I do something like this. See the commented-out python code. I paste the output in the rust coeffs:
```rust
static mut FILTER_STATE_ACCEL_X: [f32; 4] = [0.; 4];
static mut FILTER_STATE_ACCEL_Y: [f32; 4] = [0.; 4];
static mut FILTER_STATE_ACCEL_Z: [f32; 4] = [0.; 4];

static mut FILTER_STATE_GYRO_PITCH: [f32; 4] = [0.; 4];
static mut FILTER_STATE_GYRO_ROLL: [f32; 4] = [0.; 4];
static mut FILTER_STATE_GYRO_YAW: [f32; 4] = [0.; 4];

// (Using critical freq of 100 for accel, 300 for gyro)
// filter_ = signal.iirfilter(1, 300, btype="lowpass", ftype="bessel", output="sos", fs=1_000)
// coeffs = []
// for row in filter_:
//     coeffs.extend([row[0] / row[3], row[1] / row[3], row[2] / row[3], -row[4] / row[3], -row[5] / row[3]])

#[allow(clippy::excessive_precision)]
static COEFFS_LP_ACCEL: [f32; 5] = [
    0.2452372752527856,
    0.2452372752527856,
    0.0,
    0.509525449494429,
    -0.0,
];

#[allow(clippy::excessive_precision)]
static COEFFS_LP_GYRO: [f32; 5] = [
```