From 7ad302279898e67277438e564ba1af94c06e9162 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 24 Jan 2026 09:31:32 +0300
Subject: [PATCH] Add parameter for configuring gyro bias lpf + reset the
 filter on `reset` command

---
 flix/cli.ino        | 3 +++
 flix/imu.ino        | 4 ++--
 flix/parameters.ino | 1 +
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/flix/cli.ino b/flix/cli.ino
index 2e4f9f8..bd67c30 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -6,6 +6,7 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
+#include "lpf.h"
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern const int RAW, ACRO, STAB, AUTO;
@@ -14,6 +15,7 @@ extern uint16_t channels[16];
 extern float controlTime;
 extern int mode;
 extern bool armed;
+extern LowPassFilter<Vector> gyroBiasFilter;
 
 const char* motd =
 "\nWelcome to\n"
@@ -178,6 +180,7 @@ void doCommand(String str, bool echo = false) {
 #endif
 	} else if (command == "reset") {
 		attitude = Quaternion();
+		gyroBiasFilter.reset();
 	} else if (command == "reboot") {
 		ESP.restart();
 	} else {
diff --git a/flix/imu.ino b/flix/imu.ino
index 22cf3e3..ffdc1ff 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -19,6 +19,8 @@ Vector acc; // accelerometer output, m/s/s
 Vector accBias;
 Vector accScale(1, 1, 1);
 
+LowPassFilter<Vector> gyroBiasFilter(0.001);
+
 void setupIMU() {
 	print("Setup IMU\n");
 	imu.begin();
@@ -50,8 +52,6 @@ void readIMU() {
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
-
-	static LowPassFilter<Vector> gyroBiasFilter(0.001);
 	gyroBias = gyroBiasFilter.update(gyro);
 }
 
diff --git a/flix/parameters.ino b/flix/parameters.ino
index e58abed..498bfb7 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -59,6 +59,7 @@ Parameter parameters[] = {
 	{"IMU_ACC_SCALE_X", &accScale.x},
 	{"IMU_ACC_SCALE_Y", &accScale.y},
 	{"IMU_ACC_SCALE_Z", &accScale.z},
+	{"IMU_GYRO_BIAS_A", &gyroBiasFilter.alpha},
 	// estimate
 	{"EST_ACC_WEIGHT", &accWeight},
 	{"EST_RATES_LPF_A", &ratesFilter.alpha},