Bit of INS_HNTCH_OPTS

Based on the document in the image,

• Bit 0 = Double Notch
• Bit 1 = Multi-Source
• Bit 2 = Update at loop rate
• Bit 3 = EnableOnAllIMUs,
  and so on.

In the excerpt from the ArduPilot ESC Telemetry Notch Filter documentation,
does Bit 2 correspond to “Update at loop rate” instead of Bit 3?
Is the documentation written incorrectly?

In the following image, does INS_HNTCH_OPTS bit 1 correspond to Multi-Source?

I came across this while researching how to use the ESC telemetry notch filter with an F4 flight controller (FC) and BLHeli Bluejay ESC.

Questions:

1. For an F4 FC, what value should I set for INS_HNTCH_OPTS?

• I believe enabling Multi-Source, Update at loop rate, and Triple notch with a value of 22 will likely exceed the F4’s CPU capacity.
• The documentation mentions that Double Notch is no longer recommended and may even be counterproductive for small crafts.
• Should I enable only the Multi-Source and Update at loop rate bits?

2. If I continue to use the Throttle-based notch filter, is it correct to set INS_HNTCH_OPTS to only enable Multi-Source or set it 0?

Thank you so much!

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