From 627f62d23bee0fd333fb99be64a530cbcaa3fa91 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 13 Apr 2022 20:10:37 +1000
Subject: [PATCH] Plane: param conversion for INS_NOTCH to INS_HNTC2

---
 ArduPlane/Parameters.cpp | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index f287fddfd8..76fbda72e7 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1502,5 +1502,23 @@ void Plane::load_parameters(void)
     }
 #endif
 
+    if (!ins.gyro_notch_enabled()) {
+        // notch filter parameter conversions (moved to INS_HNTC2) for 4.2.x, converted from fixed notch
+        const AP_Param::ConversionInfo notchfilt_conversion_info[] {
+            { Parameters::k_param_ins, 101, AP_PARAM_INT8,  "INS_HNTC2_ENABLE" },
+            { Parameters::k_param_ins, 293, AP_PARAM_FLOAT, "INS_HNTC2_ATT" },
+            { Parameters::k_param_ins, 357, AP_PARAM_FLOAT, "INS_HNTC2_FREQ" },
+            { Parameters::k_param_ins, 421, AP_PARAM_FLOAT, "INS_HNTC2_BW" },
+        };
+        uint8_t notchfilt_table_size = ARRAY_SIZE(notchfilt_conversion_info);
+        for (uint8_t i=0; i<notchfilt_table_size; i++) {
+            AP_Param::convert_old_parameters(&notchfilt_conversion_info[i], 1.0f);
+        }
+        if (ins.gyro_notch_enabled()) {
+            AP_Param::set_default_by_name("INS_HNTC2_MODE", 0);
+            AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1);
+        }
+    }
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }