Remove filter unnecessery code // Simplify selection

src/main/common/filter.c

@@ -34,18 +34,16 @@ float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float
  *  450-sized, 920kv, 9.4x4.3 props, 3S : 4622rpm = 77Hz
  *  250-sized, 2300kv, 5x4.5 props, 4S : 14139rpm = 235Hz
  */
-static int8_t gyroFIRCoeff_1000[3][9] = { { 0, 0, 12, 23, 40, 51, 52, 40, 38 },    // 1khz; group delay 2.5ms; -0.5db = 32Hz ; -1db = 45Hz; -5db = 97Hz; -10db = 132Hz
+static int8_t gyroFIRCoeff_1000[7] = { 12, 23, 40, 51, 52, 40, 38 };   // 1khz; group delay 2.5ms; -0.5db = 32Hz ; -1db = 45Hz; -5db = 97Hz; -10db = 132hz
-                                          { 18, 30, 42, 46, 40, 34, 22, 8, 8},     // 1khz; group delay 3ms;   -0.5db = 18Hz ; -1db = 33Hz; -5db = 81Hz; -10db = 113Hz
-                                          { 18, 12, 28, 40, 44, 40, 32, 22, 20} }; // 1khz; group delay 4ms;   -0.5db = 23Hz ; -1db = 35Hz; -5db = 75Hz; -10db = 103Hz
 
-int8_t * filterGetFIRCoefficientsTable(uint8_t filter_level)
+int8_t * filterGetFIRCoefficientsTable(void)
 {
-    return gyroFIRCoeff_1000[filter_level-1];
+    return gyroFIRCoeff_1000;
 }
 
 // 9 Tap FIR filter as described here:
 // Thanks to Qcopter & BorisB & DigitalEntity
-void filterApply9TapFIR(int16_t data[3], int16_t state[3][9], int8_t coeff[9])
+void filterApplyFIR(int16_t data[3], int16_t state[3][7], int8_t coeff[7])
 {
     int32_t FIRsum;
     int axis, i;

src/main/common/filter.h

@@ -13,5 +13,5 @@ typedef struct filterStatePt1_s {
 } filterStatePt1_t;
 
 float filterApplyPt1(float input, filterStatePt1_t *filter, uint8_t f_cut, float dt);
-int8_t * filterGetFIRCoefficientsTable(uint8_t filter_level);
+int8_t * filterGetFIRCoefficientsTable(void);
-void filterApply9TapFIR(int16_t data[3], int16_t state[3][9], int8_t coeff[9]);
+void filterApplyFIR(int16_t data[3], int16_t state[3][7], int8_t coeff[7]);

src/main/config/config.c

@@ -175,7 +175,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->I8[PIDVEL] = 45;
     pidProfile->D8[PIDVEL] = 1;
 
-    pidProfile->gyro_soft_lpf = 1;   // LOW filtering by default
+    pidProfile->gyro_soft_lpf = 1;   // filtering ON by default
     pidProfile->dterm_cut_hz = 40;
     pidProfile->yaw_pterm_cut_hz = 50;
 
@@ -695,7 +695,7 @@ void activateConfig(void)
     );
 
     if (currentProfile->pidProfile.gyro_soft_lpf) {
-        useGyroConfig(&masterConfig.gyroConfig, filterGetFIRCoefficientsTable(currentProfile->pidProfile.gyro_soft_lpf));
+        useGyroConfig(&masterConfig.gyroConfig, filterGetFIRCoefficientsTable()); // Leave this for more coefficients in the future
     }
 
 #ifdef TELEMETRY

src/main/io/serial_cli.c

@@ -347,10 +347,6 @@ static const char * const lookupTableSerialRX[] = {
     "XB-B-RJ01"
 };
 
-static const char * const lookupTableGyroFilter[] = {
-    "OFF", "LOW", "MEDIUM", "HIGH"
-};
-
 static const char * const lookupTableGyroLpf[] = {
     "OFF",
     "188HZ",
@@ -378,7 +374,6 @@ typedef enum {
     TABLE_GIMBAL_MODE,
     TABLE_PID_CONTROLLER,
     TABLE_SERIAL_RX,
-    TABLE_GYRO_FILTER,
     TABLE_GYRO_LPF,
 } lookupTableIndex_e;
 
@@ -395,7 +390,6 @@ static const lookupTableEntry_t lookupTables[] = {
     { lookupTableGimbalMode, sizeof(lookupTableGimbalMode) / sizeof(char *) },
     { lookupTablePidController, sizeof(lookupTablePidController) / sizeof(char *) },
     { lookupTableSerialRX, sizeof(lookupTableSerialRX) / sizeof(char *) },
-    { lookupTableGyroFilter, sizeof(lookupTableGyroFilter) / sizeof(char *) },
     { lookupTableGyroLpf, sizeof(lookupTableGyroLpf) / sizeof(char *) }
 };
 
@@ -651,7 +645,7 @@ const clivalue_t valueTable[] = {
     { "i_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0,  200 } },
     { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0,  200 } },
 
-    { "gyro_soft_lpf",              VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.gyro_soft_lpf, .config.lookup = { TABLE_GYRO_FILTER } },
+    { "gyro_soft_lpf",              VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.gyro_soft_lpf, .config.lookup = { TABLE_OFF_ON } },
     { "dterm_cut_hz",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_cut_hz, .config.minmax = {0, 200 } },
     { "yaw_pterm_cut_hz",           VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_pterm_cut_hz, .config.minmax = {0, 200 } },
 

src/main/sensors/gyro.c

@@ -39,7 +39,7 @@ int16_t gyroZero[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };
 
 static gyroConfig_t *gyroConfig;
 static int8_t * gyroFIRTable = 0L;
-static int16_t gyroFIRState[3][9];
+static int16_t gyroFIRState[3][7];
 
 gyro_t gyro;                      // gyro access functions
 sensor_align_e gyroAlign = 0;
@@ -126,7 +126,7 @@ void gyroUpdate(void)
     }
 
     if (gyroFIRTable) {
-        filterApply9TapFIR(gyroADC, gyroFIRState, gyroFIRTable);
+        filterApplyFIR(gyroADC, gyroFIRState, gyroFIRTable);
     }
 
     alignSensors(gyroADC, gyroADC, gyroAlign);