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AP_Vehicle: dynamic notch use min ratio for RPM tracking

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Iampete1 2023-07-14 19:07:43 +01:00 committed by Andrew Tridgell
parent a3f43b26ae
commit f5d6e167b5
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -656,7 +656,7 @@ void AP_Vehicle::update_dynamic_notch(AP_InertialSensor::HarmonicNotch &notch)
float rpm; float rpm;
if (rpm_sensor != nullptr && rpm_sensor->get_rpm(sensor, rpm)) { if (rpm_sensor != nullptr && rpm_sensor->get_rpm(sensor, rpm)) {
// set the harmonic notch filter frequency from the main rotor rpm // set the harmonic notch filter frequency from the main rotor rpm
notch.update_freq_hz(MAX(ref_freq, rpm * ref * (1.0/60))); notch.update_freq_hz(MAX(ref_freq * notch.params.freq_min_ratio(), rpm * ref * (1.0/60)));
} else { } else {
notch.update_freq_hz(ref_freq); notch.update_freq_hz(ref_freq);
} }