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ArduCopter: changed sin_pitch and sin_roll to faster equivalents

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rmackay9 2012-10-11 17:54:42 +09:00
parent 03933df5b7
commit cf3e49eea2
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/ArduCopter.pde
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@ -2165,8 +2165,8 @@ static void update_trig(void){
cos_yaw_x = yawvector.y; // 0x = north
// added to convert earth frame to body frame for rate controllers
sin_roll = sin(ahrs.roll);
sin_pitch = sin(ahrs.pitch);
sin_pitch = -temp.c.x;
sin_roll = temp.c.y / cos_pitch_x;
//flat:
// 0 ° = cos_yaw: 0.00, sin_yaw: 1.00,