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gyro & d-term filters: remove filtering options except biquad/pt1

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* through extensive testing prior to the beginning of the RC cycle, we have
  discovered that the simplest combination of filters appears to be up to four
  PT1 filters: two for gyro, and two for d-term.
* non-cascaded biquad filter plumbing is retained for noisy setups and the
  dynamic notch bandpass, although gyro and d-term variants of the filtering may
  eventually be removed in favor of pt1
* update all related unit tests
This commit is contained in:
AJ Christensen 2018-05-26 19:25:27 +12:00
parent 418fd4beaa
commit a63c8b0079
8 changed files with 28 additions and 531 deletions
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2
src/test/unit/sensor_gyro_unittest.cc
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@ -117,8 +117,6 @@ TEST(SensorGyro, Update)
// turn off filters
gyroConfigMutable()->gyro_lowpass_hz = 0;
gyroConfigMutable()->gyro_lowpass2_hz = 0;
gyroConfigMutable()->gyro_lma_depth = 0;
gyroConfigMutable()->gyro_lma_weight = 0;
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
gyroInit();