Add detailed LPF specs to DigitalLowPassFilter enum docs

Author: mbald1

src/config.rs

@@ -17,6 +17,8 @@
 /// - Bandwidth (Hz): How much high-frequency data passes through
 /// - Delay (ms): How long it takes for changes to be reflected
 /// - Noise reduction: How much sensor noise is filtered out
+///
+/// Based on values from the official register map [RM-MPU-6000A](https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf).
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "defmt-03", derive(defmt::Format))]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
@@ -25,40 +27,83 @@ pub enum DigitalLowPassFilter {
     /// - Fastest response
     /// - Highest bandwidth
     /// - Least noise reduction
+    /// - Only option that allows for 8kHz gyro sampling
+    /// # LPF Specs
+    /// ***
+    /// - Accel Bandwidth: 260Hz
+    /// - Accel Delay: ~0ms
+    /// - Gyro Bandwidth: 256Hz
+    /// - Gyro Delay: 0.98ms
     Filter0 = 0,
 
     /// Light filtering
     /// - Good balance for most uses
     /// - Quick response
     /// - Moderate noise reduction
+    /// # LPF Specs
+    /// ***
+    /// - Accel Bandwidth: 184Hz
+    /// - Accel Delay: 2ms
+    /// - Gyro Bandwidth: 188Hz
+    /// - Gyro Delay: 1.9ms
     Filter1 = 1,
 
     /// Moderate filtering
     /// - Balanced response/filtering
     /// - Good for general motion
+    /// # LPF Specs
+    /// ***
+    /// - Accel Bandwidth: 94Hz
+    /// - Accel Delay: 3.0ms
+    /// - Gyro Bandwidth: 98Hz
+    /// - Gyro Delay: 2.8ms
     Filter2 = 2,
 
     /// Strong filtering
     /// - Better noise reduction
     /// - Slower response
     /// - Good for stable readings
+    /// # LPF Specs
+    /// ***
+    /// - Accel Bandwidth: 44Hz
+    /// - Accel Delay: 4.9ms
+    /// - Gyro Bandwidth: 42Hz
+    /// - Gyro Delay: 4.8ms
     Filter3 = 3,
 
     /// Very strong filtering
     /// - High noise reduction
     /// - Significant delay
     /// - Good for slow movements
+    /// # LPF Specs
+    /// ***
+    /// - Accel Bandwidth: 21Hz
+    /// - Accel Delay: 8.5ms
+    /// - Gyro Bandwidth: 20Hz
+    /// - Gyro Delay: 8.3ms
     Filter4 = 4,
 
     /// Heavy filtering
     /// - Very high noise reduction
     /// - Long delay
     /// - Best for very slow changes
+    /// # LPF Specs
+    /// ***
+    /// - Accel Bandwidth: 10Hz
+    /// - Accel Delay: 13.8ms
+    /// - Gyro Bandwidth: 10Hz
+    /// - Gyro Delay: 13.4ms
     Filter5 = 5,
 
     /// Maximum filtering
     /// - Maximum noise reduction
     /// - Longest delay
     /// - Use only for nearly static measurements
+    /// # LPF Specs
+    /// ***
+    /// - Accel Bandwidth: 5Hz
+    /// - Accel Delay: 19.0ms
+    /// - Gyro Bandwidth: 5Hz
+    /// - Gyro Delay: 18.6ms
     Filter6 = 6,
 }