Drop the last static gyro notch

src/main/blackbox/blackbox.c

@@ -1812,10 +1812,6 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchQ", "%d",               gyroConfig()->dynamicGyroNotchQ);
         BLACKBOX_PRINT_HEADER_LINE("dynamicGyroNotchMinHz", "%d",           gyroConfig()->dynamicGyroNotchMinHz);
 #endif
-        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_notch_hz,
-                                                                            0);
-        BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",            gyroConfig()->gyro_notch_cutoff,
-                                                                            1);
         BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d",                      accelerometerConfig()->acc_lpf_hz);
         BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d",                    accelerometerConfig()->acc_hardware);
 #ifdef USE_BARO

src/main/fc/config.c

@@ -183,9 +183,6 @@ uint32_t getGyroLooptime(void) {
 
 void validateAndFixConfig(void)
 {
-    if (gyroConfig()->gyro_notch_cutoff >= gyroConfig()->gyro_notch_hz) {
-        gyroConfigMutable()->gyro_notch_hz = 0;
-    }
     if (accelerometerConfig()->acc_notch_cutoff >= accelerometerConfig()->acc_notch_hz) {
         accelerometerConfigMutable()->acc_notch_hz = 0;
     }

src/main/fc/fc_msp.c

@@ -1238,8 +1238,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz);
         sbufWriteU16(dst, pidProfile()->dterm_lpf_hz);
         sbufWriteU16(dst, pidProfile()->yaw_lpf_hz);
-        sbufWriteU16(dst, gyroConfig()->gyro_notch_hz);
+        sbufWriteU16(dst, 0); //Was gyroConfig()->gyro_notch_hz
-        sbufWriteU16(dst, gyroConfig()->gyro_notch_cutoff);
+        sbufWriteU16(dst, 1); //Was  gyroConfig()->gyro_notch_cutoff
         sbufWriteU16(dst, 0); //BF: pidProfile()->dterm_notch_hz
         sbufWriteU16(dst, 1); //pidProfile()->dterm_notch_cutoff
 
@@ -2176,8 +2176,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             pidProfileMutable()->dterm_lpf_hz = constrain(sbufReadU16(src), 0, 500);
             pidProfileMutable()->yaw_lpf_hz = constrain(sbufReadU16(src), 0, 255);
             if (dataSize >= 9) {
-                gyroConfigMutable()->gyro_notch_hz = constrain(sbufReadU16(src), 0, 500);
+                sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_hz
-                gyroConfigMutable()->gyro_notch_cutoff = constrain(sbufReadU16(src), 1, 500);
+                sbufReadU16(src); //Was gyroConfigMutable()->gyro_notch_cutoff
             } else {
                 return MSP_RESULT_ERROR;
             }

src/main/fc/settings.yaml

@@ -232,15 +232,6 @@ groups:
         default_value: 32
         field: gyroMovementCalibrationThreshold
         max: 128
-      - name: gyro_notch_hz
-        field: gyro_notch_hz
-        max: 500
-        default_value: 0
-      - name: gyro_notch_cutoff
-        field: gyro_notch_cutoff
-        min: 1
-        max: 500
-        default_value: 1
       - name: gyro_main_lpf_hz
         description: "Software based gyro main lowpass filter. Value is cutoff frequency (Hz)"
         default_value: 60

src/main/io/osd_dji_hd.c

@@ -1428,8 +1428,8 @@ static mspResult_e djiProcessMspCommand(mspPacket_t *cmd, mspPacket_t *reply, ms
             sbufWriteU8(dst, gyroConfig()->gyro_main_lpf_hz);           // BF: gyroConfig()->gyro_lowpass_hz
             sbufWriteU16(dst, pidProfile()->dterm_lpf_hz);              // BF: currentPidProfile->dterm_lowpass_hz
             sbufWriteU16(dst, pidProfile()->yaw_lpf_hz);                // BF: currentPidProfile->yaw_lowpass_hz
-            sbufWriteU16(dst, gyroConfig()->gyro_notch_hz);             // BF: gyroConfig()->gyro_soft_notch_hz_1
+            sbufWriteU16(dst, 0);                                       // BF: gyroConfig()->gyro_soft_notch_hz_1
-            sbufWriteU16(dst, gyroConfig()->gyro_notch_cutoff);         // BF: gyroConfig()->gyro_soft_notch_cutoff_1
+            sbufWriteU16(dst, 1);                                       // BF: gyroConfig()->gyro_soft_notch_cutoff_1
             sbufWriteU16(dst, 0);                                       // BF: currentPidProfile->dterm_notch_hz
             sbufWriteU16(dst, 1);                                       // BF: currentPidProfile->dterm_notch_cutoff
             sbufWriteU16(dst, 0);                                       // BF: gyroConfig()->gyro_soft_notch_hz_2

src/main/sensors/gyro.c

@@ -93,9 +93,6 @@ STATIC_FASTRAM filter_t gyroLpfState[XYZ_AXIS_COUNT];
 STATIC_FASTRAM filterApplyFnPtr gyroLpf2ApplyFn;
 STATIC_FASTRAM filter_t gyroLpf2State[XYZ_AXIS_COUNT];
 
-STATIC_FASTRAM filterApplyFnPtr notchFilter1ApplyFn;
-STATIC_FASTRAM void *notchFilter1[XYZ_AXIS_COUNT];
-
 #ifdef USE_DYNAMIC_FILTERS
 
 EXTENDED_FASTRAM gyroAnalyseState_t gyroAnalyseState;
@@ -103,7 +100,7 @@ EXTENDED_FASTRAM dynamicGyroNotchState_t dynamicGyroNotchState;
 
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
+PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 1);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = SETTING_GYRO_HARDWARE_LPF_DEFAULT,
@@ -115,8 +112,6 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
 #ifdef USE_DUAL_GYRO
     .gyro_to_use = SETTING_GYRO_TO_USE_DEFAULT,
 #endif
-    .gyro_notch_hz = SETTING_GYRO_NOTCH_HZ_DEFAULT,
-    .gyro_notch_cutoff = SETTING_GYRO_NOTCH_CUTOFF_DEFAULT,
     .gyro_main_lpf_hz = SETTING_GYRO_MAIN_LPF_HZ_DEFAULT,
     .gyro_main_lpf_type = SETTING_GYRO_MAIN_LPF_TYPE_DEFAULT,
     .useDynamicLpf = SETTING_GYRO_USE_DYN_LPF_DEFAULT,
@@ -282,24 +277,12 @@ static void initGyroFilter(filterApplyFnPtr *applyFn, filter_t state[], uint8_t
 
 static void gyroInitFilters(void)
 {
-    STATIC_FASTRAM biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT];
-    notchFilter1ApplyFn = nullFilterApply;
-    
     //First gyro LPF running at full gyro frequency 8kHz
     initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_anti_aliasing_lpf_type, gyroConfig()->gyro_anti_aliasing_lpf_hz, getGyroLooptime());
     
     //Second gyro LPF runnig and PID frequency - this filter is dynamic when gyro_use_dyn_lpf = ON
     initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_main_lpf_type, gyroConfig()->gyro_main_lpf_hz, getLooptime());
 
-    //Static Gyro notch running and PID frequency
-    if (gyroConfig()->gyro_notch_hz) {
-        notchFilter1ApplyFn = (filterApplyFnPtr)biquadFilterApply;
-        for (int axis = 0; axis < 3; axis++) {
-            notchFilter1[axis] = &gyroFilterNotch_1[axis];
-            biquadFilterInitNotch(notchFilter1[axis], getLooptime(), gyroConfig()->gyro_notch_hz, gyroConfig()->gyro_notch_cutoff);
-        }
-    }
-
 #ifdef USE_GYRO_KALMAN
     if (gyroConfig()->kalmanEnabled) {
         gyroKalmanInitialize(gyroConfig()->kalman_q);
@@ -470,7 +453,6 @@ void FAST_CODE NOINLINE gyroFilter()
 #endif
 
         gyroADCf = gyroLpf2ApplyFn((filter_t *) &gyroLpf2State[axis], gyroADCf);
-        gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
 
 #ifdef USE_DYNAMIC_FILTERS
         if (dynamicGyroNotchState.enabled) {

src/main/sensors/gyro.h

@@ -59,8 +59,6 @@ typedef struct gyroConfig_s {
 #ifdef USE_DUAL_GYRO
     uint8_t  gyro_to_use;
 #endif
-    uint16_t gyro_notch_hz;
-    uint16_t gyro_notch_cutoff;
     uint16_t gyro_main_lpf_hz;
     uint8_t gyro_main_lpf_type;
     uint8_t useDynamicLpf;

src/main/target/FALCORE/config.c

@@ -61,8 +61,6 @@ void targetConfiguration(void)
     gyroConfigMutable()->looptime = 1000;
     gyroConfigMutable()->gyro_lpf = 0;              // 256 Hz
     gyroConfigMutable()->gyro_main_lpf_hz = 90;
-    gyroConfigMutable()->gyro_notch_hz = 150;
-    gyroConfigMutable()->gyro_notch_cutoff = 80;
 
     accelerometerConfigMutable()->acc_hardware = ACC_MPU6500;
     accelerometerConfigMutable()->acc_lpf_hz = 15;