make use of the US2S macro whenever possible

src/main/common/filter.c

@@ -27,6 +27,7 @@ FILE_COMPILE_FOR_SPEED
 #include "common/filter.h"
 #include "common/maths.h"
 #include "common/utils.h"
+#include "common/time.h"
 
 // NULL filter
 float nullFilterApply(void *filter, float input)
@@ -319,7 +320,7 @@ FAST_CODE void biquadFilterUpdate(biquadFilter_t *filter, float filterFreq, uint
 
 FUNCTION_COMPILE_FOR_SIZE
 void initFilter(const uint8_t filterType, filter_t *filter, const float cutoffFrequency, const uint32_t refreshRate) {
-    const float dT = refreshRate * 1e-6f;
+    const float dT = US2S(refreshRate);
 
     if (cutoffFrequency) {
         if (filterType == FILTER_PT1) {

src/main/fc/rc_smoothing.c

@@ -82,7 +82,7 @@ void rcInterpolationApply(bool isRXDataNew, timeUs_t currentTimeUs)
     static int filterFrequency;
     static bool initDone = false;
 
-    const float dT = getLooptime() * 1e-6f;
+    const float dT = US2S(getLooptime());
 
     if (isRXDataNew) {
         if (!initDone) {

src/main/flight/gyroanalyse.c

@@ -96,7 +96,7 @@ void gyroDataAnalyseStateInit(
 
         for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
             state->centerFrequency[axis][i] = state->maxFrequency;
-            pt1FilterInit(&state->detectedFrequencyFilter[axis][i], DYN_NOTCH_SMOOTH_FREQ_HZ, filterUpdateUs * 1e-6f);
+            pt1FilterInit(&state->detectedFrequencyFilter[axis][i], DYN_NOTCH_SMOOTH_FREQ_HZ, US2S(filterUpdateUs));
         }
 
     }

src/main/flight/pid.c

@@ -328,11 +328,11 @@ bool pidInitFilters(void)
     }
 
     for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
-        pt1FilterInit(&windupLpf[i], pidProfile()->iterm_relax_cutoff, refreshRate * 1e-6f);
+        pt1FilterInit(&windupLpf[i], pidProfile()->iterm_relax_cutoff, US2S(refreshRate));
     }
 
 #ifdef USE_ANTIGRAVITY
-    pt1FilterInit(&antigravityThrottleLpf, pidProfile()->antigravityCutoff, TASK_PERIOD_HZ(TASK_AUX_RATE_HZ) * 1e-6f);
+    pt1FilterInit(&antigravityThrottleLpf, pidProfile()->antigravityCutoff, US2S(TASK_PERIOD_HZ(TASK_AUX_RATE_HZ)));
 #endif
 
 #ifdef USE_D_BOOST
@@ -343,7 +343,7 @@ bool pidInitFilters(void)
 
     if (pidProfile()->controlDerivativeLpfHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            pt3FilterInit(&pidState[axis].rateTargetFilter, pt3FilterGain(pidProfile()->controlDerivativeLpfHz, refreshRate * 1e-6f));
+            pt3FilterInit(&pidState[axis].rateTargetFilter, pt3FilterGain(pidProfile()->controlDerivativeLpfHz, US2S(refreshRate)));
         }
     }
 
@@ -379,7 +379,7 @@ bool pidInitFilters(void)
 void pidResetTPAFilter(void)
 {
     if (usedPidControllerType == PID_TYPE_PIFF && currentControlRateProfile->throttle.fixedWingTauMs > 0) {
-        pt1FilterInitRC(&fixedWingTpaFilter, currentControlRateProfile->throttle.fixedWingTauMs * 1e-3f, TASK_PERIOD_HZ(TASK_AUX_RATE_HZ) * 1e-6f);
+        pt1FilterInitRC(&fixedWingTpaFilter, currentControlRateProfile->throttle.fixedWingTauMs * 1e-3f, US2S(TASK_PERIOD_HZ(TASK_AUX_RATE_HZ)));
         pt1FilterReset(&fixedWingTpaFilter, getThrottleIdleValue());
     }
 }

src/main/flight/rpm_filter.c

@@ -161,7 +161,7 @@ void rpmFiltersInit(void)
 {
     for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++)
     {
-        pt1FilterInit(&motorFrequencyFilter[i], RPM_FILTER_RPM_LPF_HZ, RPM_FILTER_UPDATE_RATE_US * 1e-6f);
+        pt1FilterInit(&motorFrequencyFilter[i], RPM_FILTER_RPM_LPF_HZ, US2S(RPM_FILTER_UPDATE_RATE_US));
     }
 
     rpmGyroUpdateFn = (rpmFilterUpdateFnPtr)nullRpmFilterUpdate;

src/main/flight/smith_predictor.c

@@ -61,7 +61,7 @@ void smithPredictorInit(smithPredictor_t *predictor, float delay, float strength
         predictor->samples = (delay * 1000) / looptime;
         predictor->idx = 0;
         predictor->smithPredictorStrength = strength;
-        pt1FilterInit(&predictor->smithPredictorFilter, filterLpfHz, looptime * 1e-6f);
+        pt1FilterInit(&predictor->smithPredictorFilter, filterLpfHz, US2S(looptime));
     } else {
         predictor->enabled = false;
     }

src/main/sensors/acceleration.c

@@ -613,7 +613,7 @@ void accInitFilters(void)
             accSoftLpfFilterApplyFn = (filterApplyFnPtr)pt1FilterApply;
             for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
                 accSoftLpfFilter[axis] = &accFilter[axis].pt1;
-                pt1FilterInit(accSoftLpfFilter[axis], accelerometerConfig()->acc_lpf_hz, acc.accTargetLooptime * 1e-6f);
+                pt1FilterInit(accSoftLpfFilter[axis], accelerometerConfig()->acc_lpf_hz, US2S(acc.accTargetLooptime));
             }
             break;
         case FILTER_BIQUAD:
@@ -627,7 +627,7 @@ void accInitFilters(void)
 
     }
 
-    const float accDt = acc.accTargetLooptime * 1e-6f;
+    const float accDt = US2S(acc.accTargetLooptime);
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         pt1FilterInit(&accVibeFloorFilter[axis], ACC_VIBE_FLOOR_FILT_HZ, accDt);
         pt1FilterInit(&accVibeFilter[axis], ACC_VIBE_FILT_HZ, accDt);

src/main/sensors/battery.c

@@ -294,7 +294,7 @@ static void updateBatteryVoltage(timeUs_t timeDelta, bool justConnected)
     if (justConnected) {
         pt1FilterReset(&vbatFilterState, vbat);
     } else {
-        vbat = pt1FilterApply4(&vbatFilterState, vbat, VBATT_LPF_FREQ, timeDelta * 1e-6f);
+        vbat = pt1FilterApply4(&vbatFilterState, vbat, VBATT_LPF_FREQ, US2S(timeDelta));
     }
 }
 
@@ -534,7 +534,7 @@ void currentMeterUpdate(timeUs_t timeDelta)
     switch (batteryMetersConfig()->current.type) {
         case CURRENT_SENSOR_ADC:
             {
-                amperage = pt1FilterApply4(&amperageFilterState, getAmperageSample(), AMPERAGE_LPF_FREQ, timeDelta * 1e-6f);
+                amperage = pt1FilterApply4(&amperageFilterState, getAmperageSample(), AMPERAGE_LPF_FREQ, US2S(timeDelta));
                 break;
             }
         case CURRENT_SENSOR_VIRTUAL:
@@ -560,7 +560,7 @@ void currentMeterUpdate(timeUs_t timeDelta)
             {
                 escSensorData_t * escSensor = escSensorGetData();
                 if (escSensor && escSensor->dataAge <= ESC_DATA_MAX_AGE) {
-                    amperage = pt1FilterApply4(&amperageFilterState, escSensor->current, AMPERAGE_LPF_FREQ, timeDelta * 1e-6f);
+                    amperage = pt1FilterApply4(&amperageFilterState, escSensor->current, AMPERAGE_LPF_FREQ, US2S(timeDelta));
                 }
                 else {
                     amperage = 0;

src/main/sensors/gyro.c

@@ -235,7 +235,7 @@ static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint8_t
             case FILTER_PT1:
                 *applyFn = (filterApplyFnPtr)pt1FilterApply;
                 for (int axis = 0; axis < 3; axis++) {
-                    pt1FilterInit(&state[axis].pt1, cutoff, looptime * 1e-6f);
+                    pt1FilterInit(&state[axis].pt1, cutoff, US2S(looptime));
                 }
                 break;
             case FILTER_BIQUAD:

src/main/sensors/pitotmeter.c

@@ -189,7 +189,7 @@ STATIC_PROTOTHREAD(pitotThread)
 
     // Init filter
     pitot.lastMeasurementUs = micros();
-    pt1FilterInit(&pitot.lpfState, pitotmeterConfig()->pitot_lpf_milli_hz / 1000.0f, 0);
+    pt1FilterInit(&pitot.lpfState, pitotmeterConfig()->pitot_lpf_milli_hz / 1000.0f, 0.0f);
 
     while(1) {
         // Start measurement
@@ -209,7 +209,7 @@ STATIC_PROTOTHREAD(pitotThread)
 
         // Filter pressure
         currentTimeUs = micros();
-        pitot.pressure = pt1FilterApply3(&pitot.lpfState, pitotPressureTmp, (currentTimeUs - pitot.lastMeasurementUs) * 1e-6f);
+        pitot.pressure = pt1FilterApply3(&pitot.lpfState, pitotPressureTmp, US2S(currentTimeUs - pitot.lastMeasurementUs));
         pitot.lastMeasurementUs = currentTimeUs;
         ptDelayUs(pitot.dev.delay);