Plane: backport notch filter rework changes to 4.4.x #26099
+475
−144
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this has helped find multiple bugs
this gets the right number of notches on quadplanes, but is still very bad in fwd flight
do all frequenct clamping in one place in set_center_frequency(). Allow for zero frequency to disable the notch. Add an option to treat inactive RPM source as min frequency # Conflicts: # libraries/Filter/HarmonicNotchFilter.cpp # libraries/Filter/NotchFilter.h
moved the claiming down into HarmonicNotchFilter # Conflicts: # libraries/AP_Vehicle/AP_Vehicle.cpp
and pass params object down into HarmonicNotchFilter # Conflicts: # libraries/AP_InertialSensor/AP_InertialSensor.cpp
fill in a parameters structure # Conflicts: # libraries/Filter/HarmonicNotchFilter.h
this also fixes the uint8_t storage of a number than can be greater than 256. Max total notches in a single HarmonicNotchFilter is currently 12*16*3 for 12 ESCs, with INS_HNTCH_HMNCS=0xFFFF and triple notch
max is more than 256
this prevents duplication of the logic for the priority of the double notch vs the triple notch option
# Conflicts: # libraries/AP_Logger/AP_Logger_Backend.cpp
use sqrt() adjustment from Leonard
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this is for users wanting to test the changes on plane 4.4.x
this PR is not intended to be merged