diff --git a/src/main/flight/dyn_notch_filter.c b/src/main/flight/dyn_notch_filter.c index f2cdaec130..3852dfe63d 100644 --- a/src/main/flight/dyn_notch_filter.c +++ b/src/main/flight/dyn_notch_filter.c @@ -356,8 +356,8 @@ static FAST_CODE_NOINLINE void dynNotchProcess(void) // Convert bin to frequency: freq = bin * binResoultion (bin 0 is 0Hz) const float centerFreq = constrainf(meanBin * sdftResolutionHz, dynNotch.minHz, dynNotch.maxHz); - // PT1 style smoothing moves notch center freqs rapidly towards big peaks and slowly away, up to 10x faster - const float cutoffMult = constrainf(peaks[p].value / sdftNoiseThreshold, 1.0f, 10.0f); + // PT1 style smoothing moves notch center freqs rapidly towards big peaks and slowly away, up to 5x faster + const float cutoffMult = constrainf((peaks[p].value * 0.5) / sdftNoiseThreshold, 1.0f, 5.0f); const float gain = pt1FilterGain(DYN_NOTCH_SMOOTH_HZ * cutoffMult, pt1LooptimeS); // dynamic PT1 k value // Finally update notch center frequency p on current axis