@Yuri_Rage or anyone else
Any chance you can validate my understanding of if I am doing this notch filter configuration correctly? What I am not understanding is how to know when I have reached optimal settings from the Filter Review Tool and if there is a more scientific way of determining what the proper settings should be. I’ve basically just been messing with settings until I find a combination that leads to the biggest drop in dB. I’ve pasted a screenshot below of what I believe is my most optimal parameter settings so far by looking at the estimated post filter vs the post filter. What Ive gotten there so far has been done by pure trial and error.
I can have a max of 54 notches before the auto pilot errors out on reboot. I have a hexacopter and am using ESC telemetry (cube orange plus and hobbywing x6 motors). I can get the dB to drop the most when I enable more in INS_HNTCH_HMNCS. However, I have to uncheck EnableOnAllIMUs in INS_HNTCH_OPTS.
Here’s the main area I dont fully understand: How do you determine the right value to use for INS_HNTCH_FREQ? And tradeoff wise, is it better to have more harmonics and disable the notch filter on all IMUs? Or should I have all EnableOnAllIMUs selected and have less harmonics selected? Will these settings have a dramatic impact on CPU as well that I will regret? Alterntively, am I just completely off track here and not understanding the optimization goal here? I’m thinking I need to balance this all with CPU load somehow as well.
I’m thinking of starting with INS_HNTCH_HMNCS=15 (first 4 harmonics), and not checking EnableOnAllIMUs to see what kind of CPU load this causes.
- Here is the .bin file from the flight I used this filter review tool on.
- Here is a link to my methodic configuration files in github.
- Specifically here is 14_logging.param and 18_notch_filter_setup.param
I’ve read the blog post by Peter Hall several times, watched the associated Youtube, and have been reading several other wiki articles. I’m just not finding anything that says objectively “here’s how you know when you’ve taken this step as far as it can go for the most optimal setup”.
Here are the same settings, but only applied to the first 4 harmonics:
Thanks for any additional help you are willing to provide!