{"action":"created","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/3074","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/3074/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/3074/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/3074/events","html_url":"https://github.com/betaflight/betaflight/pull/3074","id":228151928,"number":3074,"title":"Dynamic notch","user":{"login":"rav-rav","id":17462561,"avatar_url":"https://avatars0.githubusercontent.com/u/17462561?v=3","gravatar_id":"","url":"https://api.github.com/users/rav-rav","html_url":"https://github.com/rav-rav","followers_url":"https://api.github.com/users/rav-rav/followers","following_url":"https://api.github.com/users/rav-rav/following{/other_user}","gists_url":"https://api.github.com/users/rav-rav/gists{/gist_id}","starred_url":"https://api.github.com/users/rav-rav/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rav-rav/subscriptions","organizations_url":"https://api.github.com/users/rav-rav/orgs","repos_url":"https://api.github.com/users/rav-rav/repos","events_url":"https://api.github.com/users/rav-rav/events{/privacy}","received_events_url":"https://api.github.com/users/rav-rav/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":8,"created_at":"2017-05-11T23:50:02Z","updated_at":"2017-05-15T15:21:05Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/betaflight/betaflight/pulls/3074","html_url":"https://github.com/betaflight/betaflight/pull/3074","diff_url":"https://github.com/betaflight/betaflight/pull/3074.diff","patch_url":"https://github.com/betaflight/betaflight/pull/3074.patch"},"body":"So, this works very well for my copter, but still needs fine tuning and lots of testing.\r\nPlease set debug_mode to FFT and share logs!\r\nYou can put it on a switch as a mode (instead of the long gone GTUNE) or enable it as a feature: DYNAMIC_FILTER\r\n\r\nLots of changes to different files were needed to get this working but I tried to keep it as clean as possible.\r\n\r\nThis runs at 4kHz on a SPRACING F3 board and has been heavily tuned for performance. It needs ~20us per gyro cycle.\r\nEach axis has its own notch filter that gets adjusted at 333Hz to the current motor frequencies.\r\n\r\nThe dynamic notch is applied before anything else and I had to shift the LPF behind all notches to get better results.\r\nCurrent filter pipeline looks like this: rawGyro -> dynamicNotch -> notch1 -> notch2 -> lpf\r\nIn my tests I could completely disable the static notches 1/2 and dTerm notch when using the dynamic notch."},"comment":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/comments/301508469","html_url":"https://github.com/betaflight/betaflight/pull/3074#issuecomment-301508469","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/3074","id":301508469,"user":{"login":"coveralls","id":2354108,"avatar_url":"https://avatars2.githubusercontent.com/u/2354108?v=3","gravatar_id":"","url":"https://api.github.com/users/coveralls","html_url":"https://github.com/coveralls","followers_url":"https://api.github.com/users/coveralls/followers","following_url":"https://api.github.com/users/coveralls/following{/other_user}","gists_url":"https://api.github.com/users/coveralls/gists{/gist_id}","starred_url":"https://api.github.com/users/coveralls/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/coveralls/subscriptions","organizations_url":"https://api.github.com/users/coveralls/orgs","repos_url":"https://api.github.com/users/coveralls/repos","events_url":"https://api.github.com/users/coveralls/events{/privacy}","received_events_url":"https://api.github.com/users/coveralls/received_events","type":"User","site_admin":false},"created_at":"2017-05-15T15:21:05Z","updated_at":"2017-05-15T15:21:05Z","body":"\n[![Coverage Status](https://coveralls.io/builds/11527841/badge)](https://coveralls.io/builds/11527841)\n\nCoverage decreased (-0.3%) to 29.627% when pulling **26b1cd42372acd7c097afc83401deb94c6ff3ba1 on rav-rav:dynamic_notch_pr** into **76a9a9f3fbe771df2dbde7ac784275618111572f on betaflight:master**.\n"}}
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