Filter: add harmonic notch dynamic tracking mode

move definition of HNF_MAX_HARMONICS

libraries/Filter/HarmonicNotchFilter.cpp

@@ -17,7 +17,6 @@
 #include <GCS_MAVLink/GCS.h>
 
 #define HNF_MAX_FILTERS 3
-#define HNF_MAX_HARMONICS 8
 
 // table of user settable parameters
 const AP_Param::GroupInfo HarmonicNotchFilterParams::var_info[] = {
@@ -71,9 +70,9 @@ const AP_Param::GroupInfo HarmonicNotchFilterParams::var_info[] = {
 
     // @Param: MODE
     // @DisplayName: Harmonic Notch Filter dynamic frequency tracking mode
-    // @Description: Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor or ESC telemetry based. Throttle-based updates should only be used with multicopters.
-    // @Range: 0 3
-    // @Values: 0:Disabled,1:Throttle,2:RPM Sensor,3:ESC Telemetry
+    // @Description: Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.
+    // @Range: 0 4
+    // @Values: 0:Disabled,1:Throttle,2:RPM Sensor,3:ESC Telemetry,4:Dynamic FFT
     // @User: Advanced
     AP_GROUPINFO("MODE", 7, HarmonicNotchFilterParams, _tracking_mode, 1),
 

libraries/Filter/HarmonicNotchFilter.h

@@ -19,6 +19,8 @@
 #include <AP_Param/AP_Param.h>
 #include "NotchFilter.h"
 
+#define HNF_MAX_HARMONICS 8
+
 /*
   a filter that manages a set of notch filters targetted at a fundamental center frequency
   and multiples of that fundamental frequency