Made improvements as requested

src/main/common/lulu.c

@@ -18,15 +18,7 @@
 
 void luluFilterInit(luluFilter_t *filter, int N)
 {
-	if (N > 15)
-	{
-		N = 15;
-	}
-	if (N < 1)
-	{
-		N = 1;
-	}
-	filter->N = N;
+	filter->N = constrain(N, 1, 15);
 	filter->windowSize = filter->N * 2 + 1;
 	filter->windowBufIndex = 0;
 
@@ -183,4 +175,4 @@ FAST_CODE float luluFilterApply(luluFilter_t *filter, float input)
 	float resultA = luluFilterPartialApply(filter, input);
 	// We use the median interpretation of this filter to remove bias in the output
 	return resultA;
-}
+}

src/main/fc/config.c

@@ -192,14 +192,14 @@ void validateAndFixConfig(void)
 {
 
 #ifdef USE_ADAPTIVE_FILTER
-    // gyroConfig()->adaptiveFilterMinHz has to be at least 5 units lower than gyroConfig()->gyro_main_lpf_hz
-//    if (gyroConfig()->adaptiveFilterMinHz + 5 > gyroConfig()->gyro_main_lpf_hz) {
-//        gyroConfigMutable()->adaptiveFilterMinHz = gyroConfig()->gyro_main_lpf_hz - 5;
-//    }
+//     gyroConfig()->adaptiveFilterMinHz has to be at least 5 units lower than gyroConfig()->gyro_main_lpf_hz
+     if (gyroConfig()->adaptiveFilterMinHz + 5 > gyroConfig()->gyro_main_lpf_hz) {
+        gyroConfigMutable()->adaptiveFilterMinHz = gyroConfig()->gyro_main_lpf_hz - 5;
+    }
     //gyroConfig()->adaptiveFilterMaxHz has to be at least 5 units higher than gyroConfig()->gyro_main_lpf_hz
-//    if (gyroConfig()->adaptiveFilterMaxHz - 5 < gyroConfig()->gyro_main_lpf_hz) {
-//        gyroConfigMutable()->adaptiveFilterMaxHz = gyroConfig()->gyro_main_lpf_hz + 5;
-//    }
+    if (gyroConfig()->adaptiveFilterMaxHz - 5 < gyroConfig()->gyro_main_lpf_hz) {
+        gyroConfigMutable()->adaptiveFilterMaxHz = gyroConfig()->gyro_main_lpf_hz + 5;
+    }
 #endif
 
     if (accelerometerConfig()->acc_notch_cutoff >= accelerometerConfig()->acc_notch_hz) {

src/main/fc/settings.yaml

@@ -192,7 +192,7 @@ tables:
     values: ["SHARED_LOW", "SHARED_HIGH", "LOW", "HIGH"]
     enum: led_pin_pwm_mode_e
   - name: gyro_filter_mode
-    values: ["STATIC", "DYNAMIC", "ADAPTIVE"]
+    values: ["STATIC", "DYNAMIC", "ADAPTIVE", "LULU"]
     enum: gyroFilterType_e
 
 constants:
@@ -216,22 +216,27 @@ groups:
     members:
       - name: looptime
         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
+        default_value: 500
         max: 9000
       - 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 samples"
-        default_value: 1
+        description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
+        default_value: 250
         field: gyro_anti_aliasing_lpf_hz
         max: 1000
-      - name: gyro_main_lpf_hz
-        description: "Software based gyro main lowpass filter. Value is samples"
+      - name: gyro_lulu_sample_count
+        description: "Gyro lulu sample count, in number of samples."
         default_value: 3
+        field: gyroLuluSampleCount
+        max: 15
+      - name: gyro_main_lpf_hz
+        description: "Software based gyro main lowpass filter. Value is Hz"
+        default_value: 60
         field: gyro_main_lpf_hz
         min: 0
         max: 500
       - name: gyro_filter_mode
         description: "Specifies the type of the software LPF of the gyro signals."
-        default_value: "STATIC"
+        default_value: "LULU"
         field: gyroFilterMode
         table: gyro_filter_mode
       - name: gyro_dyn_lpf_min_hz

src/main/sensors/gyro.c

@@ -240,25 +240,33 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev, gyroSensor_e gyroHard
     return gyroHardware;
 }
 
-static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint16_t cutoff, uint32_t looptime)
+static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint16_t cutoff, uint32_t looptime, filterType_e filterType)
 {
     *applyFn = nullFilterApply;
     if (cutoff > 0) {
-        *applyFn = (filterApplyFnPtr)luluFilterApply;
         for (int axis = 0; axis < 3; axis++) {
-//            pt1FilterInit(&state[axis].pt1, cutoff, US2S(looptime));
-            luluFilterInit(&state[axis].lulu, cutoff);
+            if(filterType == FILTER_LULU) {
+                luluFilterInit(&state[axis].lulu, cutoff);
+                *applyFn = (filterApplyFnPtr)luluFilterApply;
+            } else {
+                pt1FilterInit(&state[axis].pt1, cutoff, US2S(looptime));
+                *applyFn = (filterApplyFnPtr)pt1FilterApply;
+            }
         }
     }
 }
 
 static void gyroInitFilters(void)
 {
     //First gyro LPF running at full gyro frequency 8kHz
-    initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime());
+    initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime(), FILTER_PT1);
 
-    //Second gyro LPF runnig and PID frequency - this filter is dynamic when gyro_use_dyn_lpf = ON
-    initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_hz, getLooptime());
+    if(gyroConfig()->gyroFilterMode == GYRO_FILTER_MODE_LULU) {
+        initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyroLuluSampleCount, getLooptime(), FILTER_LULU);
+    } else {
+        //Second gyro LPF runnig and PID frequency - this filter is dynamic when gyro_use_dyn_lpf = ON
+        initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_hz, getLooptime(), FILTER_PT1);
+    }
 
 #ifdef USE_ADAPTIVE_FILTER
     if (gyroConfig()->gyroFilterMode == GYRO_FILTER_MODE_ADAPTIVE) {

src/main/sensors/gyro.h

@@ -55,7 +55,8 @@ typedef enum {
 typedef enum {
     GYRO_FILTER_MODE_STATIC = 0,
     GYRO_FILTER_MODE_DYNAMIC = 1,
-    GYRO_FILTER_MODE_ADAPTIVE = 2
+    GYRO_FILTER_MODE_ADAPTIVE = 2,
+    GYRO_FILTER_MODE_LULU = 3
 } gyroFilterMode_e;
 
 typedef struct gyro_s {
@@ -102,6 +103,8 @@ typedef struct gyroConfig_s {
     float adaptiveFilterIntegratorThresholdLow;
 #endif
     uint8_t gyroFilterMode;
+
+    uint8_t gyroLuluSampleCount;
 } gyroConfig_t;
 
 PG_DECLARE(gyroConfig_t, gyroConfig);