From 9741a0b8cd0de5245fac4cded953db02a70f1643 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 13 Apr 2022 13:44:27 +1000
Subject: [PATCH] Copter: update for changed INS_NOTCH parameter name

---
 ArduCopter/Parameters.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 247183d684..a3f1c672cb 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1387,7 +1387,8 @@ void Copter::convert_pid_parameters(void)
         AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[i], 1.0f);
     }
 
-    if (!ins.gyro_notch_enabled()) {
+#if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
+    if (!ins.gyro_harmonic_notch_enabled(1)) {
         // 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" },
@@ -1399,11 +1400,12 @@ void Copter::convert_pid_parameters(void)
         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()) {
+        if (ins.gyro_harmonic_notch_enabled(1)) {
             AP_Param::set_default_by_name("INS_HNTC2_MODE", 0);
             AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1);
         }
     }
+#endif
 
     // ACRO_RP_P and ACRO_Y_P replaced with ACRO_RP_RATE and ACRO_Y_RATE for Copter-4.2
     const AP_Param::ConversionInfo acro_rpy_conversion_info[] = {