feat(dynamic-notch-filter): support for RPM input for notch filter

[antoniomoreirakis]

Solved Problem

This PR is a 2nd attempt to implement a dynamic notch filter based on RPM.msg. A work first started by @mahima-yoga in this PR.

Solution

As Mahima stated, this PR adds filters for RPM feedback from Rpm.msg (applying the change @sfuhrer suggested, to use Rpm.msg instead of InternalCombustionEngineStatus.msg):

• Identical to ESC RPM filter implementation
• Can be disabled/enabled through existing bitmask param IMU_GYRO_DNF_EN
• Supports multiple engines (up to 10. Limited by ORB_MULTI_MAX_INSTANCES).

Changelog Entry

For release notes:

Feature: Extend dynamic notch filter to accept RPM feedback

Test coverage

Still to be tested on hardware. Tested with SITL together with rpm_simulator.cpp, verifying that the filters were activated based on the data coming in from the simulator (OFC, when IMU_GYRO_DNF_EN == 4).

[github-actions]

🔎 FLASH Analysis

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Updated: 2026-07-15T07:01:22

[hamishwillee]

Just make sure that the docs https://docs.px4.io/main/en/config_mc/filter_tuning#dynamic-notch-filters are updated if needed when this goes in. Ping me for review please on those.