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Rev 407 | Rev 408 | ||
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Line 242... | Line 242... | ||
242 | x_corr -= z_axis * cos_roll * sin_nick; |
242 | x_corr -= z_axis * cos_roll * sin_nick; |
Line 243... | Line 243... | ||
243 | 243 | ||
244 | y_corr = y_axis * cos_roll; |
244 | y_corr = y_axis * cos_roll; |
Line 245... | Line 245... | ||
245 | y_corr += z_axis * sin_roll; |
245 | y_corr += z_axis * sin_roll; |
246 | - | ||
247 | // Winkelberechnung |
246 | |
248 | 247 | // Winkelberechnung |
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249 | heading = atan2_i(x_corr, y_corr); |
248 | heading = atan2_i(x_corr, y_corr); |
Line 250... | Line 249... | ||
250 | if (heading < 0) heading = -heading; |
249 | if (heading < 0) heading = -heading; |