Utils.h

/*
  Utils.h - Utility functions for my quadcopter code
  Created by Myles Grant <myles@mylesgrant.com>
  See also: https://github.com/grantmd/QuadCopter
  
  This program is free software: you can redistribute it and/or modify 
  it under the terms of the GNU General Public License as published by 
  the Free Software Foundation, either version 3 of the License, or 
  (at your option) any later version. 

  This program is distributed in the hope that it will be useful, 
  but WITHOUT ANY WARRANTY; without even the implied warranty of 
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
  GNU General Public License for more details. 

  You should have received a copy of the GNU General Public License 
  along with this program. If not, see <http://www.gnu.org/licenses/>. 
*/
#ifndef Utils_h
#define Utils_h

#include "WProgram.h"

// Convert from Gs to Meters Per Second Squared (and vice-versa)
#define G_2_MPS2(g) (g * 9.80665)
#define MPS2_2_G(m) (m * 0.10197162)

void isort(int *, byte);
int findMedian(int *, byte);
float filterSmooth(float, float, float);

#endif