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HobbyKing MultiWii 328P fixes #3

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HobbyKing MultiWii 328P fixes #3

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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
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7 changes: 6 additions & 1 deletion IMU.ino
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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
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1 change: 1 addition & 0 deletions def.h
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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)
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