From f5d6e167b5e2dc78b6d2a83ddc521c473076abaa Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 14 Jul 2023 19:07:43 +0100
Subject: [PATCH] AP_Vehicle: dynamic notch use min ratio  for RPM tracking

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 3f776fb39d..e098e7246a 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -656,7 +656,7 @@ void AP_Vehicle::update_dynamic_notch(AP_InertialSensor::HarmonicNotch &notch)
             float rpm;
             if (rpm_sensor != nullptr && rpm_sensor->get_rpm(sensor, 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 {
                 notch.update_freq_hz(ref_freq);
             }