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Update calculate heading comment (ledvinap).

This commit is contained in:
Dominic Clifton 2015-01-25 01:07:14 +01:00
parent 3fc7f32324
commit 22f80129f2
1 changed files with 7 additions and 6 deletions
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13
src/main/flight/imu.c
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@ -188,12 +188,13 @@ void acc_calc(uint32_t deltaT)
/*
* Baseflight calculation by Luggi09 originates from arducopter
* ============================================================
* This function turns a vector which is (usually) the direction
* of magnetic flux in the coordinate system of the craft into
* a compass heading in degrees, clockwise away from north. Note
* that the magnetic flux is not parrelell with the vector towards
* magnetic north it's self but rather is parrelell with the ground
* when near the equator.
* This function rotates magnetic vector to cancel actual yaw and
* pitch of craft. Then it computes it's direction in X/Y plane.
* This value is returned as compass heading, value is 0-360 degrees.
*
* Note that Earth's magnetic field is not parallel with ground unless
* you are near equator. Its inclination is considerable, >60 degrees
* towards ground in most of Europe.
*
* First we consider it in 2D:
*