Are the parameters governing harmonic notch filters dependent on which IMU (lane) is active?
If so - could a lane switch inactivate a notch filter?
I’m using an Orange Cube - which switches to the 2nd IMU on boot up. (I can’t remember exactly what causes that - but I believe it’s in response to a known issue the Orange Cube’s 1st IMU)
My INS_LOG_BAT_MASK is set to log IMU 1. (the first IMU) Perhaps this is wrong - as the Orange Cube boots up with a switch to the 2nd IMU.
And if there were to be a EKF lane switch - would this disable a notch filter if only one is being used?
Would setting LOG_BAT_MASK to include all three IMU’s resolve any issue?
Thank you for any suggestions or direction.