mirror of https://github.com/ArduPilot/ardupilot
Plane: dynamic notch setting via FFT
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@ -491,6 +491,12 @@ void Plane::update_dynamic_notch()
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case HarmonicNotchDynamicMode::UpdateBLHeli: // BLHeli based tracking
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ins.update_harmonic_notch_freq_hz(MAX(ref_freq, AP_BLHeli::get_singleton()->get_average_motor_frequency_hz() * ref));
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break;
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#endif
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#if HAL_GYROFFT_ENABLED
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case HarmonicNotchDynamicMode::UpdateGyroFFT: // FFT based tracking
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// set the harmonic notch filter frequency scaled on measured frequency
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ins.update_harmonic_notch_freq_hz(gyro_fft.get_weighted_noise_center_freq_hz());
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break;
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#endif
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case HarmonicNotchDynamicMode::Fixed: // static
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default:
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