Use only highest hardware LPF as it's de factor standard for a few years now.

src/main/blackbox/blackbox.c

@@ -1915,7 +1915,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_type", "%d",                  pidProfile()->dterm_lpf_type);
         BLACKBOX_PRINT_HEADER_LINE("deadband", "%d",                        rcControlsConfig()->deadband);
         BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d",                    rcControlsConfig()->yaw_deadband);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d",                        gyroConfig()->gyro_lpf);
+        BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d",                        GYRO_LPF_256HZ);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lpf_hz", "%d",                     gyroConfig()->gyro_main_lpf_hz);
 #ifdef USE_DYNAMIC_FILTERS
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d",               gyroConfig()->dynamicGyroNotchQ);

src/main/cms/cms_menu_imu.c

@@ -422,7 +422,6 @@ static const CMS_Menu cmsx_menuProfileOther = {
 static const OSD_Entry cmsx_menuFilterPerProfileEntries[] =
 {
     OSD_LABEL_DATA_ENTRY("-- FILTERING  --", profileIndexString),
-    OSD_SETTING_ENTRY("HARDWARE LPF", SETTING_GYRO_HARDWARE_LPF),
     OSD_SETTING_ENTRY("GYRO MAIN", SETTING_GYRO_MAIN_LPF_HZ),
     OSD_SETTING_ENTRY("DTERM LPF", SETTING_DTERM_LPF_HZ),
 #ifdef USE_DYNAMIC_FILTERS

src/main/drivers/accgyro/accgyro_bmi160.c

@@ -108,15 +108,6 @@ static const gyroFilterAndRateConfig_t gyroConfigs[] = {
     { GYRO_LPF_256HZ,   3200,   { BMI160_BWP_OSR4 | BMI160_ODR_3200_Hz} },
     { GYRO_LPF_256HZ,   1600,   { BMI160_BWP_OSR2 | BMI160_ODR_1600_Hz} },
     { GYRO_LPF_256HZ,    800,   { BMI160_BWP_NORMAL | BMI160_ODR_800_Hz } },
-
-    { GYRO_LPF_188HZ,    800,   { BMI160_BWP_OSR2   | BMI160_ODR_800_Hz } },  // ODR = 800 Hz, LPF = 128 Hz
-    { GYRO_LPF_188HZ,    400,   { BMI160_BWP_NORMAL | BMI160_ODR_400_Hz } },  // ODR = 400 Hz, LPF = 137 Hz
-
-    { GYRO_LPF_98HZ,     800,   { BMI160_BWP_OSR4   | BMI160_ODR_800_Hz } },  // ODR = 800 Hz, LPF = 63 Hz
-    { GYRO_LPF_98HZ,     400,   { BMI160_BWP_OSR2   | BMI160_ODR_400_Hz } },  // ODR = 400 Hz, LPF = 68 Hz
-
-    { GYRO_LPF_42HZ,     800,   { BMI160_BWP_OSR4   | BMI160_ODR_800_Hz } },  // ODR = 800 Hz, LPF = 63 Hz
-    { GYRO_LPF_42HZ,     400,   { BMI160_BWP_OSR4   | BMI160_ODR_400_Hz } },  // ODR = 400 Hz, LPF = 34 Hz
 };
 
 static void bmi160AccAndGyroInit(gyroDev_t *gyro)

src/main/drivers/accgyro/accgyro_bmi270.c

@@ -134,15 +134,6 @@ static const gyroFilterAndRateConfig_t gyroConfigs[] = {
     { GYRO_LPF_256HZ,   3200,   { BMI270_BWP_OSR4 | BMI270_ODR_3200} },
     { GYRO_LPF_256HZ,   1600,   { BMI270_BWP_OSR2 | BMI270_ODR_1600} },
     { GYRO_LPF_256HZ,    800,   { BMI270_BWP_NORM | BMI270_ODR_800 } },
-
-    { GYRO_LPF_188HZ,    800,   { BMI270_BWP_OSR2 | BMI270_ODR_800 } },
-    { GYRO_LPF_188HZ,    400,   { BMI270_BWP_NORM | BMI270_ODR_400 } },
-
-    { GYRO_LPF_98HZ,     800,   { BMI270_BWP_OSR4   | BMI270_ODR_800 } },
-    { GYRO_LPF_98HZ,     400,   { BMI270_BWP_OSR2   | BMI270_ODR_400 } },
-
-    { GYRO_LPF_42HZ,     800,   { BMI270_BWP_OSR4   | BMI270_ODR_800 } },
-    { GYRO_LPF_42HZ,     400,   { BMI270_BWP_OSR4   | BMI270_ODR_400 } },
 };
 
 // Toggle the CS to switch the device into SPI mode.

src/main/drivers/accgyro/accgyro_icm42605.c

@@ -198,21 +198,6 @@ static const gyroFilterAndRateConfig_t icm42605GyroConfigs[] = {
     { GYRO_LPF_256HZ,   2000,   { 3,    5  } }, /* 250 Hz LPF */
     { GYRO_LPF_256HZ,   1000,   { 1,    6  } }, /* 250 Hz LPF */
     { GYRO_LPF_256HZ,    500,   { 0,    15 } }, /* 250 Hz LPF */
-
-    { GYRO_LPF_188HZ,   1000,   { 3,   6  } },  /* 125 HZ */
-    { GYRO_LPF_188HZ,    500,   { 1,   15 } },  /* 125 HZ */
-
-    { GYRO_LPF_98HZ,    1000,   { 4,    6  } }, /* 100 HZ*/
-    { GYRO_LPF_98HZ,     500,   { 2,    15 } }, /* 100 HZ*/
-
-    { GYRO_LPF_42HZ,    1000,   { 6,    6  } }, /* 50 HZ */
-    { GYRO_LPF_42HZ,     500,   { 4,    15 } },
-
-    { GYRO_LPF_20HZ,    1000,   { 7,    6  } }, /* 25 HZ */
-    { GYRO_LPF_20HZ,     500,   { 6,    15 } },
-
-    { GYRO_LPF_10HZ,    1000,   { 7,    6  } }, /* 25 HZ */
-    { GYRO_LPF_10HZ,     500,   { 7,    15 } }  /* 12.5 HZ */
 };
 
 static void icm42605AccAndGyroInit(gyroDev_t *gyro)

src/main/drivers/accgyro/accgyro_mpu.c

@@ -50,21 +50,6 @@ static const gyroFilterAndRateConfig_t mpuGyroConfigs[] = {
     { GYRO_LPF_256HZ,   1000,   { MPU_DLPF_256HZ,   7  } },
     { GYRO_LPF_256HZ,    666,   { MPU_DLPF_256HZ,   11 } },
     { GYRO_LPF_256HZ,    500,   { MPU_DLPF_256HZ,   15 } },
-
-    { GYRO_LPF_188HZ,   1000,   { MPU_DLPF_188HZ,   0  } },
-    { GYRO_LPF_188HZ,    500,   { MPU_DLPF_188HZ,   1  } },
-
-    { GYRO_LPF_98HZ,    1000,   { MPU_DLPF_98HZ,    0  } },
-    { GYRO_LPF_98HZ,     500,   { MPU_DLPF_98HZ,    1  } },
-
-    { GYRO_LPF_42HZ,    1000,   { MPU_DLPF_42HZ,    0  } },
-    { GYRO_LPF_42HZ,     500,   { MPU_DLPF_42HZ,    1  } },
-
-    { GYRO_LPF_20HZ,    1000,   { MPU_DLPF_20HZ,    0  } },
-    { GYRO_LPF_20HZ,     500,   { MPU_DLPF_20HZ,    1  } },
-
-    { GYRO_LPF_10HZ,    1000,   { MPU_DLPF_10HZ,    0  } },
-    { GYRO_LPF_10HZ,     500,   { MPU_DLPF_10HZ,    1  } }
 };
 
 const gyroFilterAndRateConfig_t * mpuChooseGyroConfig(uint8_t desiredLpf, uint16_t desiredRateHz)

src/main/fc/fc_msp.c

@@ -1295,7 +1295,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, pidProfile()->heading_hold_rate_limit);
         sbufWriteU8(dst, HEADING_HOLD_ERROR_LPF_FREQ);
         sbufWriteU16(dst, 0);
-        sbufWriteU8(dst, gyroConfig()->gyro_lpf);
+        sbufWriteU8(dst, GYRO_LPF_256HZ);
         sbufWriteU8(dst, accelerometerConfig()->acc_lpf_hz);
         sbufWriteU8(dst, 0); //reserved
         sbufWriteU8(dst, 0); //reserved
@@ -2335,7 +2335,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             pidProfileMutable()->heading_hold_rate_limit = sbufReadU8(src);
             sbufReadU8(src); //HEADING_HOLD_ERROR_LPF_FREQ
             sbufReadU16(src); //Legacy yaw_jump_prevention_limit
-            gyroConfigMutable()->gyro_lpf = sbufReadU8(src);
+            sbufReadU8(src); // was gyro lpf
             accelerometerConfigMutable()->acc_lpf_hz = sbufReadU8(src);
             sbufReadU8(src); //reserved
             sbufReadU8(src); //reserved

src/main/fc/settings.yaml

@@ -1,8 +1,6 @@
 tables:
   - name: alignment
     values: ["DEFAULT", "CW0", "CW90", "CW180", "CW270", "CW0FLIP", "CW90FLIP", "CW180FLIP", "CW270FLIP"]
-  - name: gyro_lpf
-    values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
   - name: acc_hardware
     values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX",  "FAKE"]
     enum: accelerationSensor_e
@@ -217,11 +215,6 @@ groups:
         description: "This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible."
         default_value: 1000
         max: 9000
-      - name: gyro_hardware_lpf
-        description: "Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first."
-        default_value: "256HZ"
-        field: gyro_lpf
-        table: gyro_lpf
       - name: gyro_anti_aliasing_lpf_hz
         description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
         default_value: 250

src/main/io/osd_dji_hd.c

@@ -1454,7 +1454,7 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
             sbufWriteU16(dst, 0);                                       // BF: gyroConfig()->gyro_soft_notch_hz_2
             sbufWriteU16(dst, 1);                                       // BF: gyroConfig()->gyro_soft_notch_cutoff_2
             sbufWriteU8(dst, 0);                                        // BF: currentPidProfile->dterm_filter_type
-            sbufWriteU8(dst, gyroConfig()->gyro_lpf);                   // BF: gyroConfig()->gyro_hardware_lpf);
+            sbufWriteU8(dst, GYRO_LPF_256HZ);                           // BF: gyroConfig()->gyro_hardware_lpf);
             sbufWriteU8(dst, 0);                                        // BF: DEPRECATED: gyro_32khz_hardware_lpf
             sbufWriteU16(dst, gyroConfig()->gyro_main_lpf_hz);          // BF: gyroConfig()->gyro_lowpass_hz);
             sbufWriteU16(dst, 0);                                       // BF: gyroConfig()->gyro_lowpass2_hz);

src/main/sensors/gyro.c

@@ -98,7 +98,6 @@ EXTENDED_FASTRAM secondaryDynamicGyroNotchState_t secondaryDynamicGyroNotchState
 PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 8);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
-    .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,
     .gyro_anti_aliasing_lpf_hz = SETTING_GYRO_ANTI_ALIASING_LPF_HZ_DEFAULT,
     .looptime = SETTING_LOOPTIME_DEFAULT,
 #ifdef USE_DUAL_GYRO
@@ -282,7 +281,7 @@ bool gyroInit(void)
     sensorsSet(SENSOR_GYRO);
 
     // Driver initialisation
-    gyroDev[0].lpf = gyroConfig()->gyro_lpf;
+    gyroDev[0].lpf = GYRO_LPF_256HZ;
     gyroDev[0].requestedSampleIntervalUs = TASK_GYRO_LOOPTIME;
     gyroDev[0].sampleRateIntervalUs = TASK_GYRO_LOOPTIME;
     gyroDev[0].initFn(&gyroDev[0]);

src/main/sensors/gyro.h

@@ -64,7 +64,6 @@ extern dynamicGyroNotchState_t dynamicGyroNotchState;
 
 typedef struct gyroConfig_s {
     uint16_t looptime;                      // imu loop time in us
-    uint8_t  gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
     uint16_t  gyro_anti_aliasing_lpf_hz;
 #ifdef USE_DUAL_GYRO
     uint8_t  gyro_to_use;