# ArduPilot Filter Analysis

The following form will display the attenuation and phase lag for an ArduPilot 4.2 filter setup.

Graph Settings

Magnitude scale dB
Linear

Phase scale un-wrapped
±180

Frequency scale

Log Linear | Hz RPM

Maximum Displayed Frequency

Maximum Displayed Phase Lag

INS Settings

Gyro Sample Rate

INS_GYRO_FILTER

First Notch Filter

INS_HNTCH_ENABLE

INS_HNTCH_MODE

INS_HNTCH_FREQ

INS_HNTCH_BW

INS_HNTCH_ATT

INS_HNTCH_REF

INS_HNTCH_FM_RAT

INS_HNTCH_HMNCS

INS_HNTCH_OPTS

Second Notch Filter

INS_HNTC2_ENABLE

INS_HNTC2_MODE

INS_HNTC2_FREQ

INS_HNTC2_BW

INS_HNTC2_ATT

INS_HNTC2_REF

INS_HNTC2_FM_RAT

INS_HNTC2_HMNCS

INS_HNTC2_OPTS

Throttle Based

Throttle

ESC Telemetry

Number of Motors

ESC RPM

RPM/EFI Based

RPM1

RPM2

## PIDs

### Title

Graph Settings

Gain scale dB
Linear

Phase scale un-wrapped
±180

Frequency scale

Log Linear | Hz RPM

Filtering Pre
Post

Maximum Displayed Frequency

Maximum Displayed Phase Lag

Loop Rate

SCHED_LOOP_RATE

Roll

ATC_RAT_RLL_P

ATC_RAT_RLL_I

ATC_RAT_RLL_D

ATC_RAT_RLL_FLTE

ATC_RAT_RLL_FLTD

Pitch

ATC_RAT_PIT_P

ATC_RAT_PIT_I

ATC_RAT_PIT_D

ATC_RAT_PIT_FLTE

ATC_RAT_PIT_FLTD

Yaw

ATC_RAT_YAW_P

ATC_RAT_YAW_I

ATC_RAT_YAW_D

ATC_RAT_YAW_FLTE

ATC_RAT_YAW_FLTD