mirror of https://github.com/ArduPilot/ardupilot
AP_Vehicle: removed num_dynamic_notches limit in dynamic harmonic
use INS_MAX_NOTCHES instead, allowing for more ESCs to be added by lua scripts
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@ -515,8 +515,8 @@ void AP_Vehicle::update_dynamic_notch(AP_InertialSensor::HarmonicNotch ¬ch)
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// set the harmonic notch filter frequency scaled on measured frequency
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if (notch.params.hasOption(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
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float notches[INS_MAX_NOTCHES];
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const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(notch.num_dynamic_notches, notches);
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// ESC telemetry will return 0 for missing data, but only after 1s
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const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(INS_MAX_NOTCHES, notches);
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for (uint8_t i = 0; i < num_notches; i++) {
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if (!is_zero(notches[i])) {
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notches[i] = MAX(ref_freq, notches[i]);
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