I’m working on a heavy-lift octocopter and currently using INS_HNTCH_MODE = 1 (Throttle-based) for noise filtering. The ESCs I’m using are HV 14S 60V 240A models, and I also have external peripherals to receive RPM telemetry from all ESCs via CAN bus.
I’d like to get feedback on whether it’s possible to use ESC telemetry-based filtering with RPM data via CAN bus. Additionally, I’m interested in understanding the pros and cons of using ESC telemetry-based vs throttle position-based noise filtering.