Kmitchel proposes merging Fujin's FKF Code into Butterflight

[apocolipse]

@kmitchel Can you add this in as separate functions instead of changing the existing filter? As well as add an option to the stage2_filter_type enum for the CLI option and the accompanying switch case in gyro.c? Thanks

[kmitchel]

I'll get to work.

[kmitchel]

Made requested changes. I'll need to dbl-check and test tomorrow. Ty

[apocolipse]

@kmitchel can you rename to something like fixed_k_kalman? Also squash and rebase, looks like you have a conflict

[kmitchel]

@apocolipse Please review when you have a moment. I think I have everything, but I am wondering if recylcing fastKalmanApplyFn is ok.

for some reason cpu_overclock = 192mhz is crashing my revolt

[apocolipse]

@kmitchel i think you might need to rebase/squash again as we just fixed the bug with cpu_overclock

[kmitchel]

@apocolipse can you give me a pointer for squashing after merge...keep getting into trouble

I git fetch upstream, git pull upstream master, edit conflicts , stage and commit changes.

When I git rebase -i HEAD~2 I can't select "Merge conflict fix" Not sure where I keep failing. TY

[apocolipse]

@kmitchel just re-branch off of master and push to your fork with git push myforkname +branch_name note the + to force push, that'll update the PR if you force to this branch

[apocolipse]

@kmitchel looks like conflicts are resolved but you're still missing the call to init, look in gyro.c#659

[apocolipse]

@kmitchel still needs to be initialized in gyroInitSensorFilters()