Guidance for setting filters after enabling RPM based Notch Filter

[jstroup1986 (Joseph G Stroup Jr)]

I now have an RPM based notch filter enabled using ESC telemetry from bi-directional Dshot.

I’ve been looking through the wiki and past threads on this forum to find out if I should make any adjustments to the various filters now that the rpm based notch filter is working.

There has been a lot of discussion on past threads regarding filters. For example:

What should I use for ATC_RAT_PIT_FLT* values?

I have just installed Copter-4.0.0-rc2 so I can use the harmonic notch filter and I am working through the recommended settings in “Tuning Process Instructions”. In that document it refers to ATC_RAT_PIT_FILT, which I need to set to 14.5, but the nearest I could find in the Parameter List for release 4 are these 3 items: [image] Is it as simple as making ATC_RAT_PIT_FLTD and ATC_RAT_PIT_FLTT equal to 14.5 and leaving ATC_RAT_PIT_FLTE at 0? And similarly for ATC_RAT_RLL_FILT - it has been rep…

Given this subject has undergone some significant changes and improvements in the last 3 or 4 years, I wanted to be sure I had the most up to date guidance.

The wiki indicates AutoTune adjusts only two filters: ATC_RAT_YAW_FLTT and ATC_RAT_YAW_FLTE

Is there any more guidance available for setting filter values now that I have an RPM based Notch Filter enabled?