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Filtering: re-work harmonic notch filter freq clamping and disable #28391

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Filtering: re-work harmonic notch filter freq clamping and disable

Filtering: re-work harmonic notch filter freq clamping and disable #28391

Run time

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Job Run time
build (sitl)
15m 8s
build (CubeOrange)
22m 49s
37m 57s