gyro calibration: slightly stricter motion detection check
gyro calibration: slightly stricter motion detection check

From 0.573 deg to 0.4.

And some cleanup.

PX4/Firmware,acfloria/Firmware,acfloria/Firmware,acfloria/Firmware,krbeverx/Firmware,acfloria/Firmware,PX4/Firmware,krbeverx/Firmware,PX4/Firmware,krbeverx/Firmware,acfloria/Firmware,krbeverx/Firmware,krbeverx/Firmware,krbeverx/Firmware,acfloria/Firmware,PX4/Firmware,krbeverx/Firmware,PX4/Firmware,PX4/Firmware,PX4/Firmware,acfloria/Firmware