From 942be4f2f8556dedace0cf4b8a2ed24440c4e9fd Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 1 Oct 2023 18:21:01 +0100
Subject: [PATCH] autotest: update PIDNotches to use AP_Filter format

---
 Tools/autotest/arducopter.py | 14 +++++---------
 Tools/autotest/helicopter.py | 16 +++++++---------
 2 files changed, 12 insertions(+), 18 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 701c3d50eb..d137b57eba 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -5968,6 +5968,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
         ex = None
         try:
             self.set_parameters({
+                "FILT1_TYPE": 1,
                 "AHRS_EKF_TYPE": 10,
                 "INS_LOG_BAT_MASK": 3,
                 "INS_LOG_BAT_OPT": 0,
@@ -5977,15 +5978,10 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
                 "SIM_VIB_FREQ_X": 120,  # roll
                 "SIM_VIB_FREQ_Y": 120,  # pitch
                 "SIM_VIB_FREQ_Z": 180,  # yaw
-                "ATC_RAT_RLL_ADV": 1,
-                "ATC_RAT_RLL_NEF": 120,
-                "ATC_RAT_RLL_NBW": 50,
-                "ATC_RAT_PIT_ADV": 1,
-                "ATC_RAT_PIT_NEF": 120,
-                "ATC_RAT_PIT_NBW": 50,
-                "ATC_RAT_YAW_ADV": 1,
-                "ATC_RAT_YAW_NEF": 180,
-                "ATC_RAT_YAW_NBW": 50,
+                "FILT1_NOTCH_FREQ": 120,
+                "ATC_RAT_RLL_NEF": 1,
+                "ATC_RAT_PIT_NEF": 1,
+                "ATC_RAT_YAW_NEF": 1,
                 "SIM_GYR1_RND": 5,
             })
             self.reboot_sitl()
diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
index d3634ed416..0da15f1c91 100644
--- a/Tools/autotest/helicopter.py
+++ b/Tools/autotest/helicopter.py
@@ -809,6 +809,8 @@ class AutoTestHelicopter(AutoTestCopter):
         ex = None
         try:
             self.set_parameters({
+                "FILT1_TYPE": 1,
+                "FILT2_TYPE": 1,
                 "AHRS_EKF_TYPE": 10,
                 "INS_LOG_BAT_MASK": 3,
                 "INS_LOG_BAT_OPT": 0,
@@ -818,15 +820,11 @@ class AutoTestHelicopter(AutoTestCopter):
                 "SIM_VIB_FREQ_X": 120,  # roll
                 "SIM_VIB_FREQ_Y": 120,  # pitch
                 "SIM_VIB_FREQ_Z": 180,  # yaw
-                "ATC_RAT_RLL_ADV": 1,
-                "ATC_RAT_RLL_NEF": 120,
-                "ATC_RAT_RLL_NBW": 50,
-                "ATC_RAT_PIT_ADV": 1,
-                "ATC_RAT_PIT_NEF": 120,
-                "ATC_RAT_PIT_NBW": 50,
-                "ATC_RAT_YAW_ADV": 1,
-                "ATC_RAT_YAW_NEF": 180,
-                "ATC_RAT_YAW_NBW": 50,
+                "FILT1_NOTCH_FREQ": 120,
+                "FILT2_NOTCH_FREQ": 180,
+                "ATC_RAT_RLL_NEF": 1,
+                "ATC_RAT_PIT_NEF": 1,
+                "ATC_RAT_YAW_NEF": 2,
                 "SIM_GYR1_RND": 5,
             })
             self.reboot_sitl()