Notch filters seem not working

[wickeLine228 (Eto)]

Trying to setup harmonic notch filters in a 7 kg quadrocopter with 22 inch props, but pre and post filter graphs looks almost the same. Need help finding solutions to the issue.

Here is the hover test:

00000044.BIN

Full IMU Spectrum:

IMU Spectrum on X axis:

Pre and post filters almost the same, although filters are targeted well and estimated filter showing good attenuation:

Filter configurations:

IMU Spectrogram Multisource targeting well too on the graph:

Flight controller: SIYI N7
Motors: SIYI D6
Motor telemetry via DroneCAN

[amilcarlucas]

Disable the third and fourth harmonics of the first notch filter.
Fully disable the second harmonic notch filter,
Correct your logging parameters according to the documentation or use AMC to correct it for you.

[dkemxr (Dave)]

What @amilcarlucas said and:
Disable Fast harmonic Notch logging in the log bitmask.
Disable these:
INS_LOG_BAT_MASK
INS_LOG_BAT_OPT
Set this:
INS_RAW_LOG_OPT,9

Make another data collection flight.

[wickeLine228 (Eto)]

Thank you for your help @amilcarlucas @dkemxr . Filters are working and showing correct graphs now.

These changes helped:

Disable these:
INS_LOG_BAT_MASK
INS_LOG_BAT_OPT
Set this:
INS_RAW_LOG_OPT,9

Here is the result of IMU spectrum, first notch filter set up for 4 harmonics, fft notch filter is enabled:
Graphs are zoomed to 500Hz.
As you can see pre and post filters differ, attenuation is noticed.

Filter configuration:

Multi-source frequency targeting:

Pre-filter harmonics:

Post-filter graph:

And the result of IMU spectrum where first notch filter set up for 2 harmonics, fft notch filter is disabled:
Graphs are zoomed to 500Hz.
As you can see pre and post filters differ, attenuation is noticed.

Filter configuration:

Multi-source frequency targeting:

Pre-filter harmonics:

Post-filter graph:

Seems like having 4 harmonics in the first notch filter and second fft notch filter enabled gives better results. What would you recommend setting up?

First notch filter 4 harmonics, second FFT notch filter enabled hover test dataset:

00000045.BIN

First notch filter 2 harmonics, second FFT notch filter disabled hover test dataset:

00000046.BIN

[dkemxr (Dave)]

Disable the FFT parameter and use this, close to what you have.