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-rw-r--r--n/asserv/src/postrack.c3
1 files changed, 1 insertions, 2 deletions
diff --git a/n/asserv/src/postrack.c b/n/asserv/src/postrack.c
index 5adcb37..d7e6bc8 100644
--- a/n/asserv/src/postrack.c
+++ b/n/asserv/src/postrack.c
@@ -85,10 +85,9 @@ postrack_update (void)
dd = counter_right_diff - counter_left_diff; /* 10b */
dd <<= 16; /* 10.16b */
da = dsp_mul_f824 (dd, postrack_footing_factor);/* 8.24b */
- // XXX: this division is false because da is not radians !
/* New angle. */
na = postrack_a + da;
- /* da in radians. */
+ /* Compute da in radians. */
da = dsp_mul_f824 (da, 2 * M_PI * (1L << 24));
/* X increment. */
dsc = dsp_sin (na) - dsp_sin (postrack_a); /* 8.24b */