IMPROVEMENT: Update the on-line blog post

ArduPilot · May 16, 2024 · 761211e · 761211e
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diff --git a/BLOG-discuss1.md b/BLOG-discuss1.md
@@ -32,7 +32,7 @@ This post is divided into the following sections:
 
 # 1. Getting the hardware right
 
-# 1.1 Rules of thumb for hardware requirements:
+## 1.1 Rules of thumb for hardware requirements
 
 1. **Robust frame construction:** A stable and rigid frame is crucial for stable and safe flight behavior. Carbon frames are recommended but not essential, and remember carbon is an electrical conductor.
 2. **ESC telemetry:** Use only ESCs that provide at least RPM telemetry. It simplifies Notch filter tuning and improves its response-time and accuracy.
@@ -411,12 +411,13 @@ We used an oversized test stand to test the motors. Since the test stand was too
 - Mamba Systems F45_128k BLHeli32 4in1 ESC
 - HQProp "DUCT-76MMX8" propellers
 
-![test stand with drone](images/motor_test_stand_with_drone_cropped.jpg)
+![motor_test_stand_with_drone_cropped|316x499](upload://l64naCKWjVAz2LoKhH5mF8LmtGZ.jpeg)
 
 We fixed and updated Cell G8 as well as the plot's Data range of the [original ArduPilot Wiki Spreadsheet](https://docs.google.com/spreadsheets/d/1_75aZqiT_K1CdduhUe4-DjRgx3Alun4p8V2pt6vM5P8/edit#gid=0) creating [this corrected version](images/ArduPilot_Motor_Thrust_Fit.ods)
+
 We imported the data into the spreadsheet and created this graph:
 
-![thrust vs PWM](images/motor_thrust_chart.PNG)
+![motor_thrust_chart|690x389](upload://szgrZX3irtiWsXM1nFUyqfFicIC.png)
 
 Repeat the steps from section 2.5.1 to edit and upload the `14_motor.param` file
 
@@ -874,4 +875,4 @@ In this case, it is:
 
 - [EK3_DRAG_MCOEF](https://ardupilot.org/copter/docs/parameters.html#ek3-drag-mcoef) = 3.5605 [m/s²] / 6.25 [m/s] = 0.5697 [1/s]
 
-This Blog post continues below in the second post.
+This Blog post continues below in the second post.
diff --git a/vehicle_templates/ArduCopter/X11_plus/17_notch_filter_setup.param b/vehicle_templates/ArduCopter/X11_plus/17_notch_filter_setup.param
@@ -48,7 +48,7 @@ INS_HNTCH_ENABLE,1  # Use the first notch filter to filter the noise created by
 # Range: 10 495
 # Units: Hz (hertz)
 # Default: 80
-INS_HNTCH_FREQ,28  # Start with 1.4 • INS_GYRO_FILTER
+INS_HNTCH_FREQ,28  # Use 1.4 * INS_GYRO_FILTER as a first guess
 
 # Harmonic Notch Filter harmonics
 # Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next

diff --git a/vehicle_templates/ArduCopter/X11_plus/19_throttle_controller.param b/vehicle_templates/ArduCopter/X11_plus/19_throttle_controller.param
@@ -1,3 +1,3 @@
 ATC_THR_MIX_MAN,0.5  # because we have learned the MOT_THST_HOVER value
-PSC_ACCZ_I,0.26  # 2 • MOT_THST_HOVER
-PSC_ACCZ_P,0.13  # MOT_THST_HOVER
+PSC_ACCZ_I,0.26  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.13  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned