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Code Issues Wiki Activity

THROTTLE ANGLE CORRECTION , "*" "/" operator priority bug

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http://www.multiwii.com/forum/viewtopic.php?f=8&t=4433
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treymarc 2014-01-04 22:19:51 +01:00
parent 1dea496fd5
commit b2e7c8d8fc
1 changed files with 1 additions and 1 deletions
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2
src/imu.c
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@ -315,7 +315,7 @@ static void getEstimatedAttitude(void)
acc_calc(deltaT); // rotate acc vector into earth frame acc_calc(deltaT); // rotate acc vector into earth frame
if (cfg.throttle_angle_correction) { if (cfg.throttle_angle_correction) {
int cosZ = EstG.V.Z / (acc_1G * 100.0f); int cosZ = ((int32_t)(EstG.V.Z * 100.0f)) / acc_1G;
throttleAngleCorrection = cfg.throttle_angle_correction * constrain(100 - cosZ, 0, 100) / 8; throttleAngleCorrection = cfg.throttle_angle_correction * constrain(100 - cosZ, 0, 100) / 8;
} }
} }