Odd shift in fft graph

ArduCopter Copter 4.3
1

I tried a esc telemetry based notch filter on all 4 motors, but it was weird flying lol. So I set INS_hntc_opts from 2 back to zero. I tried setting the ins_hntch_freq to 1/4 . I presume I would do the same with the BW. That didn’t help lol. Anyway, with the filter averaged on the 4 motors it seems to attenuate a fair bit. But my Z and X gyro are way above my Y.

fft
fft1293×1048 96.9 KB

settings

And a log file if anyone’s interested : )

2

This is what it looks like with scaling that you can actually use:

FFT
FFT1256×932 60.8 KB

Check the Magnitude Box before loading the log.
Set this and make another flight:
INS_LOG_BAT_OPT,4

3

Thanks, I’ll give it a try.