Merge remote-tracking branch 'emuflight/master' into 20230515_rebase_…

…master_Peck07_20220726_BMI270_targets

src/main/blackbox/blackbox.c

@@ -1180,8 +1180,10 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_roll", "%d",          currentPidProfile->dFilter[ROLL].dLpf2);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_pitch", "%d",         currentPidProfile->dFilter[PITCH].dLpf2);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_yaw", "%d",           currentPidProfile->dFilter[YAW].dLpf2);
+#ifdef USE_GYRO_DATA_ANALYSE
         BLACKBOX_PRINT_HEADER_LINE("dterm_dyn_notch_enable", "%d",          currentPidProfile->dtermDynNotch);
         BLACKBOX_PRINT_HEADER_LINE("dterm_dyn_notch_q", "%d",               currentPidProfile->dterm_dyn_notch_q);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_alpha", "%d",                 currentPidProfile->dterm_ABG_alpha);
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_boost", "%d",                 currentPidProfile->dterm_ABG_boost);
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_half_life", "%d",             currentPidProfile->dterm_ABG_half_life);
@@ -1227,10 +1229,12 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_roll", "%d",            gyroConfig()->gyro_lowpass_hz[ROLL]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_pitch", "%d",           gyroConfig()->gyro_lowpass_hz[PITCH]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_yaw", "%d",             gyroConfig()->gyro_lowpass_hz[YAW]);
+#ifdef USE_GYRO_LPF2
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d",              gyroConfig()->gyro_lowpass2_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_roll", "%d",           gyroConfig()->gyro_lowpass2_hz[ROLL]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_pitch", "%d",          gyroConfig()->gyro_lowpass2_hz[PITCH]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_yaw", "%d",            gyroConfig()->gyro_lowpass2_hz[YAW]);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_soft_notch_hz_1,
                                    gyroConfig()->gyro_soft_notch_hz_2);
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",            gyroConfig()->gyro_soft_notch_cutoff_1,
@@ -1240,6 +1244,7 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_count", "%d",        gyroConfig()->dyn_notch_count);
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_min_hz", "%d",       gyroConfig()->dyn_notch_min_hz);
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_max_hz", "%d",       gyroConfig()->dyn_notch_max_hz);
+        BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_axis", "%d",       gyroConfig()->dyn_notch_axis);
 #endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_alpha", "%d",                  gyroConfig()->gyro_ABG_alpha);
         BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_boost", "%d",                  gyroConfig()->gyro_ABG_boost);

src/main/cms/cms_menu_imu.c

@@ -104,6 +104,12 @@ static const char * const cms_FilterType[] = {
     "PT1", "BIQUAD", "PT2", "PT3", "PT4",
 };
 
+#ifdef USE_GYRO_DATA_ANALYSE
+static const char * const cms_dynNotchAxisType[] = {
+    "RP", "RPY"
+};
+#endif
+
 static long cmsx_menuImu_onEnter(void) {
     pidProfileIndex = getCurrentPidProfileIndex();
     tmpPidProfileIndex = pidProfileIndex + 1;
@@ -487,13 +493,19 @@ static uint8_t gyroConfig_gyro_lowpass1_type;
 static uint16_t gyroConfig_gyro_lowpass_hz_roll;
 static uint16_t gyroConfig_gyro_lowpass_hz_pitch;
 static uint16_t gyroConfig_gyro_lowpass_hz_yaw;
+#ifdef USE_GYRO_LPF2
+static uint8_t gyroConfig_gyro_lowpass2_type;
 static uint16_t gyroConfig_gyro_lowpass2_hz_roll;
 static uint16_t gyroConfig_gyro_lowpass2_hz_pitch;
 static uint16_t gyroConfig_gyro_lowpass2_hz_yaw;
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
 static uint16_t gyroConfig_gyro_q;
 static uint8_t gyroConfig_gyro_notch_count;
 static uint16_t gyroConfig_gyro_notch_min_hz;
 static uint16_t gyroConfig_gyro_notch_max_hz;
+static uint8_t gyroConfig_gyro_notch_axis;
+#endif
 static uint16_t gyroConfig_gyro_abg_alpha;
 static uint16_t gyroConfig_gyro_abg_boost;
 static uint8_t gyroConfig_gyro_abg_half_life;
@@ -515,17 +527,22 @@ static long cmsx_menuGyro_onEnter(void) {
     gyroConfig_gyro_lowpass_hz_roll =  gyroConfig()->gyro_lowpass_hz[ROLL];
     gyroConfig_gyro_lowpass_hz_pitch =  gyroConfig()->gyro_lowpass_hz[PITCH];
     gyroConfig_gyro_lowpass_hz_yaw =  gyroConfig()->gyro_lowpass_hz[YAW];
+#ifdef USE_GYRO_LPF2
+    gyroConfig_gyro_lowpass2_type =  gyroConfig()->gyro_lowpass2_type;
     gyroConfig_gyro_lowpass2_hz_roll =  gyroConfig()->gyro_lowpass2_hz[ROLL];
     gyroConfig_gyro_lowpass2_hz_pitch =  gyroConfig()->gyro_lowpass2_hz[PITCH];
     gyroConfig_gyro_lowpass2_hz_yaw =  gyroConfig()->gyro_lowpass2_hz[YAW];
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
     gyroConfig_gyro_q = gyroConfig()->dyn_notch_q;
     gyroConfig_gyro_notch_count = gyroConfig()->dyn_notch_count;
     gyroConfig_gyro_notch_min_hz = gyroConfig()->dyn_notch_min_hz;
     gyroConfig_gyro_notch_max_hz = gyroConfig()->dyn_notch_max_hz;
+    gyroConfig_gyro_notch_axis = gyroConfig()->dyn_notch_axis;
+#endif
     gyroConfig_gyro_abg_alpha = gyroConfig()->gyro_ABG_alpha;
     gyroConfig_gyro_abg_boost = gyroConfig()->gyro_ABG_boost;
     gyroConfig_gyro_abg_half_life = gyroConfig()->gyro_ABG_half_life;
-
 #ifndef USE_GYRO_IMUF9001
     gyroConfig_imuf_roll_q = gyroConfig()->imuf_roll_q;
     gyroConfig_imuf_pitch_q = gyroConfig()->imuf_pitch_q;
@@ -547,13 +564,19 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] =  gyroConfig_gyro_lowpass_hz_roll;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] =  gyroConfig_gyro_lowpass_hz_pitch;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] =  gyroConfig_gyro_lowpass_hz_yaw;
+#ifdef USE_GYRO_LPF2
+    gyroConfigMutable()->gyro_lowpass2_type =  gyroConfig_gyro_lowpass2_type;
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] =  gyroConfig_gyro_lowpass2_hz_roll;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] =  gyroConfig_gyro_lowpass2_hz_pitch;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] =  gyroConfig_gyro_lowpass2_hz_yaw;
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
     gyroConfigMutable()->dyn_notch_q = gyroConfig_gyro_q;
     gyroConfigMutable()->dyn_notch_count = gyroConfig_gyro_notch_count;
     gyroConfigMutable()->dyn_notch_min_hz = gyroConfig_gyro_notch_min_hz;
     gyroConfigMutable()->dyn_notch_max_hz = gyroConfig_gyro_notch_max_hz;
+    gyroConfigMutable()->dyn_notch_axis = gyroConfig_gyro_notch_axis;
+#endif
     gyroConfigMutable()->gyro_ABG_alpha = gyroConfig_gyro_abg_alpha;
     gyroConfigMutable()->gyro_ABG_boost = gyroConfig_gyro_abg_boost;
     gyroConfigMutable()->gyro_ABG_half_life = gyroConfig_gyro_abg_half_life;
@@ -575,19 +598,23 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
 static OSD_Entry cmsx_menuFilterGlobalEntries[] = {
     { "-- FILTER GLB  --", OME_Label, NULL, NULL, 0 },
 
+    { "GYRO LPF TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 },
     { "GYRO LPF ROLL",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_roll,     0, 16000, 1 }, 0 },
     { "GYRO LPF PITCH",   OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_pitch,    0, 16000, 1 }, 0 },
     { "GYRO LPF YAW",     OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_yaw,      0, 16000, 1 }, 0 },
-    { "GYRO LPF TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 },
 #ifdef USE_GYRO_LPF2
+    { "GYRO LPF2 TYPE",   OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass2_type, 4, cms_FilterType }, 0 },
     { "GYRO LPF2 ROLL",   OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_roll,    0, 16000, 1 }, 0 },
     { "GYRO LPF2 PITCH",  OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_pitch,   0, 16000, 1 }, 0 },
     { "GYRO LPF2 YAW",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_yaw,     0, 16000, 1 }, 0 },
 #endif
+#ifdef USE_GYRO_DATA_ANALYSE
     { "DYN NOTCH Q",         OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_q,        0, 1000, 1 }, 0 },
     { "DYN NOTCH COUNT",     OME_UINT8, NULL, &(OSD_UINT8_t) { &gyroConfig_gyro_notch_count,        1, 5, 1 }, 0 },
     { "DYN NOTCH MIN HZ",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_notch_min_hz,       30, 1000, 1 }, 0 },
     { "DYN NOTCH MAX HZ",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_notch_max_hz,       200, 1000, 1 }, 0 },
+    { "DYN NOTCH AXIS",      OME_TAB, NULL, &(OSD_TAB_t) { (uint8_t *) &gyroConfig_gyro_notch_axis, 1, cms_dynNotchAxisType }, 0 },
+#endif
 #ifndef USE_GYRO_IMUF9001
     { "IMUF W",           OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_w,                   0, 512,     1 }, 0 },
     { "ROLL Q",           OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_roll_q,              100, 16000, 100 }, 0 },
@@ -709,8 +736,10 @@ static uint16_t cmsx_dterm_lowpass2_type;
 static uint16_t cmsx_dterm_lowpass2_hz_roll;
 static uint16_t cmsx_dterm_lowpass2_hz_pitch;
 static uint16_t cmsx_dterm_lowpass2_hz_yaw;
+#ifdef USE_GYRO_DATA_ANALYSE
 static uint8_t cmsx_dterm_dyn_notch_enable ;
 static uint16_t cmsx_dterm_dyn_notch_q;
+#endif
 static uint16_t cmsx_dterm_abg_alpha;
 static uint16_t cmsx_dterm_abg_boost;
 static uint8_t cmsx_dterm_abg_half_life;
@@ -725,8 +754,10 @@ static long cmsx_FilterPerProfileRead(void) {
     cmsx_dterm_lowpass2_hz_roll  = pidProfile->dFilter[ROLL].dLpf2;
     cmsx_dterm_lowpass2_hz_pitch = pidProfile->dFilter[PITCH].dLpf2;
     cmsx_dterm_lowpass2_hz_yaw   = pidProfile->dFilter[YAW].dLpf2;
+#ifdef USE_GYRO_DATA_ANALYSE
     cmsx_dterm_dyn_notch_enable  = pidProfile->dtermDynNotch;
     cmsx_dterm_dyn_notch_q       = pidProfile->dterm_dyn_notch_q;
+#endif
     cmsx_dterm_abg_alpha = pidProfile->dterm_ABG_alpha;
     cmsx_dterm_abg_boost = pidProfile->dterm_ABG_boost;
     cmsx_dterm_abg_half_life = pidProfile->dterm_ABG_half_life;
@@ -744,8 +775,10 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self) {
     pidProfile->dFilter[ROLL].dLpf2  = cmsx_dterm_lowpass2_hz_roll;
     pidProfile->dFilter[PITCH].dLpf2 = cmsx_dterm_lowpass2_hz_pitch;
     pidProfile->dFilter[YAW].dLpf2   = cmsx_dterm_lowpass2_hz_yaw;
+#ifdef USE_GYRO_DATA_ANALYSE
     pidProfile->dtermDynNotch        = cmsx_dterm_dyn_notch_enable;
     pidProfile->dterm_dyn_notch_q    = cmsx_dterm_dyn_notch_q;
+#endif
     pidProfile->dterm_ABG_alpha = cmsx_dterm_abg_alpha;
     pidProfile->dterm_ABG_boost = cmsx_dterm_abg_boost;
     pidProfile->dterm_ABG_half_life = cmsx_dterm_abg_half_life;
@@ -763,8 +796,10 @@ static OSD_Entry cmsx_menuFilterPerProfileEntries[] = {
     { "DTERM LPF2 ROLL", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_roll,    0, 500, 1 }, 0 },
     { "DTERM LPF2 PITCH", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_pitch,    0, 500, 1 }, 0 },
     { "DTERM LPF2 YAW", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_yaw,    0, 500, 1 }, 0 },
+#ifdef USE_GYRO_DATA_ANALYSE
     { "DTERM DYN ENABLE",   OME_TAB,   NULL, &(OSD_TAB_t)   { (uint8_t *) &cmsx_dterm_dyn_notch_enable, 1, cms_offOnLabels }, 0 },
     { "DTERM DYN NOT Q",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_dyn_notch_q,    0, 2000, 1 }, 0 },
+#endif
     { "DTERM ABG ALPHA",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_abg_alpha,       0, 1000, 1 }, 0 },
     { "DTERM ABG BOOST",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_abg_boost,       0, 2000, 1 }, 0 },
     { "DTERM ABG HL",       OME_UINT8,  NULL, &(OSD_UINT8_t) { &cmsx_dterm_abg_half_life,   0, 250, 1 }, 0 },

src/main/flight/pid.c

@@ -235,7 +235,9 @@ static FAST_RAM filterApplyFnPtr angleSetpointFilterApplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT pt1Filter_t angleSetpointFilter[2];
 static FAST_RAM filterApplyFnPtr dtermABGapplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT alphaBetaGammaFilter_t dtermABG[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT][5];
+#endif
 
 #if defined(USE_ITERM_RELAX)
 static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
@@ -671,7 +673,9 @@ static FAST_RAM_ZERO_INIT float stickMovement[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float lastRcDeflectionAbs[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousError[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousMeasurement[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT float previousNotchCenterFreq[XYZ_AXIS_COUNT][5];
+#endif
 static FAST_RAM_ZERO_INIT timeUs_t crashDetectedAtUs;
 
 void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs) {
@@ -811,7 +815,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             float dDelta = ((feathered_pids * pureMeasurement) + ((1 - feathered_pids) * pureError)) * pidFrequency; //calculating the dterm determine how much is calculated using measurement vs error
             //filter the dterm
 #ifdef USE_GYRO_DATA_ANALYSE
-            if (isDynamicFilterActive() && pidProfile->dtermDynNotch) {
+            if (isDynamicFilterActive() && pidProfile->dtermDynNotch && axis <= gyroConfig()->dyn_notch_axis+1) {
                 for (int p = 0; p < gyroConfig()->dyn_notch_count; p++) {
                     if (getCenterFreq(axis, p) != previousNotchCenterFreq[axis][p]) {
                         previousNotchCenterFreq[axis][p] = getCenterFreq(axis, p);

src/main/interface/msp.c

@@ -1194,20 +1194,37 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[ROLL]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[PITCH]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[YAW]);
+#ifdef USE_GYRO_LPF2
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[ROLL]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[PITCH]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[YAW]);
+#else
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type);
+#ifdef USE_GYRO_LPF2
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass2_type);
+#else
+        sbufWriteU8(dst, 0);
+#endif
         sbufWriteU16(dst, currentPidProfile->dFilter[ROLL].dLpf2);
         sbufWriteU16(dst, currentPidProfile->dFilter[PITCH].dLpf2);
         sbufWriteU16(dst, currentPidProfile->dFilter[YAW].dLpf2);
         //MSP 1.51 removes SmartDTermSmoothing and WitchCraft
         //MSP 1.51 adds and refactors dynamic_filter
+#ifdef USE_GYRO_DATA_ANALYSE
         sbufWriteU8(dst, gyroConfig()->dyn_notch_count);    //dynamic_gyro_notch_count
         sbufWriteU16(dst, gyroConfig()->dyn_notch_q);
         sbufWriteU16(dst, gyroConfig()->dyn_notch_min_hz);
         sbufWriteU16(dst, gyroConfig()->dyn_notch_max_hz);   //dynamic_gyro_notch_max_hz
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         //end MSP 1.51 add/refactor dynamic filter
         //MSP 1.51
         sbufWriteU16(dst, gyroConfig()->gyro_ABG_alpha);
@@ -1219,8 +1236,13 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
         sbufWriteU8(dst, currentPidProfile->dterm_ABG_half_life);
         //end MSP 1.51
         //MSP 1.51 dynamic dTerm notch
+#ifdef USE_GYRO_DATA_ANALYSE
         sbufWriteU8(dst, currentPidProfile->dtermDynNotch);        //dterm_dyn_notch_enable
         sbufWriteU16(dst, currentPidProfile->dterm_dyn_notch_q);   //dterm_dyn_notch_q
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         //end MSP 1.51 dynamic dTerm notch
         break;
     /*#ifndef USE_GYRO_IMUF9001

src/main/interface/settings.c

@@ -293,6 +293,7 @@ static const char * const lookupTableRcInterpolation[] = {
 static const char * const lookupTableRcInterpolationChannels[] = {
     "RP", "RPY", "RPYT", "T", "RPT",
 };
+
 static const char * const lookupTableFilterType[] = {
     "PT1", "BIQUAD", "PT2", "PT3", "PT4",
 };
@@ -393,6 +394,10 @@ static const char *const lookupTableMixerImplType[] = {
     "LEGACY", "SMOOTH", "2PASS"
 };
 
+static const char *const lookupTableDynNotchAxisType[] = {
+    "RP", "RPY"
+};
+
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
 const lookupTableEntry_t lookupTables[] = {
@@ -482,6 +487,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
 #endif
     LOOKUP_TABLE_ENTRY(lookupTableMixerImplType),
+    LOOKUP_TABLE_ENTRY(lookupTableDynNotchAxisType),
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -503,10 +509,12 @@ const clivalue_t valueTable[] = {
     { "gyro_lowpass_hz_pitch",      VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[PITCH]) },
     { "gyro_lowpass_hz_yaw",        VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[YAW]) },
 
+#ifdef USE_GYRO_LPF2
     { "gyro_lowpass2_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FILTER_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_type) },
     { "gyro_lowpass2_hz_roll",      VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[ROLL]) },
     { "gyro_lowpass2_hz_pitch",     VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[PITCH]) },
     { "gyro_lowpass2_hz_yaw",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[YAW]) },
+#endif
 
     { "gyro_abg_alpha",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_alpha) },
     { "gyro_abg_boost",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  2000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_boost) },
@@ -553,6 +561,7 @@ const clivalue_t valueTable[] = {
     { "gyro_to_use",                VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
 #endif
 #if defined(USE_GYRO_DATA_ANALYSE)
+    { "dynamic_gyro_notch_axis",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DYN_NOTCH_AXIS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_axis) },
     { "dynamic_gyro_notch_q",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_q) },
     { "dynamic_gyro_notch_count",   VAR_UINT8  | MASTER_VALUE, .config.minmax = { 1, 5 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_count) },
     { "dynamic_gyro_notch_min_hz",  VAR_UINT16 | MASTER_VALUE, .config.minmax = { 30, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_min_hz) },
@@ -863,9 +872,10 @@ const clivalue_t valueTable[] = {
     { "runaway_takeoff_deactivate_throttle_percent",  VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_throttle) }, // minimum throttle percentage during deactivation phase
 #endif
 // PG_PID_PROFILE
+#ifdef USE_GYRO_DATA_ANALYSE
     { "dterm_dyn_notch_enable",     VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermDynNotch) },
     { "dterm_dyn_notch_q",          VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_dyn_notch_q) },
-
+#endif
     { "dterm_abg_alpha",            VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_alpha) },
     { "dterm_abg_boost",            VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_boost) },
     { "dterm_abg_half_life",        VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_half_life) },