//dq -> 2()ϊ
//=(cos*q-sin*d)
	data = igCosVal * igPIQ;	//cos*q
	data *= 2;
	data /= 65536;
	data2 = igSinVal * igPID;	//sin*d
	data2 *= 2;
	data2 /= 65536;
	igAlph2 = data - data2;	//=(cos*q-sin*d)
//=(sin*q+cos*d)
	data = igSinVal * igPIQ;	//sin*q
	data *= 2;
	data /= 65536;
	data2 = igCosVal * igPID;	//cos*d
	data2 *= 2;
	data2 /= 65536;
	igBeta2 = data - data2;	//
