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Merge pull request #113 from KiteAnton/degree_to_radians 

Fixed degree to radian conversion
This commit is contained in:
borisbstyle 2016-01-15 17:53:21 +01:00
parent 1dddd65e67 853bb4c168
commit 447061f8b1
1 changed files with 2 additions and 2 deletions
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4
src/main/mw.c
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@ -210,8 +210,8 @@ void filterRc(void){
void scaleRcCommandToFpvCamAngle(void) { void scaleRcCommandToFpvCamAngle(void) {
int16_t roll = rcCommand[ROLL]; int16_t roll = rcCommand[ROLL];
int16_t yaw = rcCommand[YAW]; int16_t yaw = rcCommand[YAW];
rcCommand[ROLL] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees) * roll + sin(masterConfig.rxConfig.fpvCamAngleDegrees) * yaw, -500, 500); rcCommand[ROLL] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll + sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw, -500, 500);
rcCommand[YAW] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees) * roll, -500, 500); rcCommand[YAW] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll, -500, 500);
} }
void annexCode(void) void annexCode(void)