変更後です

2018_09_16時点でのupdate_gyro

void update_gyro(void) {
	static float past_dps_x_raw = 0;
	static float dps_x_list[GYRO_SMOOZINGLENGTH] = { 0 };
	float dps_x_raw = 0;
	dps_x_raw = (float) (SPI_Gyro_Xaxis_get() - mouse.gyro.x.offset_raw);
	//角速度に対する返り値の傾斜補正
	if (dps_x_raw >= 0) {
		dps_x_raw *= X_GYRO_GAIN_FORWARD;
	} else {
		dps_x_raw *= X_GYRO_GAIN_BACKWARD;
	}
	for (int i = 1; i < GYRO_SMOOZINGLENGTH; i++) {
	  dps_x_list[i] = dps_x_list[i - 1];
	}
	dps_x_list[0] = dps_x_raw;
	for (int i = 1; i < GYRO_SMOOZINGLENGTH; i++) {
		dps_x_raw += dps_x_list[i];
	}
  dps_x_raw /= (float) GYRO_SMOOZINGLENGTH;
	mouse.gyro.x.deg += (0.5F) * (dps_x_raw + past_dps_x_raw) * 0.001F / 16.4F;
	past_dps_x_raw = dps_x_raw;

	static float past_dps_z_raw = 0;
	static float dps_z_list[GYRO_SMOOZINGLENGTH] = { 0 };
	float dps_z_raw = 0;
	dps_z_raw = (float) (SPI_Gyro_Zaxis_get() - mouse.gyro.z.offset_raw);
	//角速度に対する返り値の傾斜補正
	if (dps_z_raw >= 0) {
		dps_z_raw *= Z_GYRO_GAIN_FORWARD;
	} else {
		dps_z_raw *= Z_GYRO_GAIN_BACKWARD;
	}
	for (int i = 1; i < GYRO_SMOOZINGLENGTH; i++) {
		dps_z_list[i] = dps_z_list[i - 1];
	}
	dps_z_list[0] = dps_z_raw;
	for (int i = 1; i < GYRO_SMOOZINGLENGTH; i++) {
		dps_z_raw += dps_z_list[i];
	}
	dps_z_raw /= (float) GYRO_SMOOZINGLENGTH;
	mouse.now_angular_velocity = dps_z_raw / 16.4F;
	mouse.deg += (0.5F) * (dps_z_raw + past_dps_z_raw) * 0.001F / 16.4F;
	past_dps_z_raw = dps_z_raw;
}