this also fixes the uint8_t storage of a number than can be greater
than 256. Max total notches in a single HarmonicNotchFilter is
currently 12*16*3 for 12 ESCs, with INS_HNTCH_HMNCS=0xFFFF and triple
notch
do all frequenct clamping in one place in
set_center_frequency(). Allow for zero frequency to disable the
notch. Add an option to treat inactive RPM source as min frequency
this allows for the number of dynamic filters on a harmonic notch
filter to expand at runtime, which allows for ESC RPMs to be populated
from other than AP_Motors, such as with lua scripts or for fwd motors
in a SLT quadplane
add harmonic notch tracking mode
call AP_GyroFFT::update_freq_hover() from update_throttle_hover()
move gyrofft configuration and control to AP_Vehicle
move fft logging to fft library
This delegates updates to a bank of NotchFilters located at an rpm frequency and harmonics. Center frequency can be updated dynamically. Notch parameters are configurable, including the number of harmonics to filter on. Updates to the filter parameters are optimized across the notch bank. Convert notch bandwidth and frequency to floats.
allow all filter harmonics to be controlled.
add destructor to harmonic notch.
don't allocate sub-filters for harmonic notch if no harmonics set.
