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fixing mag heading. DO NOT FLY! 

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@399 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-14 15:42:16 +00:00
parent 44a671136b
commit 05ced4c784
1 changed files with 1 additions and 1 deletions
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2
src/imu.c
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@ -319,7 +319,7 @@ static void getEstimatedAttitude(void)
float Xh = magX * cp + magY * sr * sp + magZ * cr * sp; float Xh = magX * cp + magY * sr * sp + magZ * cr * sp;
float Yh = magY * cr - magZ * sr; float Yh = magY * cr - magZ * sr;
float hd = (atan2f(-Yh, Xh) * 1800.0f / M_PI + magneticDeclination) / 10.0f; float hd = (atan2f(-Yh, Xh) * 1800.0f / M_PI + magneticDeclination) / 10.0f;
heading = hd; heading = -hd;
if (heading > 180) if (heading > 180)
heading = heading - 360; heading = heading - 360;
else if (heading < -180) else if (heading < -180)