Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

HobbyKing MultiWii 328P fixes #3

Open
wants to merge 2 commits into
base: upstream_shared
Choose a base branch
from
+7 −1
Open

HobbyKing MultiWii 328P fixes #3

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
4551680
MAG fix for HK MultiWii 328P
s-p-4-r-k Nov 27, 2012
268355b
VBATPIN fix for HK MultiWii 328P
s-p-4-r-k Nov 27, 2012
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 6 additions & 1 deletion IMU.ino
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -263,7 +263,12 @@ void getEstimatedAttitude(){
// Attitude of the cross product vector GxM
heading = _atan2( EstG.V.X * EstM.V.Z - EstG.V.Z * EstM.V.X , EstG.V.Z * EstM.V.Y - EstG.V.Y * EstM.V.Z );
heading += MAG_DECLINIATION * 10; //add declination
heading = heading /10;
heading = heading / 10;

#if defined(HK_MultiWii_328P)
heading -= 90;
#endif

if ( heading > 180) heading = heading - 360;
else if (heading < -180) heading = heading + 360;
#endif
Expand Down
1 change: 1 addition & 0 deletions def.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -955,6 +955,7 @@
#define GYRO_ORIENTATION(X, Y, Z){gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = -Z;}
#undef INTERNAL_I2C_PULLUPS
#define V_BATPIN A7
#endif

#if defined(CRIUS_AIO_PRO_V1)
Expand Down