I have since abandoned that project for now, simply since the actual OSD function on the unit does not seem to work with PAL video at all. I got no real support from TechFX for this other than 'uh, I tested it to work before I sent it' which needless to say does nor help me.
The unit itself is rather well made but I have not bothered to do any programming on it since the OSD function was what I wanted to integrate, so now I am making my own ARM based controller. If you are planning to use multiple cameras I have also made video switching units for this now :), if youre interested drop me a mail.
The direction cosines can be converted to Euler angles without using arcsin, so the conversion can be done without considering the scaling. In MatrixPilot, we do the conversions with three calls to a CORDIC based rectangular to polar conversion.
You do not need to consider scaling for atan2(). You do need to consider it for arcsin(). In which case you just need to know that the cosine of 0, which is 1.0, is represented as 16384.
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