Change gyro overflow handling to be based on runtime detected gyro (#5730)

Previously the gyro_overflow_detect and fallback slew filter were based on target definitions to determine whether the flight controller had an affected gyro to enable protection. The problem is that some targets are available with multiple gyro options and if one of those options was an affected gyro then all flight controllers for that target would have the oveflow code enabled even if they had a non-affected gyro.  Also targets that include multiple gyros on-board and are selectable at runtime were not differentiated and forced overflow handling on even if the selected gyro was not affected.

For non-affected gyros the overflow handling code is not required and reduces recovery performance so it's not desirable to have it enabled when unnecessary.

In the case of dual-gyro targets if gyro_to_use = BOTH then if either is an affected gyro then overflow handling will be enabled.

src/main/drivers/accgyro/accgyro.h

@@ -77,7 +77,8 @@ typedef struct gyroDev_s {
     uint8_t hardware_32khz_lpf;
     uint8_t mpuDividerDrops;
     ioTag_t mpuIntExtiTag;
-    uint8_t filler[2];
+    uint8_t gyroHasOverflowProtection;
+    uint8_t filler[1];
 } gyroDev_t;
 
 typedef struct accDev_s {

src/main/sensors/gyro.c

@@ -90,6 +90,8 @@ static FAST_RAM float gyroPrevious[XYZ_AXIS_COUNT];
 static FAST_RAM timeUs_t accumulatedMeasurementTimeUs;
 static FAST_RAM timeUs_t accumulationLastTimeSampledUs;
 
+static bool gyroHasOverflowProtection = true;
+
 typedef struct gyroCalibration_s {
     int32_t sum[XYZ_AXIS_COUNT];
     stdev_t var[XYZ_AXIS_COUNT];
@@ -452,6 +454,36 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
         gyroSensor->gyroDev.gyroAlign = gyroConfig()->gyro_align;
     }
 
+    // As new gyros are supported, be sure to add them below based on whether they are subject to the overflow/inversion bug
+    // Any gyro not explicitly defined will default to not having built-in overflow protection as a safe alternative.
+    switch (gyroHardware) {
+    case GYRO_NONE:    // Won't ever actually get here, but included to account for all gyro types
+    case GYRO_DEFAULT:
+    case GYRO_FAKE:
+    case GYRO_MPU6050:
+    case GYRO_L3G4200D:
+    case GYRO_MPU3050:
+    case GYRO_L3GD20:
+    case GYRO_BMI160:
+    case GYRO_MPU6000:
+    case GYRO_MPU6500:
+    case GYRO_MPU9250:
+        gyroSensor->gyroDev.gyroHasOverflowProtection = true;
+        break;
+
+    case GYRO_ICM20601:
+    case GYRO_ICM20602:
+    case GYRO_ICM20608G:
+    case GYRO_ICM20649:  // we don't actually know if this is affected, but as there are currently no flight controllers using it we err on the side of caution
+    case GYRO_ICM20689:
+        gyroSensor->gyroDev.gyroHasOverflowProtection = false;
+        break;
+
+    default:
+        gyroSensor->gyroDev.gyroHasOverflowProtection = false;  // default catch for newly added gyros until proven to be unaffected
+        break;
+    }
+
     gyroInitSensorFilters(gyroSensor);
 
 #ifdef USE_GYRO_DATA_ANALYSE
@@ -530,10 +562,12 @@ bool gyroInit(void)
         if (!ret) {
             return false; // TODO handle failure of first gyro detection better. - Perhaps update the config to use second gyro then indicate a new failure mode and reboot.
         }
+        gyroHasOverflowProtection =  gyroHasOverflowProtection && gyroSensor1.gyroDev.gyroHasOverflowProtection;
     }
-#else
+#else // USE_DUAL_GYRO
     ret = gyroInitSensor(&gyroSensor1);
-#endif
+    gyroHasOverflowProtection =  gyroHasOverflowProtection && gyroSensor1.gyroDev.gyroHasOverflowProtection;
+#endif // USE_DUAL_GYRO
 
 #ifdef USE_DUAL_GYRO
 
@@ -556,6 +590,7 @@ bool gyroInit(void)
         if (!ret) {
             return false; // TODO handle failure of second gyro detection better. - Perhaps update the config to use first gyro then indicate a new failure mode and reboot.
         }
+        gyroHasOverflowProtection =  gyroHasOverflowProtection && gyroSensor2.gyroDev.gyroHasOverflowProtection;
     }
 #endif
     return ret;
@@ -881,8 +916,8 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
 FAST_CODE int32_t gyroSlewLimiter(gyroSensor_t *gyroSensor, int axis)
 {
     int32_t ret = (int32_t)gyroSensor->gyroDev.gyroADCRaw[axis];
-    if (gyroConfig()->checkOverflow) {
-        // don't use the slew limiter if overflow checking is on
+    if (gyroConfig()->checkOverflow || gyroHasOverflowProtection) {
+        // don't use the slew limiter if overflow checking is on or gyro is not subject to overflow bug
         return ret;
     }
     if (abs(ret - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14)) {
@@ -979,7 +1014,7 @@ static FAST_CODE NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs
     accumulationLastTimeSampledUs = currentTimeUs;
     accumulatedMeasurementTimeUs += sampleDeltaUs;
 
-    if (gyroConfig()->checkOverflow) {
+    if (gyroConfig()->checkOverflow && !gyroHasOverflowProtection) {
         checkForOverflow(gyroSensor, currentTimeUs);
     }
     if (gyroDebugMode == DEBUG_NONE) {