AP_InertialSensor: Allow all filter frequencies to be 16bit.

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -260,7 +260,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @DisplayName: Gyro filter cutoff frequency
     // @Description: Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)
     // @Units: Hz
-    // @Range: 0 127
+    // @Range: 0 256
     // @User: Advanced
     AP_GROUPINFO("GYRO_FILTER", 18, AP_InertialSensor, _gyro_filter_cutoff,  DEFAULT_GYRO_FILTER),
 
@@ -268,7 +268,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @DisplayName: Accel filter cutoff frequency
     // @Description: Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)
     // @Units: Hz
-    // @Range: 0 127
+    // @Range: 0 256
     // @User: Advanced
     AP_GROUPINFO("ACCEL_FILTER", 19, AP_InertialSensor, _accel_filter_cutoff,  DEFAULT_ACCEL_FILTER),
 

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -206,10 +206,10 @@ public:
     void set_hil_mode(void) { _hil_mode = true; }
 
     // get the gyro filter rate in Hz
-    uint8_t get_gyro_filter_hz(void) const { return _gyro_filter_cutoff; }
+    uint16_t get_gyro_filter_hz(void) const { return _gyro_filter_cutoff; }
 
     // get the accel filter rate in Hz
-    uint8_t get_accel_filter_hz(void) const { return _accel_filter_cutoff; }
+    uint16_t get_accel_filter_hz(void) const { return _accel_filter_cutoff; }
 
     // indicate which bit in LOG_BITMASK indicates raw logging enabled
     void set_log_raw_bit(uint32_t log_raw_bit) { _log_raw_bit = log_raw_bit; }
@@ -466,8 +466,8 @@ private:
     float _temperature[INS_MAX_INSTANCES];
 
     // filtering frequency (0 means default)
-    AP_Int8     _accel_filter_cutoff;
-    AP_Int8     _gyro_filter_cutoff;
+    AP_Int16    _accel_filter_cutoff;
+    AP_Int16    _gyro_filter_cutoff;
     AP_Int8     _gyro_cal_timing;
 
     // use for attitude, velocity, position estimates

libraries/AP_InertialSensor/AP_InertialSensor_Backend.h

@@ -224,10 +224,10 @@ protected:
     int16_t _id = -1;
 
     // return the default filter frequency in Hz for the sample rate
-    uint8_t _accel_filter_cutoff(void) const { return _imu._accel_filter_cutoff; }
+    uint16_t _accel_filter_cutoff(void) const { return _imu._accel_filter_cutoff; }
 
     // return the default filter frequency in Hz for the sample rate
-    uint8_t _gyro_filter_cutoff(void) const { return _imu._gyro_filter_cutoff; }
+    uint16_t _gyro_filter_cutoff(void) const { return _imu._gyro_filter_cutoff; }
 
     // return the requested sample rate in Hz
     uint16_t get_sample_rate_hz(void) const;
@@ -236,7 +236,7 @@ protected:
     uint16_t _gyro_notch_center_freq_hz(void) const { return _imu._notch_filter.center_freq_hz(); }
 
     // return the notch filter bandwidth in Hz for the sample rate
-    uint8_t _gyro_notch_bandwidth_hz(void) const { return _imu._notch_filter.bandwidth_hz(); }
+    uint16_t _gyro_notch_bandwidth_hz(void) const { return _imu._notch_filter.bandwidth_hz(); }
 
     // return the notch filter attenuation in dB for the sample rate
     float _gyro_notch_attenuation_dB(void) const { return _imu._notch_filter.attenuation_dB(); }
@@ -250,10 +250,10 @@ protected:
     void update_accel(uint8_t instance);
 
     // support for updating filter at runtime
-    uint8_t _last_accel_filter_hz[INS_MAX_INSTANCES];
-    uint8_t _last_gyro_filter_hz[INS_MAX_INSTANCES];
+    uint16_t _last_accel_filter_hz[INS_MAX_INSTANCES];
+    uint16_t _last_gyro_filter_hz[INS_MAX_INSTANCES];
     uint16_t _last_notch_center_freq_hz[INS_MAX_INSTANCES];
-    uint8_t _last_notch_bandwidth_hz[INS_MAX_INSTANCES];
+    uint16_t _last_notch_bandwidth_hz[INS_MAX_INSTANCES];
     float _last_notch_attenuation_dB[INS_MAX_INSTANCES];
 
     void set_gyro_orientation(uint8_t instance, enum Rotation rotation) {