Включен low pass фильтр датчиков, уменьшен срез биквада

Source/BSP/Inc/imu.h

@@ -1,3 +1,5 @@
+#pragma once
+
 #ifndef IMU_H
 #define IMU_H
 
@@ -10,6 +12,16 @@
 #define REG_ACCEL_CONFIG		0x14
 #define IMU_DT					0.002f   // 2 ms
 
+#define GYRO_FS_SEL_2000		3 << 1
+#define GYRO_DLPFCFG_73			3 << 3
+#define GYRO_FCHOICE_ON			1
+#define GYRO_FCHOICE_OFF		0
+
+#define ACCEL_FS_SEL_8			2 << 1
+#define ACCEL_DLPFCFG_69		3 << 3
+#define ACCEL_FCHOICE_ON		1
+#define ACCEL_FCHOICE_OFF		0
+
 typedef struct
 {
 	int16_t ax, ay, az; // lsb