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Code Issues Wiki Activity

Fixed degree to radian conversion

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This commit is contained in:
KiteAnton 2016-01-15 17:10:41 +01:00
parent 1dddd65e67
commit 853bb4c168
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) {
int16_t roll = rcCommand[ROLL];
int16_t yaw = rcCommand[YAW];
rcCommand[ROLL] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees) * roll + sin(masterConfig.rxConfig.fpvCamAngleDegrees) * yaw, -500, 500);
rcCommand[YAW] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees) * roll, -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*RAD) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll, -500, 500);
}
void annexCode(void)