Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-25 09:16:01 +03:00
Code Issues Wiki Activity

fix

Browse source
This commit is contained in:
Sergey 2022-06-18 18:18:55 +03:00
parent 99b20b66b0
commit 829e001153
No known key found for this signature in database
GPG key ID: 4A7AC190CD92FE01
2 changed files with 11 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

15
src/main/common/maths.h
View file

@ -34,6 +34,9 @@
#define M_Ef 2.71828182845904523536f
#define RAD (M_PIf / 180.0f)
// Conversion constants between Rad/sec and Deg/sec
#define DEG2RAD (.017453292519943f) /* PI / 180 */
#define RAD2DEG (57.2957795130823f) /* 180 / PI */
#define DEGREES_TO_CENTIDEGREES(angle) ((angle) * 100)
#define CENTIDEGREES_TO_DEGREES(angle) ((angle) / 100)
@ -48,13 +51,13 @@
#define DEGREES_TO_DEKADEGREES(angle) ((angle) / DEGREES_PER_DEKADEGREE)
#define DEKADEGREES_TO_DEGREES(angle) ((angle) * DEGREES_PER_DEKADEGREE)
#define DEGREES_TO_RADIANS(angle) ((angle) * RAD)
#define RADIANS_TO_DEGREES(angle) ((angle) / RAD)
#define DECIDEGREES_TO_RADIANS(angle) (((angle) / 10.0f) * RAD)
#define RADIANS_TO_DECIDEGREES(angle) (((angle) * 10.0f) / RAD)
#define DEGREES_TO_RADIANS(angle) ((angle) * DEG2RAD)
#define RADIANS_TO_DEGREES(angle) ((angle) * RAD2DEG)
#define DECIDEGREES_TO_RADIANS(angle) (((angle) / 10.0f) * DEG2RAD)
#define RADIANS_TO_DECIDEGREES(angle) (((angle) * 10.0f) * RAD2DEG)
#define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
#define CENTIDEGREES_TO_RADIANS(angle) (((angle) / 100.0f) * RAD)
#define CENTIDEGREES_TO_RADIANS(angle) (((angle) / 100.0f) * DEG2RAD)
#define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) * RAD2DEG)
#define CENTIMETERS_TO_CENTIFEET(cm) (cm / 0.3048)
#define CENTIMETERS_TO_FEET(cm) (cm / 30.48)

3
src/main/fc/fc_msp.c
View file

@ -3243,7 +3243,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
case MSP_TELEMETRY:
sbufWriteU8(dst, ARMING_FLAG(ARMED)); // arming status
sbufWriteU8(dst, 0); // arming status
sbufWriteU8(dst, 0); // modes
sbufWriteU32(dst, flightModeFlags);
sbufWriteU8(dst, 1); // messages
@ -3284,6 +3284,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
}
} else {
DISABLE_ARMING_FLAG(SIMULATOR_MODE);
baroStartCalibration(); // just once
}
if (dataSize >= 14) {
gpsSol.fixType = sbufReadU8(src);