Sry, should be fixed and now open.
1st understand that the FFT is doing nothing but churning the data until the Notch Filter is enabled. Which it isn’t. Then you need to review the Gyro FFT response, not to be confused with the FFT filter parameters, before configuring the parameters. You really should have just made a short flight in AltHold landed and disarmed. But here is the FFT response from this log:
So, you would enable the Notch Filter (INS_HNTCH_ENABLE to 1), configure for FFT reference and set the FFT_MINHZ value to 80Hz (default) and the MAXHZ value to 450Hz. Leave the other FFT parameters as they are then set INS_LOG_BAT_MASK to 2 and make another AltHold hover flight to see if the filter is working.
Have tested once throttle based and in-flight FFT, the result looks good I think
Now I wanted to do the Advanced In-Flight FFT setup.
Unfortunately the FTN1.BwAvg and FTN2[N].PkX all look like this
I wonder why I don’t see any interference at all. Am I doing something wrong ?
Attached is a log from the last flight
https://drive.google.com/file/d/1S6gF5t5RHOEWYZQ1cJXGrD0XK5-LfGQR/view?usp=sharing
Use bdshot - this works well on the Kakute H7, will work the best of all options
Thank you very much for the help. I have used the ESC Telemetry Based Harmonic Notch Setup as described with
INS_HNTCH_OPTS = 4
INS_HNTCH_OPTS =
Plus some air permeable foam over the baro (The prop wash seems to have too much influence on the baro otherwise).
After that I have still as described the axles with
ATC_RATE_FF_ENAB to 0 and 1
tested.
Before I now the AutoTrim I should first make the AutoTune. This also works in the AltHold and Loiter, but unfortunately the flight time is much too short for the Whoop. It always aborts the tuning process. Even if I tune an axis individually.
Is there any way to slow down the tuning process even more by using Ground Control Station Messages or tuning the drone via drone tethering?
Would be grateful for any tip
Attached are the last two tuning attempts.
https://drive.google.com/file/d/1QQthLXpA_ucxB6pYDa-cU--Yeq98n5MF/view?usp=sharing
https://drive.google.com/file/d/1yzn6scncywlpPSvdOG6LkCdmAjSnxOtb/view?usp=sharing