From 68e2337a9a647c89abb8a706b44038a1ec3c5acd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 8 Sep 2024 18:10:57 +1000
Subject: [PATCH] Filter: only update notch on init if fixed

---
 libraries/Filter/HarmonicNotchFilter.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/Filter/HarmonicNotchFilter.cpp b/libraries/Filter/HarmonicNotchFilter.cpp
index 06a2400a15ff3..c98a50eeac4ea 100644
--- a/libraries/Filter/HarmonicNotchFilter.cpp
+++ b/libraries/Filter/HarmonicNotchFilter.cpp
@@ -191,8 +191,11 @@ void HarmonicNotchFilter<T>::init(float sample_freq_hz, HarmonicNotchFilterParam
     NotchFilter<T>::calculate_A_and_Q(center_freq_hz, bandwidth_hz / _composite_notches, attenuation_dB, _A, _Q);
 
     _initialised = true;
+
     // ensure static notches are allocated and working
-    update(center_freq_hz);
+    if (params->tracking_mode() == HarmonicNotchDynamicMode::Fixed) {
+        update(center_freq_hz);
+    }
 }
 
 /*