From 4569b1ba14695405ea6424f18351fec35f899eda Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 11:26:07 +1100
Subject: [PATCH] ArduCopter: allow HarmonicNotches to be compiled out of the
 code

---
 ArduCopter/Copter.cpp     | 4 ++++
 ArduCopter/Parameters.cpp | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 5782538ee2..0460de12ec 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -522,9 +522,11 @@ void Copter::loop_rate_logging()
         Log_Write_Attitude();
         Log_Write_PIDS(); // only logs if PIDS bitmask is set
     }
+#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
     if (should_log(MASK_LOG_FTN_FAST)) {
         AP::ins().write_notch_log_messages();
     }
+#endif
     if (should_log(MASK_LOG_IMU_FAST)) {
         AP::ins().Write_IMU();
     }
@@ -764,7 +766,9 @@ void Copter::update_altitude()
     if (should_log(MASK_LOG_CTUN)) {
         Log_Write_Control_Tuning();
         if (!should_log(MASK_LOG_FTN_FAST)) {
+#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
             AP::ins().write_notch_log_messages();
+#endif
 #if HAL_GYROFFT_ENABLED
             gyro_fft.write_log_messages();
 #endif
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index d999b836da..0d17611056 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1493,6 +1493,7 @@ void Copter::convert_pid_parameters(void)
     };
     AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[0], ARRAY_SIZE(ff_and_filt_conversion_info));
 
+#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
 #if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
     if (!ins.harmonic_notches[1].params.enabled()) {
         // notch filter parameter conversions (moved to INS_HNTC2) for 4.2.x, converted from fixed notch
@@ -1508,6 +1509,7 @@ void Copter::convert_pid_parameters(void)
         AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1);
     }
 #endif
+#endif  // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
 
     // ACRO_RP_P and ACRO_Y_P replaced with ACRO_RP_RATE and ACRO_Y_RATE for Copter-4.2
     // PARAMETER_CONVERSION - Added: Sep-2021