Refactor Baro to floats, filter at position rate

convert pressure to altitude early
remove median filter
PT2 filtering upsampled to altitude function in position.c - thanks KarateBrot
baro task synced to position task - thanks Steve
PT2 implementation - thanks KarateBrot
ground altitude from filtered altitude
baro cali by average of calibration samples over cal period
adjust vario and smoothing defaults
don't say haveBaroAlt until cal is complete
reduce PIDs since Baro is faster
add baro smoothing values to blackbox header

Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de>
Co-Authored-By: Steve Evans <SteveCEvans@users.noreply.github.com>

src/test/unit/flight_imu_unittest.cc

@@ -43,6 +43,7 @@ extern "C" {
     #include "flight/mixer.h"
     #include "flight/pid.h"
     #include "flight/imu.h"
+    #include "flight/position.h"
 
     #include "io/gps.h"
 
@@ -202,57 +203,64 @@ TEST(FlightImuTest, TestSmallAngle)
 // STUBS
 
 extern "C" {
-boxBitmask_t rcModeActivationMask;
-float rcCommand[4];
-float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
+    boxBitmask_t rcModeActivationMask;
+    float rcCommand[4];
+    float rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 
-gyro_t gyro;
-acc_t acc;
-mag_t mag;
+    gyro_t gyro;
+    acc_t acc;
+    mag_t mag;
 
-gpsSolutionData_t gpsSol;
-int16_t GPS_verticalSpeedInCmS;
+    gpsSolutionData_t gpsSol;
+    int16_t GPS_verticalSpeedInCmS;
 
-uint8_t debugMode;
-int16_t debug[DEBUG16_VALUE_COUNT];
+    uint8_t debugMode;
+    int16_t debug[DEBUG16_VALUE_COUNT];
 
-uint8_t stateFlags;
-uint16_t flightModeFlags;
-uint8_t armingFlags;
+    uint8_t stateFlags;
+    uint16_t flightModeFlags;
+    uint8_t armingFlags;
 
-pidProfile_t *currentPidProfile;
+    pidProfile_t *currentPidProfile;
 
-uint16_t enableFlightMode(flightModeFlags_e mask)
-{
-    return flightModeFlags |= (mask);
-}
-
-uint16_t disableFlightMode(flightModeFlags_e mask)
-{
-    return flightModeFlags &= ~(mask);
-}
-
-bool sensors(uint32_t mask)
-{
-    return mask & SENSOR_ACC;
-};
-
-uint32_t millis(void) { return 0; }
-uint32_t micros(void) { return 0; }
-
-bool compassIsHealthy(void) { return true; }
-bool baroIsCalibrationComplete(void) { return true; }
-void performBaroCalibrationCycle(void) {}
-int32_t baroCalculateAltitude(void) { return 0; }
-bool gyroGetAccumulationAverage(float *) { return false; }
-bool accGetAccumulationAverage(float *) { return false; }
-void mixerSetThrottleAngleCorrection(int) {};
-bool gpsRescueIsRunning(void) { return false; }
-bool isFixedWing(void) { return false; }
-void pinioBoxTaskControl(void) {}
-void schedulerIgnoreTaskExecTime(void) {}
-void schedulerIgnoreTaskStateTime(void) {}
-void schedulerSetNextStateTime(timeDelta_t) {}
-bool schedulerGetIgnoreTaskExecTime() { return false; }
-float gyroGetFilteredDownsampled(int) { return 0.0f; }
+    uint16_t enableFlightMode(flightModeFlags_e mask) {
+        return flightModeFlags |= (mask);
+    }
+
+    uint16_t disableFlightMode(flightModeFlags_e mask) {
+        return flightModeFlags &= ~(mask);
+    }
+
+    bool sensors(uint32_t mask) {
+        return mask & SENSOR_ACC;
+    };
+
+    uint32_t millis(void) { return 0; }
+    uint32_t micros(void) { return 0; }
+
+    bool compassIsHealthy(void) { return true; }
+    bool baroIsCalibrated(void) { return true; }
+    void performBaroCalibrationCycle(void) {}
+    float baroCalculateAltitude(void) { return 0; }
+    bool gyroGetAccumulationAverage(float *) { return false; }
+    bool accGetAccumulationAverage(float *) { return false; }
+    void mixerSetThrottleAngleCorrection(int) {};
+    bool gpsRescueIsRunning(void) { return false; }
+    bool isFixedWing(void) { return false; }
+    void pinioBoxTaskControl(void) {}
+    void schedulerIgnoreTaskExecTime(void) {}
+    void schedulerIgnoreTaskStateTime(void) {}
+    void schedulerSetNextStateTime(timeDelta_t) {}
+    bool schedulerGetIgnoreTaskExecTime() { return false; }
+    float gyroGetFilteredDownsampled(int) { return 0.0f; }
+    float baroUpsampleAltitude()  { return 0.0f; }
+    float pt2FilterGain(float, float)  { return 0.0f; }
+
+    void pt2FilterInit(pt2Filter_t *baroDerivativeLpf, float) {
+        UNUSED(baroDerivativeLpf);
+    }
+    float pt2FilterApply(pt2Filter_t *baroDerivativeLpf, float) {
+        UNUSED(baroDerivativeLpf);
+        return 0.0f;
+    }
 }