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2 changes: 2 additions & 0 deletions TUNING_GUIDE_ArduCopter.md
Original file line number Diff line number Diff line change
Expand Up @@ -722,6 +722,8 @@ These are the very minimum tuning steps required for a stable flight:

Load the `.bin` log from the first flight onto the [online Ardupilot Filter Review tool](https://firmware.ardupilot.org/Tools/WebTools/FilterReview/)
Follow the [instructions from Peter Hall on his Blog Post](https://discuss.ardupilot.org/t/new-fft-filter-setup-and-review-web-tool/102572) to configure the Harmonic Notch filter(s).
Noise levels bellow -50dB are considered good enough.
Do not use notch filters to reduce noise bellow that level as it introduces unwanted signal lag.
The graph below is a bode diagram of the gyro signals before and after the low-pass and Harmonic Notch filters.
As you can see, the filters remove most of the vibration noise from the gyro sensors.

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2 changes: 1 addition & 1 deletion update_flight_controller_ids.py
Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,7 @@ def create_dicts( # pylint: disable=too-many-locals
if (
dirname.startswith(NON_FC_PREFIXES)
or dirname.endswith(NON_FC_SUFIXES)
or mcu_series.lower().startswith(("stm32f1", "stm32f3"))
or mcu_series.lower().startswith(("stm32f1", "stm32f3", "stm32g4"))
or (numeric_board_id == 1062 and dirname != "MatekL431") # these AP_Periph are not an FC
):
continue # Skip IOMCU boards, AP_Periph boards, GPS boards
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