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de-duplicate degrees to radians code.

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Note, this also makes the operator precedence clearer.
This commit is contained in:
Dominic Clifton 2014-04-17 19:37:56 +01:00
parent 41b5a01958
commit d7eb416aa9
5 changed files with 14 additions and 5 deletions
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2
src/mw.c
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@ -142,7 +142,7 @@ void annexCode(void)
rcCommand[THROTTLE] = lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
if (f.HEADFREE_MODE) {
float radDiff = (heading - headFreeModeHold) * M_PI / 180.0f;
float radDiff = degreesToRadians(heading - headFreeModeHold);
float cosDiff = cosf(radDiff);
float sinDiff = sinf(radDiff);
int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;