This tool takes a .bin log with either batch samples or raw IMU samples and display the noise spectrum present before and after any filtering. To setup the logging required by this tool see: Raw IMU Logging setup. It also estimates the post filter noise spectrums WOULD be if the filter parameters are changed. This allows a single flight with pre filter logging enabled before the notch's are setup, and experiment with notch filter parameters to see the estimated effects. These params can then be saved and loaded into the autopilot without the need for repetitive test flights to see filter change results.

Setup Log type Batch Raw sensor FFT Settings Windows per batch Windows size Analysis time Start (s) End (s) Filter version 1.0 2.0

Gyro 1 Sensor: Pre-filter X Y Z Post-filter X Y Z Estimated post-filter X Y Z Logging rate: Hz Frequency resolution: Hz

Gyro 2 Sensor: Pre-filter X Y Z Post-filter X Y Z Estimated post-filter X Y Z Logging rate: Hz Frequency resolution: Hz

Gyro 3 Sensor: Pre-filter X Y Z Post-filter X Y Z Estimated post-filter X Y Z Logging rate: Hz Frequency resolution: Hz

Amplitude scale Linear dB Power Spectral Density

Frequency scale Linear Log      Hz RPM

Notch tracking Show notch 1 Show notch 2

Loop Rate Aliasing Hide Show Aliasing only

Low Pass Filter

Loop Rate

Setup Load Parameters

Gyro instance 1 2 3

Filtering Pre-filter Post-filter Estimated post-filter

Axis X Y Z

Notch tracking Notch 1 Notch 2 Logged

Gyro instance 1 2 3

Phase scale un-wrapped ±180