Diff: main.cpp

Revision:

2:8ba36609face

Parent:

1:21ba826811d6

--- a/main.cpp	Sun Aug 12 06:34:00 2018 +0000
+++ b/main.cpp	Sun Aug 12 08:28:02 2018 +0000
@@ -76,8 +76,11 @@
         pc.printf("%f,%f\n\r", magX, magY);
         //ID = IDcheck();
         //pc.printf("%f\n\r", ID);
-        rad = atan2(magZ * sin(roll) - magY * cos(roll), magX * cos(pitch) + magY * sin(pitch) * sin(roll) + magZ * sin(pitch) * cos(roll));
-        degree = -((int)(rad * 180.0 / 3.141592 + 270.0 - 7.5) % 360 - 360.0);
+        double y_houi = magZ * sin(roll) - magY * cos(roll);
+        double x_houi = magX * cos(pitch) + magY * sin(pitch) * sin(roll) + magZ * sin(pitch) * cos(roll);
+        double num = y_houi / x_houi;
+        rad = atan(num);
+        degree = -((int)(rad * 360.0 / 3.141592 + 270.0 - 7.5) % 360 - 360.0);
         /*
         if(degree < 0){
             degree += 360;