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Gyro filtering restructure

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Refactor the gyro filtering to move the filters from the individual gyro sensor and make them part of the logical gyro object. For dual-gyro mode the sensors are averaged BEFORE and then filtering is applied. This differs from the current structure where filtering is applied individually to each sensor and the results were averaged at the end.

Significantly reduces filtering processing load and enables RPM Filtering for dual-gyro mode.
This commit is contained in:
Bruce Luckcuck 2019-06-05 10:53:22 -04:00
parent e38d460acf
commit 86f9960987
8 changed files with 242 additions and 277 deletions
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2
src/main/build/debug.c
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@ -54,9 +54,7 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"RX_FRSKY_SPI",
"RX_SFHSS_SPI",
"GYRO_RAW",
"DUAL_GYRO",
"DUAL_GYRO_RAW",
"DUAL_GYRO_COMBINE",
"DUAL_GYRO_DIFF",
"MAX7456_SIGNAL",
"MAX7456_SPICLOCK",