diff --git a/Tools/FilterTestTool/FilterTest.py b/Tools/FilterTestTool/FilterTest.py
index 5b70641ad6..dedffbe76d 100644
--- a/Tools/FilterTestTool/FilterTest.py
+++ b/Tools/FilterTestTool/FilterTest.py
@@ -455,10 +455,10 @@ class FilterTest:
             filt_type = f.get_type()
 
             if filt_type == BiquadFilterType.PEAK:  # NOTCH
-                print("INS_NOTCH_ENABLE,", 1)
-                print("INS_NOTCH_FREQ,", f.get_center_freq())
-                print("INS_NOTCH_BW,", f.get_bandwidth())
-                print("INS_NOTCH_ATT,", f.get_attenuation())
+                print("INS_HNTC2_ENABLE,", 1)
+                print("INS_HNTC2_FREQ,", f.get_center_freq())
+                print("INS_HNTC2_BW,", f.get_bandwidth())
+                print("INS_HNTC2_ATT,", f.get_attenuation())
             else:  # LPF
                 print("INS_GYRO_FILTER,", f.get_center_freq())
 
diff --git a/Tools/FilterTestTool/run_filter_test.py b/Tools/FilterTestTool/run_filter_test.py
index 7a1f67859e..a754b5fc64 100755
--- a/Tools/FilterTestTool/run_filter_test.py
+++ b/Tools/FilterTestTool/run_filter_test.py
@@ -72,7 +72,7 @@ PREVENT_POST_FILTER_LOGS = False
 
 PARAMS_TO_CHECK = [
     "INS_LOG_BAT_OPT", "INS_GYRO_FILTER", "INS_ACCEL_FILTER",
-    "INS_NOTCH_ENABLE", "INS_NOTCH_FREQ", "INS_NOTCH_BW", "INS_NOTCH_ATT",
+    "INS_HNTC2_ENABLE", "INS_HNTC2_FREQ", "INS_HNTC2_BW", "INS_HNTC2_ATT",
     "INS_NOTCA_ENABLE", "INS_NOTCA_FREQ", "INS_NOTCA_BW", "INS_NOTCA_ATT",
     "LOG_BITMASK"
 ]
@@ -226,18 +226,18 @@ if "INS_GYRO_FILTER" in params:
 if "INS_ACCEL_FILTER" in params:
     DEFAULT_ACC_FILTER = params["INS_ACCEL_FILTER"]
 
-if "INS_NOTCH_ENABLE" in params:
-    if params["INS_NOTCH_ENABLE"] != 0:
-        if "INS_NOTCH_ATT" in params:
-            DEFAULT_GYR_NOTCH_ATTENUATION = params["INS_NOTCH_ATT"]
+if "INS_HNTC2_ENABLE" in params:
+    if params["INS_HNTC2_ENABLE"] != 0:
+        if "INS_HNTC2_ATT" in params:
+            DEFAULT_GYR_NOTCH_ATTENUATION = params["INS_HNTC2_ATT"]
     else:
         DEFAULT_GYR_NOTCH_ATTENUATION = 0
 
-    if "INS_NOTCH_BW" in params:
-        DEFAULT_GYR_NOTCH_BANDWIDTH = params["INS_NOTCH_BW"]
+    if "INS_HNTC2_BW" in params:
+        DEFAULT_GYR_NOTCH_BANDWIDTH = params["INS_HNTC2_BW"]
 
-    if "INS_NOTCH_FREQ" in params:
-        DEFAULT_GYR_NOTCH_FREQ = params["INS_NOTCH_FREQ"]
+    if "INS_HNTC2_FREQ" in params:
+        DEFAULT_GYR_NOTCH_FREQ = params["INS_HNTC2_FREQ"]
 
 if "INS_NOTCA_ENABLE" in params:
     if params["INS_NOTCA_ENABLE"] != 0:
diff --git a/Tools/Frame_params/SkyViper-2450GPS/defaults.parm b/Tools/Frame_params/SkyViper-2450GPS/defaults.parm
index fbc2a3fac0..320e4d15e4 100644
--- a/Tools/Frame_params/SkyViper-2450GPS/defaults.parm
+++ b/Tools/Frame_params/SkyViper-2450GPS/defaults.parm
@@ -117,10 +117,10 @@ DISARM_DELAY   8
 INS_FAST_SAMPLE 1
 INS_GYRO_FILTER 20
 LOG_BITMASK     65534
-INS_NOTCH_ENABLE 1
-INS_NOTCH_ATT   30
-INS_NOTCH_BW    60
-INS_NOTCH_FREQ  80
+INS_HNTC2_ENABLE 1
+INS_HNTC2_ATT   30
+INS_HNTC2_BW    60
+INS_HNTC2_FREQ  80
 
 # rate controllers
 ANGLE_MAX 3500
diff --git a/Tools/Frame_params/Solo_Copter-4.param b/Tools/Frame_params/Solo_Copter-4.param
index b1ecf7c488..0d9f096110 100644
--- a/Tools/Frame_params/Solo_Copter-4.param
+++ b/Tools/Frame_params/Solo_Copter-4.param
@@ -83,10 +83,10 @@ INS_HNTCH_ENABLE,1
 INS_HNTCH_REF,0.26
 INS_HNTCH_FREQ,200
 INS_HNTCH_BW,100
-INS_NOTCH_ATT,40
-INS_NOTCH_ENABLE,1
-INS_NOTCH_FREQ,98
-INS_NOTCH_BW,49
+INS_HNTC2_ATT,40
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FREQ,98
+INS_HNTC2_BW,49
 INS_TRIM_OPTION,2
 LAND_ALT_LOW,600
 LAND_SPEED,45
diff --git a/Tools/Frame_params/Solo_Copter-4_GreenCube.param b/Tools/Frame_params/Solo_Copter-4_GreenCube.param
index f58d904ef6..221f9f39c8 100644
--- a/Tools/Frame_params/Solo_Copter-4_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-4_GreenCube.param
@@ -82,10 +82,10 @@ INS_HNTCH_ENABLE,1
 INS_HNTCH_REF,0.26
 INS_HNTCH_FREQ,200
 INS_HNTCH_BW,100
-INS_NOTCH_ATT,40
-INS_NOTCH_ENABLE,1
-INS_NOTCH_FREQ,98
-INS_NOTCH_BW,49
+INS_HNTC2_ATT,40
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FREQ,98
+INS_HNTC2_BW,49
 INS_TRIM_OPTION,2
 LAND_ALT_LOW,600
 LAND_SPEED,45
diff --git a/Tools/Frame_params/Sub/bluerov2-4_0_0.params b/Tools/Frame_params/Sub/bluerov2-4_0_0.params
index 08bf4748d1..bc3f905390 100644
--- a/Tools/Frame_params/Sub/bluerov2-4_0_0.params
+++ b/Tools/Frame_params/Sub/bluerov2-4_0_0.params
@@ -292,7 +292,7 @@ INS_LOG_BAT_LGCT,32
 INS_LOG_BAT_LGIN,20
 INS_LOG_BAT_MASK,0
 INS_LOG_BAT_OPT,0
-INS_NOTCH_ENABLE,0
+INS_HNTC2_ENABLE,0
 INS_POS1_X,0.0
 INS_POS1_Y,0.0
 INS_POS1_Z,0.0
diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
index 9c76f4e1d1..4cbb5e830f 100644
--- a/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
+++ b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
@@ -292,7 +292,7 @@ INS_LOG_BAT_LGCT,32
 INS_LOG_BAT_LGIN,20
 INS_LOG_BAT_MASK,0
 INS_LOG_BAT_OPT,0
-INS_NOTCH_ENABLE,0
+INS_HNTC2_ENABLE,0
 INS_POS1_X,0.0
 INS_POS1_Y,0.0
 INS_POS1_Z,0.0
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index a2b2dc050a..973a67c77a 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -2559,10 +2559,11 @@ class AutoTestCopter(AutoTest):
             # now add a notch and check that post-filter the peak is squashed below 40dB
             self.set_parameters({
                 "INS_LOG_BAT_OPT": 2,
-                "INS_NOTCH_ENABLE": 1,
-                "INS_NOTCH_FREQ": freq,
-                "INS_NOTCH_ATT": 50,
-                "INS_NOTCH_BW": freq/2,
+                "INS_HNTC2_ENABLE": 1,
+                "INS_HNTC2_FREQ": freq,
+                "INS_HNTC2_ATT": 50,
+                "INS_HNTC2_BW": freq/2,
+                "INS_HNTC2_MODE": 0,
                 "SIM_VIB_MOT_MAX": 350,
             })
             self.reboot_sitl()