# Fast sampling mask
# Mask of IMUs to enable fast sampling on, if available
# Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
# Default: 3
INS_FAST_SAMPLE,3 # Both IMUs can run fast on the Pixhawk 6c
# Gyro rate for IMUs with Fast Sampling enabled
# Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU
# filters operate and needs to be at least double the maximum filter frequency. If the sensor does not
# support the selected rate the next highest supported rate will be used. For IMUs which do not
# support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
# RebootRequired: True
# 0: 1kHz
# 1: 2kHz
# 2: 4kHz
# 3: 8kHz
# Default: 1
INS_GYRO_RATE,2 # The Pixhawk 6c can do this
# Harmonic Notch Filter attenuation
# Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard
# notch rather than a modest attenuation of motor noise.
# Range: 5 50
# Units: dB (decibel)
# Default: 40
INS_HNTCH_ATT,20.0 # this is just a hunch, it must be improved after the first flight (by the next file)
# Harmonic Notch Filter bandwidth
# Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio
# of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
# Range: 5 250
# Units: Hz (hertz)
# Default: 40
INS_HNTCH_BW,20.0 # this is just a hunch, it must be improved after the first flight (by the next file)
# Harmonic Notch Filter enable
# Harmonic Notch Filter enable
# 0: Disabled
# 1: Enabled
# Default: 0
INS_HNTCH_ENABLE,1 # the first notch filter will be used to filter the noise created by the motors/propellers
# Harmonic Notch Filter base frequency
# Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches,
# the center frequency for Throttle based notches at the reference thrust value, and the minimum limit
# of center frequency variation for all other notch types. This should always be set lower than half
# the backend gyro rate (which is typically 1Khz).
# Range: 10 495
# Units: Hz (hertz)
# Default: 80
INS_HNTCH_FREQ,48.0 # Start with 1.4 • INS_GYRO_FILTER (34 * 1.4)
# Harmonic Notch Filter harmonics
# Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the
# next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.
# Bitmask: 0:1st harmonic,1:2nd harmonic,2:3rd harmonic,3:4th hamronic,4:5th harmonic,5:6th harmonic,6:7th harmonic,7:8th harmonic
# RebootRequired: True
# Default: 1
INS_HNTCH_HMNCS,1 # start with a single frequency
# Harmonic Notch Filter dynamic frequency tracking mode
# Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor,
# ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.
# Range: 0 4
# 0: Disabled
# 1: Throttle
# 2: RPM Sensor
# 3: ESC Telemetry
# 4: Dynamic FFT
# 5: Second RPM Sensor
# Default: 1
INS_HNTCH_MODE,3 # Use the BDshot600 RPM telemetry to dynamicaly track noise created by the motors/propellers
# Harmonic Notch Filter options
# Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a
# wider bandwidth with reduced latency than single notches and are suitable for larger aircraft.
# Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being
# multiples of the base frequency, in the case of FFT it will attach notches to each of three detected
# noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate
# update changes the notch center frequency at the scheduler loop rate rather than at the default of
# 200Hz. If both double and triple notches are specified only double notches will take effect.
# Bitmask: 0:Double notch,1:Dynamic harmonic,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch
# RebootRequired: True
# Default: 0
INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate
# Harmonic Notch Filter reference value
# A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value
# enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is
# the reference value associated with the specified frequency to facilitate frequency scaling of the
# Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to
# enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed.
# The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This
# reference value may also be used to scale the sensor data, if required. For example, rpm sensor
# data is required to measure heli motor RPM. Therefore the reference value can be used to scale the
# RPM sensor to the rotor RPM.
# Range: 0.0 1.0
# RebootRequired: True
# Default: 0
INS_HNTCH_REF,1 # Use the BDshot600 RPM telemetry to dynamicaly track noise created by the motors/propellers