From cc4f13a118bdd432e1fc57712f4d805a353a1e92 Mon Sep 17 00:00:00 2001
From: j-w9 <295470691+j-w9@users.noreply.github.com>
Date: Sat, 17 Oct 2026 12:35:07 -0400
Subject: [PATCH 1/2] FilterReview: only use armed raw IMU data if disarmed
 logging is rate limited

---
 FilterReview/FilterReview.js | 42 ++++++++++++++++++++++++++++++++----
 1 file changed, 38 insertions(+), 4 deletions(-)

diff --git a/FilterReview/FilterReview.js b/FilterReview/FilterReview.js
index 9f0bdea5..e392d566 100644
--- a/FilterReview/FilterReview.js
+++ b/FilterReview/FilterReview.js
@@ -2228,6 +2228,21 @@ function load_from_batch(log, num_gyro, gyro_rate, get_param) {
     }
 }
 
+// Return true for each time at which the vehicle was armed, from ARM log messages
+function armed_mask(time, ARM) {
+    const mask = new Array(time.length)
+    let armed = false
+    let k = 0
+    for (let j = 0; j < time.length; j++) {
+        while ((k < ARM.TimeUS.length) && (ARM.TimeUS[k] <= time[j])) {
+            armed = ARM.ArmState[k] != 0
+            k++
+        }
+        mask[j] = armed
+    }
+    return mask
+}
+
 // Log from raw sensor logging
 function load_from_raw_log(log, num_gyro, gyro_rate, get_param) {
     Gyro_batch = []
@@ -2248,6 +2263,14 @@ function load_from_raw_log(log, num_gyro, gyro_rate, get_param) {
         post_filter = false
     }
 
+    // Logging may be rate limited while disarmed, the change in sample rate breaks the FFT.
+    // If so only use samples logged while armed, the gap where disarmed data is removed then splits the batches.
+    let ARM = null
+    const LOG_DARM_RATEMAX = get_param("LOG_DARM_RATEMAX", false)
+    if ((LOG_DARM_RATEMAX != null) && (LOG_DARM_RATEMAX > 0) && ("ARM" in log.messageTypes)) {
+        ARM = log.get("ARM")
+    }
+
     // Load in a one massive batch, split for large gaps in log
     for (const inst of Object.keys(log.messageTypes.GYR.instances)) {
         const i = parseFloat(inst)
@@ -2268,10 +2291,21 @@ function load_from_raw_log(log, num_gyro, gyro_rate, get_param) {
             continue
         }
 
-        const time = log.get_instance("GYR", inst, "SampleUS")
-        const GyrX = log.get_instance("GYR", inst, "GyrX")
-        const GyrY = log.get_instance("GYR", inst, "GyrY")
-        const GyrZ = log.get_instance("GYR", inst, "GyrZ")
+        let time = log.get_instance("GYR", inst, "SampleUS")
+        let GyrX = log.get_instance("GYR", inst, "GyrX")
+        let GyrY = log.get_instance("GYR", inst, "GyrY")
+        let GyrZ = log.get_instance("GYR", inst, "GyrZ")
+
+        if (ARM != null) {
+            const armed = armed_mask(time, ARM)
+            if (armed.includes(true)) {
+                const keep = (_, k) => armed[k]
+                time = time.filter(keep)
+                GyrX = GyrX.filter(keep)
+                GyrY = GyrY.filter(keep)
+                GyrZ = GyrZ.filter(keep)
+            }
+        }
 
         let sample_rate_sum = 0
         let sample_rate_count = 0

From 76381adefc1da15d75dd67d23299c74b10a27118 Mon Sep 17 00:00:00 2001
From: j-w9 <295470691+j-w9@users.noreply.github.com>
Date: Sun, 8 Nov 2026 22:59:30 -0500
Subject: [PATCH 2/2] FilterReview: start the armed mask from the first logged
 arm state

With disarmed logging off the first arm is not logged, so starting
disarmed dropped the whole first flight of a multi-flight log.
---
 FilterReview/FilterReview.js | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/FilterReview/FilterReview.js b/FilterReview/FilterReview.js
index e392d566..ece8017a 100644
--- a/FilterReview/FilterReview.js
+++ b/FilterReview/FilterReview.js
@@ -2231,7 +2231,8 @@ function load_from_batch(log, num_gyro, gyro_rate, get_param) {
 // Return true for each time at which the vehicle was armed, from ARM log messages
 function armed_mask(time, ARM) {
     const mask = new Array(time.length)
-    let armed = false
+    // The first arm is not logged if disarmed logging is off, so start from the opposite of the first logged state
+    let armed = (ARM.ArmState.length > 0) && (ARM.ArmState[0] == 0)
     let k = 0
     for (let j = 0; j < time.length; j++) {
         while ((k < ARM.TimeUS.length) && (ARM.TimeUS[k] <= time[j])) {