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#ifndef CONSTANTS_h
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#define CONSTANTS_h
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#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
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#define PI 3.1415926535897932384626433832795
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#define DEG_TO_RAD 0.017453292519943295769236907684886
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#define RAD_TO_DEG 57.295779513082320876798154814105
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#define ToRad(x) ((x)*DEG_TO_RAD)  // *pi/180
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#define degrees(rad) ((rad)*RAD_TO_DEG)
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#define INT16DEG_PI_FACTOR ((1L<<15) / PI)
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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 * rotations.h
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 * Copyright (C) Andrew Tridgell 2012
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 *
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 * This file is free software: you can redistribute it and/or modify it
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 * under the terms of the GNU General Public License as published by the
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 * Free Software Foundation, either version 3 of the License, or
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 * (at your option) any later version.
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 *
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 * This file is distributed in the hope that it will be useful, but
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 * WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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 * See the GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License along
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 * with this program.  If not, see <http://www.gnu.org/licenses/>.
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 */
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// these rotations form a full set - every rotation in the following
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// list when combined with another in the list forms an entry which is
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// also in the list. This is an important property. Please run the
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// rotations test suite if you add to the list.
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// these rotation values are stored to EEPROM, so be careful not to
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// change the numbering of any existing entry when adding a new entry.
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enum Rotation {
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        ROTATION_NONE = 0,
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        ROTATION_YAW_45,
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        ROTATION_YAW_90,
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        ROTATION_YAW_135,
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        ROTATION_YAW_180,
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        ROTATION_YAW_225,
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        ROTATION_YAW_270,
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        ROTATION_YAW_315,
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        ROTATION_ROLL_180,
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        ROTATION_ROLL_180_YAW_45,
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        ROTATION_ROLL_180_YAW_90,
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        ROTATION_ROLL_180_YAW_135,
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        ROTATION_PITCH_180,
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        ROTATION_ROLL_180_YAW_225,
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        ROTATION_ROLL_180_YAW_270,
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        ROTATION_ROLL_180_YAW_315,
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    ROTATION_MAX
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};
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#endif