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Gyro Kalman filter from EmuFlight (#5519)
* Direct copy from EmuFlight, compiles, does not wrk * Fix Kalman computation * Catchup on Emu implementation * Make Q, W and Sharpness configurable * Settings for Kalman Q, W and Sharpness * Make it possible to enable/disable Kalman filter * Change scaling to make initial values simpler * Change Kalman constrains * Compute real variance * Drop unused function parameter * Improve EKF processing for gyro
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9 changed files with 230 additions and 2 deletions
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@ -104,6 +104,7 @@ COMMON_SRC = \
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flight/gyroanalyse.c \
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flight/rpm_filter.c \
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flight/dynamic_gyro_notch.c \
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flight/kalman.c \
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io/beeper.c \
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io/esc_serialshot.c \
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io/servo_sbus.c \
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