From 86db91e3b456aa7abebddbdd7b8082311fd830d3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 15 Apr 2022 17:39:30 +1000
Subject: [PATCH] AP_GyroFFT: use HarmonicNotch class

---
 libraries/AP_GyroFFT/AP_GyroFFT.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_GyroFFT/AP_GyroFFT.cpp b/libraries/AP_GyroFFT/AP_GyroFFT.cpp
index 28b57e63f9..91c93bd5e4 100644
--- a/libraries/AP_GyroFFT/AP_GyroFFT.cpp
+++ b/libraries/AP_GyroFFT/AP_GyroFFT.cpp
@@ -252,10 +252,10 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
     // note that we only allow one harmonic notch filter linked to the FFT code
     uint8_t harmonics = 0;
     uint8_t num_notches = 0;
-    for (uint8_t i=0; i<HAL_INS_NUM_HARMONIC_NOTCH_FILTERS; i++) {
-        if (_ins->get_gyro_harmonic_notch_tracking_mode(i) == HarmonicNotchDynamicMode::UpdateGyroFFT) {
-            harmonics = _ins->get_gyro_harmonic_notch_harmonics(i);
-            num_notches = _ins->get_num_gyro_dynamic_notches(i);
+    for (auto &notch : _ins->harmonic_notches) {
+        if (notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateGyroFFT) {
+            harmonics = notch.params.harmonics();
+            num_notches = notch.num_dynamic_notches;
             break;
         }
     }
@@ -385,8 +385,8 @@ void AP_GyroFFT::update()
         _health = 0;
     } else {
         uint8_t num_notches = 0;
-        for (uint8_t i=0; i<HAL_INS_NUM_HARMONIC_NOTCH_FILTERS; i++) {
-            num_notches = MAX(num_notches, _ins->get_num_gyro_dynamic_notches(i));
+        for (auto &notch : _ins->harmonic_notches) {
+            num_notches = MAX(num_notches, notch.num_dynamic_notches);
         }
         _health = MIN(_global_state._health, num_notches);
     }