@xfacta
Not sure if I’m doing the right thing by reviving this thread or if I should make a new thread for this, let me know if you think I should start a new thread.
I’m trying to get a proper tune on my newer quad (same hardware as the hex mentioned in this thread but an all up weight of 1.1kg). I’ve achieved a decent stable hover. I would like to move on to auto-tune and am setting up a thrust based notch filter based on the documentation here. I’m starting to work with the settings you suggested:
INS_HNTCH_ENABLE,1 <- set this the refresh to see the rest
INS_HNTCH_MODE,1
INS_HNTCH_REF,0.12
INS_HNTCH_FREQ,90
INS_HNTCH_BW,40
INS_HNTCH_FM_RAT,0.7
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
To identify the primary notch frequency for INS_HNTCH_FREQ using the mission planner FFT utility I did a flight test without any filtering enabled, flying in stabilize and alt hold mode for a couple of minutes and then switching to loiter for the rest of the flight (log attached). The FFT results look very “dirty” and I cannot make out any clear frequency peaks:
Despite the fact that the dynamic harmonic notch filtering documentation page talks a bit about larger vehicles having “dirty” FFT profiles, I’m a bit unsure if I’m doing something incorrectly. I’m looking for any advice on how to set up notch filters with such “dirty” FFT profiles.
BR,
Arth