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398cbb9a55
Add src/mpu6000.c implementing a complementary filter (α=0.98) on top of the existing icm42688 SPI driver. Fixes wrong scale factors in balance.c (was ±250°/s / ±2g; hardware is configured ±2000°/s / ±16g). Fusion now lives in the IMU driver layer; balance_update() consumes IMUData directly. - mpu6000_init(): calls icm42688_init(), seeds filter state - mpu6000_read(): reads raw SPI, applies complementary filter, returns fused pitch (degrees) + pitch_rate (°/s) + accel_x/z (g) - balance.c: removes duplicated fusion code, uses IMUData.pitch - main.c: switches to mpu6000_init()/mpu6000_read(), updates telemetry Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>