MultiWii

Hello ziss_dm, I think that your code is not match with rotation Vector (in theory) tmpZ = EstV.V.Z EstV.V.Z = scos(deltaGyroAngle.A[ROLL]) * EstV.V.Z - ssin(deltaGyroAngle.A[ROLL]) * EstV.V.X; (eq 1) EstV.V.X = ssin(deltaGyroAngle.A[ROLL]) * EstV.V.Z + scos(deltaGyroAngle.A[ROLL]) * EstV.V.X; (eq 2...