Add parameters for acc weight and rates lpf alpha

Which seems a better name

flix/estimate.ino

@@ -8,8 +8,8 @@
 #include "lpf.h"
 #include "util.h"
 
-#define WEIGHT_ACC 0.003
-#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
+float accWeight = 0.003;
+LowPassFilter<Vector> ratesFilter(0.2); // cutoff frequency ~ 40 Hz
 
 void estimate() {
 	applyGyro();
@@ -18,7 +18,6 @@ void estimate() {
 
 void applyGyro() {
 	// filter gyro to get angular rates
-	static LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
 	rates = ratesFilter.update(gyro);
 
 	// apply rates to attitude
@@ -34,7 +33,7 @@ void applyAcc() {
 
 	// calculate accelerometer correction
 	Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);
-	Vector correction = Vector::rotationVectorBetween(acc, up) * WEIGHT_ACC;
+	Vector correction = Vector::rotationVectorBetween(acc, up) * accWeight;
 
 	// apply correction
 	attitude = Quaternion::rotate(attitude, Quaternion::fromRotationVector(correction));

flix/imu.ino

@@ -53,8 +53,8 @@ void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
 
-	static LowPassFilter<Vector> gyroCalibrationFilter(0.001);
-	gyroBias = gyroCalibrationFilter.update(gyro);
+	static LowPassFilter<Vector> gyroBiasFilter(0.001);
+	gyroBias = gyroBiasFilter.update(gyro);
 }
 
 void calibrateAccel() {

flix/parameters.ino

@@ -49,6 +49,9 @@ Parameter parameters[] = {
 	{"IMU_ACC_SCALE_X", &accScale.x},
 	{"IMU_ACC_SCALE_Y", &accScale.y},
 	{"IMU_ACC_SCALE_Z", &accScale.z},
+	// estimate
+	{"EST_ACC_WEIGHT", &accWeight},
+	{"EST_RATES_LPF_A", &ratesFilter.alpha},
 	// rc
 	{"RC_ZERO_0", &channelZero[0]},
 	{"RC_ZERO_1", &channelZero[1]},