Hello
I just performed the second flight (x650 class) drone and i would like some feedback to see if a have set up correctly the harmonic notch filters and if the drone is safe to run quicktune an then autotune.
Thank you.
You dont need to filter each and every peak with a notch - the Gyro filter is a low pass that generally filters everything of a higher frequency.
The notch filter is there to target a specific noise peak or two that get through the gyro filter.
This is all you need, and fixes a couple of mistakes you had there:
Which gives this result:
You’ll see that putting a notch on every peak is not necessary - the output after the gyro filter and single notch filter is basically a flat line along the bottom of the graph.
One of the critical things is the phase change too. The new settings give this:
Your settings gave certain trouble, luckily the notch filter wasnt working:
You can set these too:
ATC_THR_MIX_MAN,0.5
INS_LOG_BAT_OPT,4
LOG_BITMASK,180222
There seems to be some extra weight over the rear of the copter. Better weight distribution will help, especially when running autotune again to sort out the attitude control.