Thank you both for the valuable ideas! I changed
- INS_HNTCH_REF to 1
and using the correct tool I see the filter’s effect in first and 2nd harmonic.
However, I am a bit confused about the INS_HNTCH_OPTS and INS_HNTCH_BW selection though. The flight was done with 1 and 40 accordingly. Reading the documentation it makes more sense to use INS_HNTCH_OPTS = 2 (a notch per motor; my platform has 2 motors).
Bidirectional Dshort with Dynamic Harmonic Notch Filters - #2 by xfacta here is stated that when setting OPTS to 2 one should lower the BW to 20.
- Does this make sense? If I do this (BW = 20, OPTS = 2) the filter response is worse than the existing one.
- Finally, if I choose INS_HNTCH_OPTS = 2 does that mean that there will be two overlapping notches? Assuming that motor speeds are close enough. Can this impose issues in the controller?
