From 39d928aa4938bbec10b1a968e0887e1cb200bc18 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 6 Mar 2022 15:00:01 +0000
Subject: [PATCH] Filter: add mutators for notch filter parameters

---
 libraries/Filter/HarmonicNotchFilter.cpp | 15 ++++++++++++++-
 libraries/Filter/HarmonicNotchFilter.h   |  6 ++++++
 libraries/Filter/NotchFilter.h           |  1 +
 3 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/libraries/Filter/HarmonicNotchFilter.cpp b/libraries/Filter/HarmonicNotchFilter.cpp
index 661e062892..eba27e9872 100644
--- a/libraries/Filter/HarmonicNotchFilter.cpp
+++ b/libraries/Filter/HarmonicNotchFilter.cpp
@@ -80,7 +80,7 @@ const AP_Param::GroupInfo HarmonicNotchFilterParams::var_info[] = {
     // @Range: 0 4
     // @Values: 0:Disabled,1:Throttle,2:RPM Sensor,3:ESC Telemetry,4:Dynamic FFT,5:Second RPM Sensor
     // @User: Advanced
-    AP_GROUPINFO("MODE", 7, HarmonicNotchFilterParams, _tracking_mode, 1),
+    AP_GROUPINFO("MODE", 7, HarmonicNotchFilterParams, _tracking_mode, int8_t(HarmonicNotchDynamicMode::UpdateThrottle)),
 
     // @Param: OPTS
     // @DisplayName: Harmonic Notch Filter options
@@ -287,6 +287,19 @@ HarmonicNotchFilterParams::HarmonicNotchFilterParams(void)
     AP_Param::setup_object_defaults(this, var_info);
 }
 
+/*
+  save changed parameters
+ */
+void HarmonicNotchFilterParams::save_params()
+{
+    _enable.save();
+    _center_freq_hz.save();
+    _bandwidth_hz.save();
+    _attenuation_dB.save();
+    _harmonics.save();
+    _reference.save();
+}
+
 /* 
   instantiate template classes
  */
diff --git a/libraries/Filter/HarmonicNotchFilter.h b/libraries/Filter/HarmonicNotchFilter.h
index 636d0fcc95..34119bf6db 100644
--- a/libraries/Filter/HarmonicNotchFilter.h
+++ b/libraries/Filter/HarmonicNotchFilter.h
@@ -90,18 +90,24 @@ public:
     HarmonicNotchFilterParams(void);
     // set the fundamental center frequency of the harmonic notch
     void set_center_freq_hz(float center_freq) { _center_freq_hz.set(center_freq); }
+    // set the bandwidth of the harmonic notch
+    void set_bandwidth_hz(float bandwidth_hz) { _bandwidth_hz.set(bandwidth_hz); }
     // harmonics enabled on the harmonic notch
     uint8_t harmonics(void) const { return _harmonics; }
     // has the user set the harmonics value
     void set_default_harmonics(uint8_t hmncs) { _harmonics.set_default(hmncs); }
     // reference value of the harmonic notch
     float reference(void) const { return _reference; }
+    void set_reference(float ref) { _reference = ref; }
     // notch options
     bool hasOption(Options option) const { return _options & uint16_t(option); }
     // notch dynamic tracking mode
     HarmonicNotchDynamicMode tracking_mode(void) const { return HarmonicNotchDynamicMode(_tracking_mode.get()); }
     static const struct AP_Param::GroupInfo var_info[];
 
+    // save parameters
+    void save_params();
+
 private:
     // configured notch harmonics
     AP_Int8 _harmonics;
diff --git a/libraries/Filter/NotchFilter.h b/libraries/Filter/NotchFilter.h
index 632f738d85..62352b60ee 100644
--- a/libraries/Filter/NotchFilter.h
+++ b/libraries/Filter/NotchFilter.h
@@ -54,6 +54,7 @@ public:
     float bandwidth_hz(void) const { return _bandwidth_hz; }
     float attenuation_dB(void) const { return _attenuation_dB; }
     uint8_t enabled(void) const { return _enable; }
+    void enable() { _enable.set(true); }
     
 protected:
     AP_Int8 _enable;