Merge remote-tracking branch 'emuflight/master' into 20230620_rebase_…

…PR890_BMI270_as_FIFO_without_normal_driver

src/main/blackbox/blackbox.c

@@ -1229,10 +1229,12 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_roll", "%d",            gyroConfig()->gyro_lowpass_hz[ROLL]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_pitch", "%d",           gyroConfig()->gyro_lowpass_hz[PITCH]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_yaw", "%d",             gyroConfig()->gyro_lowpass_hz[YAW]);
+#ifdef USE_GYRO_LPF2
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d",              gyroConfig()->gyro_lowpass2_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_roll", "%d",           gyroConfig()->gyro_lowpass2_hz[ROLL]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_pitch", "%d",          gyroConfig()->gyro_lowpass2_hz[PITCH]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_yaw", "%d",            gyroConfig()->gyro_lowpass2_hz[YAW]);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_soft_notch_hz_1,
                                    gyroConfig()->gyro_soft_notch_hz_2);
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",            gyroConfig()->gyro_soft_notch_cutoff_1,

src/main/cms/cms_menu_imu.c

@@ -493,9 +493,12 @@ static uint8_t gyroConfig_gyro_lowpass1_type;
 static uint16_t gyroConfig_gyro_lowpass_hz_roll;
 static uint16_t gyroConfig_gyro_lowpass_hz_pitch;
 static uint16_t gyroConfig_gyro_lowpass_hz_yaw;
+#ifdef USE_GYRO_LPF2
+static uint8_t gyroConfig_gyro_lowpass2_type;
 static uint16_t gyroConfig_gyro_lowpass2_hz_roll;
 static uint16_t gyroConfig_gyro_lowpass2_hz_pitch;
 static uint16_t gyroConfig_gyro_lowpass2_hz_yaw;
+#endif
 #ifdef USE_GYRO_DATA_ANALYSE
 static uint16_t gyroConfig_gyro_q;
 static uint8_t gyroConfig_gyro_notch_count;
@@ -524,9 +527,12 @@ static long cmsx_menuGyro_onEnter(void) {
     gyroConfig_gyro_lowpass_hz_roll =  gyroConfig()->gyro_lowpass_hz[ROLL];
     gyroConfig_gyro_lowpass_hz_pitch =  gyroConfig()->gyro_lowpass_hz[PITCH];
     gyroConfig_gyro_lowpass_hz_yaw =  gyroConfig()->gyro_lowpass_hz[YAW];
+#ifdef USE_GYRO_LPF2
+    gyroConfig_gyro_lowpass2_type =  gyroConfig()->gyro_lowpass2_type;
     gyroConfig_gyro_lowpass2_hz_roll =  gyroConfig()->gyro_lowpass2_hz[ROLL];
     gyroConfig_gyro_lowpass2_hz_pitch =  gyroConfig()->gyro_lowpass2_hz[PITCH];
     gyroConfig_gyro_lowpass2_hz_yaw =  gyroConfig()->gyro_lowpass2_hz[YAW];
+#endif
 #ifdef USE_GYRO_DATA_ANALYSE
     gyroConfig_gyro_q = gyroConfig()->dyn_notch_q;
     gyroConfig_gyro_notch_count = gyroConfig()->dyn_notch_count;
@@ -558,9 +564,12 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] =  gyroConfig_gyro_lowpass_hz_roll;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] =  gyroConfig_gyro_lowpass_hz_pitch;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] =  gyroConfig_gyro_lowpass_hz_yaw;
+#ifdef USE_GYRO_LPF2
+    gyroConfigMutable()->gyro_lowpass2_type =  gyroConfig_gyro_lowpass2_type;
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] =  gyroConfig_gyro_lowpass2_hz_roll;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] =  gyroConfig_gyro_lowpass2_hz_pitch;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] =  gyroConfig_gyro_lowpass2_hz_yaw;
+#endif
 #ifdef USE_GYRO_DATA_ANALYSE
     gyroConfigMutable()->dyn_notch_q = gyroConfig_gyro_q;
     gyroConfigMutable()->dyn_notch_count = gyroConfig_gyro_notch_count;
@@ -589,11 +598,12 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
 static OSD_Entry cmsx_menuFilterGlobalEntries[] = {
     { "-- FILTER GLB  --", OME_Label, NULL, NULL, 0 },
 
+    { "GYRO LPF TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 },
     { "GYRO LPF ROLL",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_roll,     0, 16000, 1 }, 0 },
     { "GYRO LPF PITCH",   OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_pitch,    0, 16000, 1 }, 0 },
     { "GYRO LPF YAW",     OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_yaw,      0, 16000, 1 }, 0 },
-    { "GYRO LPF TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 },
 #ifdef USE_GYRO_LPF2
+    { "GYRO LPF2 TYPE",   OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass2_type, 4, cms_FilterType }, 0 },
     { "GYRO LPF2 ROLL",   OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_roll,    0, 16000, 1 }, 0 },
     { "GYRO LPF2 PITCH",  OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_pitch,   0, 16000, 1 }, 0 },
     { "GYRO LPF2 YAW",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_yaw,     0, 16000, 1 }, 0 },

src/main/flight/pid.c

@@ -197,10 +197,8 @@ void resetPidProfile(pidProfile_t *pidProfile) {
     .dterm_ABG_half_life = 50,
     .emuGravityGain = 50,
     .angle_filter = 100,
-#ifdef USE_GYRO_DATA_ANALYSE
     .dtermDynNotch = false,
     .dterm_dyn_notch_q = 400,
-#endif
                 );
 }
 
@@ -237,7 +235,9 @@ static FAST_RAM filterApplyFnPtr angleSetpointFilterApplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT pt1Filter_t angleSetpointFilter[2];
 static FAST_RAM filterApplyFnPtr dtermABGapplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT alphaBetaGammaFilter_t dtermABG[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT][5];
+#endif
 
 #if defined(USE_ITERM_RELAX)
 static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
@@ -673,7 +673,9 @@ static FAST_RAM_ZERO_INIT float stickMovement[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float lastRcDeflectionAbs[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousError[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousMeasurement[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT float previousNotchCenterFreq[XYZ_AXIS_COUNT][5];
+#endif
 static FAST_RAM_ZERO_INIT timeUs_t crashDetectedAtUs;
 
 void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs) {

src/main/flight/pid.h

@@ -155,10 +155,8 @@ typedef struct pidProfile_s {
     uint16_t dterm_ABG_alpha;
     uint16_t dterm_ABG_boost;
     uint8_t dterm_ABG_half_life;
-#ifdef USE_GYRO_DATA_ANALYSE
     uint8_t dtermDynNotch;
     uint16_t dterm_dyn_notch_q;
-#endif
 } pidProfile_t;
 
 #ifndef USE_OSD_SLAVE

src/main/interface/msp.c

@@ -1194,11 +1194,21 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[ROLL]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[PITCH]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[YAW]);
+#ifdef USE_GYRO_LPF2
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[ROLL]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[PITCH]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[YAW]);
+#else
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type);
+#ifdef USE_GYRO_LPF2
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass2_type);
+#else
+        sbufWriteU8(dst, 0);
+#endif
         sbufWriteU16(dst, currentPidProfile->dFilter[ROLL].dLpf2);
         sbufWriteU16(dst, currentPidProfile->dFilter[PITCH].dLpf2);
         sbufWriteU16(dst, currentPidProfile->dFilter[YAW].dLpf2);
@@ -1833,17 +1843,10 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
             currentPidProfile->dFilter[YAW].dLpf2 = sbufReadU16(src);
             //MSP 1.51 removes SmartDTermSmoothing and WitchCraft
             //MSP 1.51 adds and refactors dynamic_filter
-#ifdef USE_GYRO_DATA_ANALYSE
             gyroConfigMutable()->dyn_notch_count = sbufReadU8(src); //dynamic_gyro_notch_count
             gyroConfigMutable()->dyn_notch_q = sbufReadU16(src);
             gyroConfigMutable()->dyn_notch_min_hz = sbufReadU16(src);
             gyroConfigMutable()->dyn_notch_max_hz = sbufReadU16(src); //dynamic_gyro_notch_max_hz
-#else
-            sbufReadU8(src);
-            sbufReadU16(src);
-            sbufReadU16(src);
-            sbufReadU16(src);
-#endif
             //end 1.51 add/refactor dynamic_filter
             //MSP 1.51
             gyroConfigMutable()->gyro_ABG_alpha = sbufReadU16(src);
@@ -1855,13 +1858,8 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src) {
             currentPidProfile->dterm_ABG_half_life = sbufReadU8(src);
             //end MSP 1.51
             //MSP 1.51 dynamic dTerm notch
-#ifdef USE_GYRO_DATA_ANALYSE
             currentPidProfile->dtermDynNotch = sbufReadU8(src);         //dterm_dyn_notch_enable
             currentPidProfile->dterm_dyn_notch_q = sbufReadU16(src);    //dterm_dyn_notch_q
-#else
-            sbufReadU8(src);
-            sbufReadU16(src);
-#endif
             //end MSP 1.51 dynamic dTerm notch
         }
         // reinitialize the gyro filters with the new values

src/main/interface/settings.c

@@ -394,11 +394,9 @@ static const char *const lookupTableMixerImplType[] = {
     "LEGACY", "SMOOTH", "2PASS"
 };
 
-#ifdef USE_GYRO_DATA_ANALYSE
 static const char *const lookupTableDynNotchAxisType[] = {
     "RP", "RPY"
 };
-#endif
 
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
@@ -489,9 +487,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
 #endif
     LOOKUP_TABLE_ENTRY(lookupTableMixerImplType),
-#ifdef USE_GYRO_DATA_ANALYSE
     LOOKUP_TABLE_ENTRY(lookupTableDynNotchAxisType),
-#endif
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -513,10 +509,12 @@ const clivalue_t valueTable[] = {
     { "gyro_lowpass_hz_pitch",      VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[PITCH]) },
     { "gyro_lowpass_hz_yaw",        VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[YAW]) },
 
+#ifdef USE_GYRO_LPF2
     { "gyro_lowpass2_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FILTER_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_type) },
     { "gyro_lowpass2_hz_roll",      VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[ROLL]) },
     { "gyro_lowpass2_hz_pitch",     VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[PITCH]) },
     { "gyro_lowpass2_hz_yaw",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[YAW]) },
+#endif
 
     { "gyro_abg_alpha",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_alpha) },
     { "gyro_abg_boost",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  2000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_boost) },

src/main/interface/settings.h

@@ -112,9 +112,7 @@ typedef enum {
     TABLE_OSD_LOGO_ON_ARMING,
 #endif
     TABLE_MIXER_IMPL_TYPE,
-#ifdef USE_GYRO_DATA_ANALYSE
     TABLE_DYN_NOTCH_AXIS_TYPE,
-#endif
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;
 

src/main/sensors/gyro.c

@@ -159,8 +159,10 @@ typedef struct gyroSensor_s {
     gyroLowpassFilter_t lowpassFilter[XYZ_AXIS_COUNT];
 
     // lowpass2 gyro soft filter
+#ifdef USE_GYRO_LPF2
     filterApplyFnPtr lowpass2FilterApplyFn;
     gyroLowpassFilter_t lowpass2Filter[XYZ_AXIS_COUNT];
+#endif
 
     // ABG filter
     filterApplyFnPtr gyroABGFilterApplyFn;
@@ -251,13 +253,11 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
-#ifdef USE_GYRO_DATA_ANALYSE
                   .dyn_notch_axis = RPY,
                   .dyn_notch_q = 400,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
                   .dyn_notch_max_hz = 600,
-#endif
                   .imuf_mode = GTBCM_GYRO_ACC_FILTER_F,
                   .imuf_rate = IMUF_RATE_16K,
                   .imuf_roll_q = 6000,
@@ -309,13 +309,11 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_offset_yaw = 0,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
-#ifdef USE_GYRO_DATA_ANALYSE
                   .dyn_notch_axis = RPY,
                   .dyn_notch_q = 350,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
                   .dyn_notch_max_hz = 600,
-#endif
                   .gyro_ABG_alpha = 0,
                   .gyro_ABG_boost = 275,
                   .gyro_ABG_half_life = 50,
@@ -762,13 +760,15 @@ void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type) {
         lpfHz[PITCH] = gyroConfig()->gyro_lowpass_hz[PITCH];
         lpfHz[YAW] = gyroConfig()->gyro_lowpass_hz[YAW];
         break;
+#ifdef USE_GYRO_LPF2
     case FILTER_LOWPASS2:
         lowpassFilterApplyFn = &gyroSensor->lowpass2FilterApplyFn;
         lowpassFilter = gyroSensor->lowpass2Filter;
         lpfHz[ROLL] = gyroConfig()->gyro_lowpass2_hz[ROLL];
         lpfHz[PITCH] = gyroConfig()->gyro_lowpass2_hz[PITCH];
         lpfHz[YAW] = gyroConfig()->gyro_lowpass2_hz[YAW];
         break;
+#endif
     default:
         return;
     }
@@ -907,11 +907,13 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor) {
         FILTER_LOWPASS,
         gyroConfig()->gyro_lowpass_type
     );
+#ifdef USE_GYRO_LPF2
     gyroInitLowpassFilterLpf(
         gyroSensor,
         FILTER_LOWPASS2,
         gyroConfig()->gyro_lowpass2_type
     );
+#endif
     gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
     gyroInitFilterNotch2(gyroSensor, gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2);
 #ifdef USE_GYRO_DATA_ANALYSE

src/main/sensors/gyro.h

@@ -114,12 +114,10 @@ typedef struct smithPredictor_s {
 } smithPredictor_t;
 #endif // USE_SMITH_PREDICTOR
 
-#ifdef USE_GYRO_DATA_ANALYSE
 typedef enum {
     RP = 0,
     RPY = 1
 } dynamicGyroAxisType_e;
-#endif
 
 typedef struct gyroConfig_s {
     uint8_t  gyro_align;                       // gyro alignment
@@ -154,13 +152,11 @@ typedef struct gyroConfig_s {
     int16_t  yaw_spin_threshold;
 
     uint16_t gyroCalibrationDuration;  // Gyro calibration duration in 1/100 second
-#if defined(USE_GYRO_DATA_ANALYSE)
     uint8_t dyn_notch_axis;
     uint16_t dyn_notch_q;
     uint8_t dyn_notch_count;
     uint16_t dyn_notch_min_hz;
     uint16_t dyn_notch_max_hz;
-#endif
 #if defined(USE_GYRO_IMUF9001)
     uint16_t imuf_mode;
     uint16_t imuf_rate;

src/main/sensors/gyro_filter_impl.h

@@ -36,7 +36,9 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor) {
 #endif
 
         // apply static notch filters and software lowpass filters
+#ifdef USE_GYRO_LPF2
         gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf);
+#endif
         gyroADCf = gyroSensor->lowpassFilterApplyFn((filter_t *)&gyroSensor->lowpassFilter[axis], gyroADCf);
         gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf);
         gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf);

src/main/target/NBDBBBLV2/config.c

@@ -168,9 +168,11 @@ void targetConfiguration(void)
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     rxConfigMutable()->mincheck = 1075;
     rxConfigMutable()->maxcheck = 1900;

src/main/target/NBDBBBLV3/config.c

@@ -168,9 +168,11 @@ void targetConfiguration(void)
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     rxConfigMutable()->mincheck = 1075;
     rxConfigMutable()->maxcheck = 1900;

src/main/target/NBDHMBF41S/config.c

@@ -114,7 +114,9 @@ void targetConfiguration(void)
 
     gyroConfigMutable()->gyro_lowpass_type = FILTER_PT1;
     gyroConfigMutable()->gyro_lowpass_hz = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz = 200;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     gyroConfigMutable()->dyn_lpf_gyro_min_hz = 160;
     gyroConfigMutable()->dyn_lpf_gyro_max_hz = 400;

src/main/target/NBDHMBF4PRO/config.c

@@ -149,9 +149,11 @@ void targetConfiguration(void) {
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     // gyroConfigMutable()->dyn_lpf_gyro_min_hz = 200;
     // gyroConfigMutable()->dyn_lpf_gyro_max_hz = 500;

src/test/unit/sensor_gyro_unittest.cc

@@ -116,7 +116,9 @@ TEST(SensorGyro, Update)
     pgResetAll();
     // turn off filters
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 0;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 0;
+#endif
     gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
     gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
     gyroInit();