From 2c44d75f277455209e7e3cad43831d9dfdcd1bc8 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 16 Sep 2023 15:45:46 +0100 Subject: [PATCH] AP_HAL: relax F4 notch constraints slightly to allow triple notch on quads --- libraries/AP_HAL/AP_HAL_Boards.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index 8cbeaa1425..bec7d2ea94 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -318,7 +318,8 @@ #else // Enough for a notch per motor on an octa quad using two IMUs and one harmonic // plus one static notch with one harmonic -#define HAL_HNF_MAX_FILTERS 18 +// Or triple-notch per motor on one IMU with one harmonic +#define HAL_HNF_MAX_FILTERS 24 #endif #endif // HAL_HNF_MAX_FILTERS