Added gyro high pass filter for lpos output. #72
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You can see it is pretty snappy and resitant to shaking of the board with the high pass gyro filter on. |
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This is a way of including the gyro flow info without letting the gyro bias slowly diverge the system. It doesn't change any output. It just changes the calculation if lpos output is enabled, mainly for debug. I'm investigating this as a way to improve flow performance in the lpe estimator.