AP_InertialSensor: add support for double harmonic notches to more effectively target wider noise peaks

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -728,7 +728,8 @@ AP_InertialSensor::init(uint16_t sample_rate)
     _calculated_harmonic_notch_freq_hz = _harmonic_notch_filter.center_freq_hz();
 
     for (uint8_t i=0; i<get_gyro_count(); i++) {
-        _gyro_harmonic_notch_filter[i].allocate_filters(_harmonic_notch_filter.harmonics());
+        _gyro_harmonic_notch_filter[i].allocate_filters(_harmonic_notch_filter.harmonics(),
+            _harmonic_notch_filter.hasOption(HarmonicNotchFilterParams::Options::DoubleNotch));
         // initialise default settings, these will be subsequently changed in AP_InertialSensor_Backend::update_gyro()
         _gyro_harmonic_notch_filter[i].init(_gyro_raw_sample_rates[i], _calculated_harmonic_notch_freq_hz,
              _harmonic_notch_filter.bandwidth_hz(), _harmonic_notch_filter.attenuation_dB());