open filter for blueberryAT32F435

[sunyanmeng963]

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[github-actions]

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[qodo-code-review]

Review Summary by Qodo

Remove dynamic filter configuration from BLUEBERRYF435WING target

🐞 Bug fix

Walkthroughs

Description

• Remove unnecessary gyro filter configuration from target setup
• Delete unused sensors/gyro.h include directive
• Simplify BLUEBERRYF435WING configuration by removing dynamic filter logic

Diagram

flowchart LR
  A["config.c file"] -- "Remove gyro.h include" --> B["Cleaned includes"]
  A -- "Delete dynamic filter config block" --> C["Simplified targetConfiguration"]
  B --> D["Final config.c"]
  C --> D

Loading

File Changes

1. src/main/target/BLUEBERRYF435WING/config.c 🐞 Bug fix +0/-8

Remove gyro filter configuration from target

• Removed #include "sensors/gyro.h" header include
• Deleted entire USE_DYNAMIC_FILTERS conditional block containing dynamic notch filter disable
 logic
• Removed gyro configuration call gyroConfigMutable()->dynamicGyroNotchEnabled = 0
• Simplified target configuration by eliminating performance optimization comments

src/main/target/BLUEBERRYF435WING/config.c

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[qodo-code-review]

Code Review by Qodo

🐞 Bugs (1) 📘 Rule violations (0) 📎 Requirement gaps (0)

1. Dynamic notch default enabled 🐞 Bug ➹ Performance

Description

• BLUEBERRYF435WING no longer disables dynamic gyro notch in targetConfiguration(), so the target
  will now inherit the global default.
• The global default for dynamic_gyro_notch_enabled is ON (when USE_DYNAMIC_FILTERS is enabled),
  meaning a config reset will turn it on for this board.
• When enabled, the gyro loop performs additional analysis and applies multiple notch filters each
  cycle, increasing CPU load and risking timing overruns on tighter targets.

Code

src/main/target/BLUEBERRYF435WING/config.c[R38-41]

    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_MSP;
    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].msp_baudrateIndex = BAUD_115200;
    //pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
-
-#ifdef USE_DYNAMIC_FILTERS
-    // Disable dynamic notch filter by default (performance optimization for wing)
-    // This board is performance-constrained and wing aircraft typically don't need
-    // dynamic notch filtering (designed for multirotor motor noise)
-    gyroConfigMutable()->dynamicGyroNotchEnabled = 0;
-#endif
}

Evidence

The settings source-of-truth sets dynamic notch enabled by default when dynamic filters are
compiled. This target compiles dynamic filters (via common.h) and no longer overrides the setting in
targetConfiguration(), so after reset it remains enabled. When enabled, gyro.c executes the dynamic
analysis and applies the notch filters in the hot gyro path.

src/main/fc/settings.yaml[284-296]
src/main/target/common.h[60-77]
src/main/fc/config.c[280-307]
src/main/target/BLUEBERRYF435WING/config.c[30-41]
src/main/flight/dynamic_gyro_notch.c[35-60]
src/main/sensors/gyro.c[470-534]

Agent prompt

The issue below was found during a code review. Follow the provided context and guidance below and implement a solution

## Issue description
`dynamic_gyro_notch_enabled` defaults to ON (when `USE_DYNAMIC_FILTERS` is enabled). This PR removed the BLUEBERRYF435WING-specific override that disabled it in `targetConfiguration()`, so a config reset will now enable dynamic notch on this target.

## Issue Context
Dynamic notch adds extra work in the gyro hot path. If BLUEBERRYF435WING should prioritize CPU headroom (or preserve previous default behavior), it needs an explicit override.

## Fix Focus Areas
- Re-introduce a `#ifdef USE_DYNAMIC_FILTERS` override setting `gyroConfigMutable()->dynamicGyroNotchEnabled = 0;` in the target configuration.
- Re-add the required include (`sensors/gyro.h`) only if needed by the override.

## Fix Focus Areas (code pointers)
- src/main/target/BLUEBERRYF435WING/config.c[30-41]

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