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Plane: use calculated number of notches for dynamic harmonic

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Andy Piper 2021-11-22 20:29:31 +00:00 committed by Andrew Tridgell
parent e1c75b2c15
commit aefc97fafa
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/system.cpp
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@ -491,7 +491,7 @@ void Plane::update_dynamic_notch()
// set the harmonic notch filter frequency scaled on measured frequency
if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
float notches[INS_MAX_NOTCHES];
const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(INS_MAX_NOTCHES, notches);
const uint8_t num_notches = AP::esc_telem().get_motor_frequencies_hz(ins.get_num_gyro_dynamic_notches(), notches);
for (uint8_t i = 0; i < num_notches; i++) {
notches[i] = MAX(ref_freq, notches[i]);
@ -515,7 +515,7 @@ void Plane::update_dynamic_notch()
// set the harmonic notch filter frequency scaled on measured frequency
if (ins.has_harmonic_option(HarmonicNotchFilterParams::Options::DynamicHarmonic)) {
float notches[INS_MAX_NOTCHES];
const uint8_t peaks = gyro_fft.get_weighted_noise_center_frequencies_hz(INS_MAX_NOTCHES, notches);
const uint8_t peaks = gyro_fft.get_weighted_noise_center_frequencies_hz(ins.get_num_gyro_dynamic_notches(), notches);
ins.update_harmonic_notch_frequencies_hz(peaks, notches);
} else {