Filter: only update notch on init if fixed

ArduPilot · Sep 8, 2024 · ab0db13 · ab0db13
1 parent 67011d1
commit ab0db13
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/libraries/Filter/HarmonicNotchFilter.cpp b/libraries/Filter/HarmonicNotchFilter.cpp
@@ -191,8 +191,11 @@ void HarmonicNotchFilter<T>::init(float sample_freq_hz, HarmonicNotchFilterParam
     NotchFilter<T>::calculate_A_and_Q(center_freq_hz, bandwidth_hz / _composite_notches, attenuation_dB, _A, _Q);
 
     _initialised = true;
+
     // ensure static notches are allocated and working
-    update(center_freq_hz);
+    if (params->tracking_mode() == HarmonicNotchDynamicMode::Fixed) {
+        update(center_freq_hz);
+    }
 }
 
 /*