AP_Math: add +- 45 roll rotations, use 32 digit constants, AP_Compass support auto orientation for +-45 roll

[IamPete1]

• Adds +- 45 roll rotations.
• Adds testing of quaternion rotations.
• Makes duplicate rotations clear and adds a test to check for duplicates
• all rotation constants to 32 digit
• adds support for compass auto rotation for +- 45, bit of a re-work skipping the duplicates and pitch +7
• Test for the rotation indexer used above, this was more to learn how to add a test than because its actually useful, possibly we don't even want it in tree.

Thanks to @Gone4Dirt for helping me with the quaternions.

[khancyr]

Slight review only

[khancyr]

Static constexpr ftype ?

[IamPete1]

These are a define because the existing HALF_SQRT_2 was, I'm not really sure the benefit either way.

[IamPete1]

I have tested auto rotation at few orientations, including the two new ones. Compass mounted physically at no rotation, then changing AHRS_ORIENTATION and calibrating. The correct compass orientation then matches the AHRS orientation.

[tridge]

@IamPete1 the problem with having all the 45 degree rotations in mag cal is it makes it more likely that the auto-orientation code will pick the wrong orientation. That code doesn't have a lot of margin.
we need to ensure the 45s are not used for mag cal.

[IamPete1]

@tridge Were already doing auto orientation for the 45 deg yaw rotations, I don't see why it would be worse for roll than it is for yaw? I agree that we should not do combined 45's like 45 yaw 45 roll.

[IamPete1]

Were also currently auto rotating some of the more wacky ones, like ROTATION_ROLL_90_PITCH_68_YAW_293 and ROTATION_ROLL_90_PITCH_180_YAW_90

[tridge]

Were already doing auto orientation for the 45 deg yaw rotations, I

for some of them, yes, but I'd prefer to remove those from the auto-rotation list rather than adding more.

[IamPete1]

This one is the same as ROLL_270_YAW_270, admittedly that is not one that we have, but is is much easier to understate as two numbers rather than 3.

[tridge]

i think COMPASS_AUTOROT should be extended to be "only 90s" or "90s and 45s"