hello, im going to do harmonic notch filtering in my quad.
where can i find hover frequency?
in arducopter docs said :
Set INS_HNTCH_FREQ and/or INS_HNTC2_FREQ = below the hover frequency - you can easily determine this by performing a gentle hover and looking at the ESC telemetry data
Do you have ESC telemetry?
yes i have esc telemetry support, and i use bdshot
So you don’t need to mess with INS_HNTCH_FREQ - just leave it at the default for now. All you need to do is set:
INS_HNTCH_REF=1
INS_HNTCH_ENABLE=1
INS_HNTCH_OPTS=2
INS_HNTCH_MODE=3
Oke, I did it, and test hovering few second
what else should I do next?
I have read it
I do not know which ESC telemetry data for INS_HNTCH_FREQ