Filter: Make heli default mode for harmonic notch tracking = fixed

ArduPilot · Dec 5, 2024 · ea5a4ea · ea5a4ea
1 parent 9063fb8
commit ea5a4ea
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/libraries/Filter/HarmonicNotchFilter.cpp b/libraries/Filter/HarmonicNotchFilter.cpp
@@ -21,6 +21,7 @@
 #include "HarmonicNotchFilter.h"
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #define HNF_MAX_FILTERS HAL_HNF_MAX_FILTERS // must be even for double-notch filters
 
@@ -48,6 +49,13 @@
  */
 #define NOTCHFILTER_ATTENUATION_CUTOFF 0.25
 
+#if APM_BUILD_TYPE(APM_BUILD_Heli)
+    // We cannot use throttle based notch on helis
+    #define NOTCHFILTER_DEFAULT_MODE 0 // fixed
+#else
+    #define NOTCHFILTER_DEFAULT_MODE 1 // throttle based
+#endif
+
 
 // table of user settable parameters
 const AP_Param::GroupInfo HarmonicNotchFilterParams::var_info[] = {
@@ -120,7 +128,7 @@ const AP_Param::GroupInfo HarmonicNotchFilterParams::var_info[] = {
     // @Range: 0 5
     // @Values: 0:Fixed,1:Throttle,2:RPM Sensor,3:ESC Telemetry,4:Dynamic FFT,5:Second RPM Sensor
     // @User: Advanced
-    AP_GROUPINFO("MODE", 7, HarmonicNotchFilterParams, _tracking_mode, int8_t(HarmonicNotchDynamicMode::UpdateThrottle)),
+    AP_GROUPINFO("MODE", 7, HarmonicNotchFilterParams, _tracking_mode, NOTCHFILTER_DEFAULT_MODE),
 
     // @Param: OPTS
     // @DisplayName: Harmonic Notch Filter options