IMPROVEMENT: Disable INS_LOG_BAT_MASK as from Peter Hall recomendation

amilcarlucas · amilcarlucas · commit bc6e6af61647 · 2025-01-17T19:36:58.000+01:00
diff --git a/ardupilot_methodic_configurator/configuration_steps_ArduCopter.json b/ardupilot_methodic_configurator/configuration_steps_ArduCopter.json
@@ -16,7 +16,6 @@
             "LOG_DISARMED": { "New Value": 1, "Change Reason": "Gather data for the offline IMU temperature calibration while the FC is disarmed" }
         },
         "derived_parameters": {
-            "INS_LOG_BAT_MASK": { "New Value": "15 if 'INS_TCAL4_ENABLE' in fc_parameters else 7 if 'INS_TCAL3_ENABLE' in fc_parameters else 3 if 'INS_TCAL2_ENABLE' in fc_parameters else 1", "Change Reason": "Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it" },
             "INS_TCAL2_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 2 at the next start" },
             "INS_TCAL3_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 3 at the next start" },
             "BRD_HEAT_TARG": { "New Value": "65", "Change Reason": "Reasonable for most places on this planet" }
diff --git a/ardupilot_methodic_configurator/configuration_steps_ArduPlane.json b/ardupilot_methodic_configurator/configuration_steps_ArduPlane.json
@@ -16,7 +16,6 @@
             "LOG_DISARMED": { "New Value": 1, "Change Reason": "Gather data for the offline IMU temperature calibration while the FC is disarmed" }
         },
         "derived_parameters": {
-            "INS_LOG_BAT_MASK": { "New Value": "15 if 'INS_TCAL4_ENABLE' in fc_parameters else 7 if 'INS_TCAL3_ENABLE' in fc_parameters else 3 if 'INS_TCAL2_ENABLE' in fc_parameters else 1", "Change Reason": "Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it" },
             "INS_TCAL2_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 2 at the next start" },
             "INS_TCAL3_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 3 at the next start" },
             "BRD_HEAT_TARG": { "New Value": "65", "Change Reason": "Reasonable for most places on this planet" }
diff --git a/ardupilot_methodic_configurator/configuration_steps_Heli.json b/ardupilot_methodic_configurator/configuration_steps_Heli.json
@@ -16,7 +16,6 @@
             "LOG_DISARMED": { "New Value": 1, "Change Reason": "Gather data for the offline IMU temperature calibration while the FC is disarmed" }
         },
         "derived_parameters": {
-            "INS_LOG_BAT_MASK": { "New Value": "15 if 'INS_TCAL4_ENABLE' in fc_parameters else 7 if 'INS_TCAL3_ENABLE' in fc_parameters else 3 if 'INS_TCAL2_ENABLE' in fc_parameters else 1", "Change Reason": "Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it" },
             "INS_TCAL2_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 2 at the next start" },
             "INS_TCAL3_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 3 at the next start" },
             "BRD_HEAT_TARG": { "New Value": "65", "Change Reason": "Reasonable for most places on this planet" }
diff --git a/ardupilot_methodic_configurator/configuration_steps_Rover.json b/ardupilot_methodic_configurator/configuration_steps_Rover.json
@@ -16,7 +16,6 @@
             "LOG_DISARMED": { "New Value": 1, "Change Reason": "Gather data for the offline IMU temperature calibration while the FC is disarmed" }
         },
         "derived_parameters": {
-            "INS_LOG_BAT_MASK": { "New Value": "15 if 'INS_TCAL4_ENABLE' in fc_parameters else 7 if 'INS_TCAL3_ENABLE' in fc_parameters else 3 if 'INS_TCAL2_ENABLE' in fc_parameters else 1", "Change Reason": "Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it" },
             "INS_TCAL2_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 2 at the next start" },
             "INS_TCAL3_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 3 at the next start" },
             "BRD_HEAT_TARG": { "New Value": "65", "Change Reason": "Reasonable for most places on this planet" }
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/02_imu_temperature_calibration_setup.param
@@ -1,5 +1,4 @@
 BRD_HEAT_TARG,65  # Reasonable for most places on this planet
-INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,55  # CubeOrange has an heater that heats up the board to almost 70 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/14_logging.param
@@ -1,5 +1,5 @@
 INS_LOG_BAT_CNT,1024  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
-INS_LOG_BAT_MASK,3  # Will use 2 of 3 IMU
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242559  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/02_imu_temperature_calibration_setup.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,70.26159  # our H7 processor acts as a heater and heats up the board to almost 60 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # The Matek H743 Slim flight controller only has two IMUs
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/02_imu_temperature_calibration_setup.param
@@ -1,5 +1,4 @@
 BRD_HEAT_TARG,65  # Reasonable for most places on this planet
-INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # heated IMU
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # 2 IMUs on CubeOrange+
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/02_imu_temperature_calibration_setup.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,0
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0
 INS_RAW_LOG_OPT,0
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/02_imu_temperature_calibration_setup.param
@@ -1,5 +1,4 @@
 BRD_HEAT_TARG,65  # Reasonable for most places on this planet
-INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,70  # CubeOrange has an heater that heats up the board to almost 70 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/14_logging.param
@@ -1,5 +1,5 @@
 INS_LOG_BAT_CNT,512  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
-INS_LOG_BAT_MASK,3  # Will use 2 of 3 IMU
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # No extra options
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/02_imu_temperature_calibration_setup.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # The Matek H743 Slim flight controller only has two IMUs
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/02_imu_temperature_calibration_setup.param
@@ -1,5 +1,4 @@
 BRD_HEAT_TARG,65 # Cube seems to deny anything greater than 65
-INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,64  # heated IMU
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,7  # 3 IMUs on Cube
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/02_imu_temperature_calibration_setup.param
@@ -1,5 +1,4 @@
 BRD_HEAT_TARG,65  # Reasonable for most places on this planet
-INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # Pixhawk 6X has integrated IMU heating
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,1  # Pixhawk 6X has 3 IMUs, but for notch based on inflight FFT, 1 is sufficient
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage change this to 9
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/02_imu_temperature_calibration_setup.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,7  # Do IMU temperature compensation on all three CubeOrange IMUs
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,70  # CubeOrange has an heater that heats up the board to almost 70 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/14_logging.param
@@ -1,5 +1,5 @@
 INS_LOG_BAT_CNT,512  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
-INS_LOG_BAT_MASK,3  # Will use 2 of 3 IMU
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.3.8-params/02_imu_temperature_calibration_setup.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/02_imu_temperature_calibration_setup.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/02_imu_temperature_calibration_setup.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # The Matek H743 Slim flight controller only has two IMUs
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/02_imu_temperature_calibration_setup.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,3  # The Matek H743 Slim flight controller only has two IMUs
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,9  # Logs measured data both before and after the filters for Filter Review Webtool usage
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/02_imu_temperature_calibration_setup.param
@@ -1,5 +1,4 @@
 BRD_HEAT_TARG,65  # Reasonable for most places on this planet
-INS_LOG_BAT_MASK,3  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # Pixhawk 6c Mini has an heater that heats up the board to almost 65 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/17_logging.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/17_logging.param
@@ -1,5 +1,5 @@
 INS_LOG_BAT_CNT,1024  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
-INS_LOG_BAT_MASK,3  # Log IMU 1 and 2
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,0
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/configuration_steps_Heli.json b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/configuration_steps_Heli.json
@@ -17,7 +17,6 @@
             "LOG_DISARMED": { "New Value": 1, "Change Reason": "Gather data for the offline IMU temperature calibration while the FC is disarmed" }
         },
         "derived_parameters": {
-            "INS_LOG_BAT_MASK": { "New Value": "15 if 'INS_TCAL4_ENABLE' in fc_parameters else 7 if 'INS_TCAL3_ENABLE' in fc_parameters else 3 if 'INS_TCAL2_ENABLE' in fc_parameters else 1", "Change Reason": "Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it" },
             "INS_TCAL2_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 2 at the next start" },
             "INS_TCAL3_ENABLE": { "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 3 at the next start" },
             "BRD_HEAT_TARG": { "New Value": "65", "Change Reason": "Reasonable for most places on this planet" }
diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/02_imu_temperature_calibration_setup.param
@@ -1,5 +1,4 @@
 BRD_HEAT_TARG,65  # Reasonable for most places on this planet
-INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
 INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
 INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/14_logging.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/14_logging.param
@@ -1,4 +1,4 @@
-INS_LOG_BAT_MASK,1  # Only log the first CubeOrange IMU
+INS_LOG_BAT_MASK,0  # Will not use batch logging
 INS_LOG_BAT_OPT,0  # Keep default value, use INS_RAW_LOG_OPT instead
 INS_RAW_LOG_OPT,0  # No logging needed
 LOG_BITMASK,2242524  # Logs Notch filter data and other control signals

Original file line number	Diff line number	Diff line change
`@@ -1,5 +1,4 @@`
`1`	`1`	`BRD_HEAT_TARG,65 # Reasonable for most places on this planet`
`2`		`-INS_LOG_BAT_MASK,7 # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it`
`3`	`2`	`INS_TCAL1_ENABLE,2 # Activates the temperature calibration for IMU 1 at the next start`
`4`	`3`	`INS_TCAL1_TMAX,55 # CubeOrange has an heater that heats up the board to almost 70 deg`
`5`	`4`	`INS_TCAL2_ENABLE,2 # Activates the temperature calibration for IMU 2 at the next start`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-INS_LOG_BAT_MASK,3 # the Matek H743 fligth controller only has two IMUs`
	`1`	`+BRD_HEAT_TARG,65 # Reasonable for most places on this planet`
`2`	`2`	`INS_TCAL1_ENABLE,2 # Activates the temperature calibration for IMU 1 at the next start`
`3`	`3`	`INS_TCAL1_TMAX,70.26159 # our H7 processor acts as a heater and heats up the board to almost 60 deg`
`4`	`4`	`INS_TCAL2_ENABLE,2 # Activates the temperature calibration for IMU 2 at the next start`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-INS_LOG_BAT_MASK,3 # The Matek H743 Slim flight controller only has two IMUs`
	`1`	`+INS_LOG_BAT_MASK,0 # Will not use batch logging`
`2`	`2`	`INS_LOG_BAT_OPT,0 # Keep default value, use INS_RAW_LOG_OPT instead`
`3`	`3`	`INS_RAW_LOG_OPT,9 # Logs measured data both before and after the filters for Filter Review Webtool usage`
`4`	`4`	`LOG_BITMASK,2242524 # Logs Notch filter data and other control signals`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-INS_LOG_BAT_MASK,3 # 2 IMUs on CubeOrange+`
	`1`	`+INS_LOG_BAT_MASK,0 # Will not use batch logging`
`2`	`2`	`INS_LOG_BAT_OPT,0 # Keep default value, use INS_RAW_LOG_OPT instead`
`3`	`3`	`INS_RAW_LOG_OPT,9 # Logs measured data both before and after the filters for Filter Review Webtool usage`
`4`	`4`	`LOG_BITMASK,2242524 # Logs Notch filter data and other control signals`