Hi,
Based on what i understood from the documentation for setting up harmonics, the low pass filter is calculated according to the size of the propeller. I was wondering if somehow it consider the amount of motors in the frame?
For a 14 inch prop and 4s battery cell, I recieve 32 Hz. How can I know that is value is sufficient for drone config i have, amount of motors and frame shape?
Thank you
INS_GYRO_FILTER is estimated from prop size, and it basically only depends on that rather than the number of motors. The formula was derived primarily from some of Leonard Hall’s data and experience, and from checking flight data in stacks of logs.
It is an estimate though, as we have no way of knowing about the rest of your copter - such as total weight and how loaded the motors will be, anything that affects motor RPM.
The formula gives a value that should suit any props size as a baseline.
Once you do get in a couple of stable flights with some good (harmonic notch filter) noise data, you might find you can increase INS_GYRO_FILTER a bit, but I doubt it for 14 inch props.
Usually it’s the much smaller props, down around 3inch to 5inch or so, where the INS_GYRO_FILTER value can be significantly altered to suit the specific copter.