x_corr, y_corr); |
256 | */ |
| 247 | 257 | ||