MPU-6050 No-DMP mode

[furrycoding]

Adds a new type of sensor that uses MPU-6050, but without the DMP(sensor fusion in software)

• Pros:
  • No need to keep MPUs sill/flat on the ground when powering on
• Cons:
  • Potentially higher drift
  • Manual calibration is basically required

Uses the same sensor fusion as BMI160

[furrycoding]

TODO: Verify that rest detection for TCAL actually works(MPUs accel/gyro tend to be quite noisy)

I need to find clean way to modify rest detection config however

[furrycoding]

Tested tracker with the last commit for a few hours - TCAL seems to work!

Now to figure out how to deal with conflicts lol

[furrycoding]

Rebased the branch to 0.4.0
Doing some testing right now, but eveything seems to be working well

[furrycoding]

Having some weird issues with TCAL
I think on some MPUs the accel noise might increase with temperature
Meaning past some temperature it could stop detecting rest
Need to fine-tune the accel threshold

[wb1016]

works on ESP8266 and ESP32C3. one thing i would suggest to change is display name of IMU.

[furrycoding]

one thing i would suggest to change is display name of IMU.

Would need to add a new IMU type in the server, SolarXR, and finally in the UI. I do agree that it'd be nice to know what mode the MPU is in, but using the IMU type for this would require too many changes

[furrycoding]

Rebased onto latest main

[unlogisch04]

I'm not sure if there is still need for this PR, as the softfusion branch has a MPU6050 with softfusion available.

[furrycoding]

This branch still has temperature calibration, which sfusion currently lacks. However, that'll soon likely change. So there's no point in this PR anymore. (However the branch itself has some use)