This is a nice start on the cpu load analysis!
The optimize for speed tick box sounds like a winner - super easy.
I worry a bit about the overclocking, but if the temperature is okay after running 10s of minutes and no computations are corrupted, I don’t know how to argue against it :- ) The overclocking community probably has standard ways of testing that an overclock is stable, I guess.
The switching between LEDs and gestures, etc. is a good idea. Those human-speed things shouldn’t need to be done at the same resolution as the gyro/PID loop. Another thing to throw in there might be the battery voltage reading, etc. Sub-second changes there probably aren’t too important.
I’m afraid I’d be pretty useless evaluating the different filter types. I’m just not that experienced a pilot yet :- )