Hello, is it possible in my case to use a different notch filter than INS_HNTCH_MODE = 1. (Default) Throttle position based?
I use an integrated propulsion system from T-motor: 6xMN605-S KV170 + Alpha 60A HV, I have the ESC telemetry connected to Alpha Data Link V2, which is not connected to FC (Cube Orange+) because apparently Ardupilot does not support Alpha Data Link.
What could I do to use more advanced and more accurate notch filters than the default one?
I would like to avoid a situation where after tuning the drone with notch filters at one minimum take-off weight of 10kg, I will mount equipment on it that increases its weight to 14kg, which will change the vibration levels due to higher motors RPM, and the set INS_HNTCH_MODE = 1 will cease to be effective.
Datalink v2 is supported, but you do need to connect it and configure it properly.
There is a wki page for that, some customers of mine use it successfully. Their results are great. Very clean gyro sensor data, and improved autotune performance.
Regardless of the selected filtering method INS_HNTCH_MODE = 1 (Throttle position based) or 3 (ESC Telemetry based) or 4 (In-Flight FFT based), will the end result be the same, i.e. it is crucial to set two vibration frequency values, i.e. INS_HNTCH_FREQ and INS_HNTCH_BW to the current drone weight in order to later determine the best PID values by Autotune, am I right?
If so, I don’t know if it makes sense to use the Serial port (I have all of them used) to connect Datalink V2, which will be used for a few moments to determine the key frequency value.
I thought that the ESC Telemetry based notch filter is intelligent and as the drone weight increases, e.g. after mounting the equipment, it will automatically adjust to the new MOT_THST_HOVER value.
After tuning is finished, do you disconnect Datalink V2 from FC?